JP2017148425A - Transfer device and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To inhibit a care-receiver from taking an instant avoidance action in a lifting operation of a holder.SOLUTION: A transfer device 1 includes: a trunk holder 40 for holding a trunk of a care-receiver; an arm 30 for performing a lifting operation of lifting the trunk holder 40; a controller 50 for a caretaker operated by a caretaker; a detection part 61 for detecting whether or not the care-receiver has an intention to stand up; and a control part 62 that, after receiving a lifting operation start instruction signal for instructing to start the lifting operation, from the controller 50 for the caretaker, when it is detected by the detection part 61 that the care-receiver has the intention, controls the arm 30 to start the lifting operation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transfer apparatus and a control method thereof, and more particularly, to a transfer apparatus that lifts and moves a holding tool that holds a care recipient.

  A caregiver may move a cared person who is difficult to walk independently between a wheelchair, a bed, a toilet, and the like. In such a case, a transfer device is used. In general, the transfer device holds a cared person by a holding tool connected to an arm, and moves to a desired place while the holding tool is lifted by the arm.

  Some care devices such as transfer devices are provided with a caregiver controller so that the care recipient does not carelessly operate. For example, Patent Literature 1 discloses a controller for a care lift.

JP 2001-170118 A

  By the way, in the case of the transfer device, generally, the caregiver operates the controller so that the arm starts the lifting operation after the caregiver is held by the holder. Therefore, the transfer device starts the lifting operation at the timing determined by the caregiver.

  However, since the lifting operation is suddenly started for the cared person, there is a risk that the cared person may take an avoiding action to maintain the posture as it is. If it does so, since a to-be-cared person's trunk | drum will become easy to slip | deviate from a holder, the adhesion degree of a to-be-cared person's trunk | drum and a holder falls. As a result, the cared person may feel pain or the cared person may fall.

  The present invention has been made in view of the above, and provides a transfer apparatus and a control method therefor that can prevent a cared person from taking a wrinkle avoidance action during a lifting operation of a holder.

  According to the transfer device according to one aspect of the present invention, a holding tool that holds the body of the care recipient, an arm that performs a lifting operation for lifting the holding tool, a caregiver controller that is operated by a caregiver, and Detecting means for detecting whether or not the cared person has an intention to stand up; and after receiving a lifting operation start instruction signal instructing to start the lifting operation from the caregiver controller, the detecting means And a control means for controlling the arm to start the lifting operation when it is detected that there is the intention.

  According to the control method of the transfer apparatus according to one aspect of the present invention, the transfer apparatus includes: a holding tool that holds a to-be-cared person's body; an arm that performs a lifting operation for lifting the holding tool; And a caregiver controller. The control method detects whether or not the cared person has an intention to stand up, and after receiving a lifting operation start instruction signal instructing to start the lifting operation from the caregiver controller, When it is detected that there is the intention, the arm is controlled to start the lifting operation.

  According to each aspect of the present invention described above, it is possible to obtain an effect that it is possible to prevent the care receiver from taking a wrinkle avoidance operation during the lifting operation of the holder.

It is a side view which shows typically an example of the external appearance structure of the transfer apparatus 1 which concerns on Embodiment 1. FIG. It is the front view which looked at the cared person's handle 31 and the 1st load sensor 32 which were shown by FIG. 1 from the front. 3 is a block diagram illustrating an example of a schematic functional block of a transfer device 1 according to Embodiment 1. FIG. It is a figure which shows an example in case a caregiver assists a cared person's standing operation. 6 is a timing chart for explaining an example of a control method when an arm 30 starts a lifting operation in the transfer apparatus 1 according to the first embodiment. 5 is a timing chart for explaining an example of a control method in the case where the arm 30 stops the lifting operation after the arm 30 starts the lifting operation in the transfer apparatus 1 according to the first embodiment. 6 is a flowchart for explaining an example of a control method when an arm 30 starts a lifting operation in the transfer apparatus 1 according to the first embodiment. It is a figure which shows the other example in case a caregiver assists a cared person's standing motion. It is a perspective view which shows typically an example of the external appearance structure of the trunk | drum holder 40 which concerns on Embodiment 2. FIG. It is a graph which shows an example of the floor reaction force which acts on a care receiver's sole at the time of standing of a care receiver. It is a side view which shows typically an example of the external appearance structure of the transfer apparatus 2 which concerns on Embodiment 3. FIG.

Embodiments of the present invention will be described below with reference to the drawings.
(1) Embodiment 1
FIG. 1 is a side view schematically showing an example of the external configuration of the transfer apparatus 1 according to the first embodiment. FIG. 2 is a front view of the care receiver handle 31 and the first load sensor 32 shown in FIG. 1 as viewed from the front. The transfer device 1 according to the first embodiment includes a carriage 10, a support unit 20, an arm 30, a body holder 40, and a caregiver controller 50. The transfer device 1 is used, for example, when a care recipient is moved between a wheelchair, a bed, a toilet, and the like. Hereinafter, a configuration including the carriage 10, the support portion 20, the arm 30, and the body holder 40 is appropriately referred to as a transfer device main body.

The cart 10 moves the transfer device main body in an arbitrary direction in accordance with the operation of the caregiver controller 50 by the caregiver. The cart 10 includes a cart body 11 and wheels 12. The cart body 11 includes a footrest 13 on which the sole of the care recipient is placed.
The support unit 20 is installed on the carriage 10.

  One end of the arm 30 is rotatably supported by the support portion 20. Moreover, the arm 30 supports the trunk | drum holder 40 so that rotation is possible at the other end. The arm 30 performs a lifting operation for lifting the body holder 40 and a lowering operation for lowering the body holder 40 according to the operation of the caregiver controller 50 by the caregiver.

  In addition, the arm 30 includes a cared person handle 31 held by the cared person and a first load sensor 32 that detects a handle load that is a load applied to the cared person handle 31. . The care receiver handle 31 stabilizes the position of the care receiver held by the torso holder 40, and the care receiver is more secure when holding something. It is provided to reassure caregivers. In other words, the care receiver handle 31 is not provided for the operation of the transfer device 1 and the transfer device 1 cannot be operated. The first load sensor 32 detects a handle load applied to the cared person handle 31 when the cared person pulls the cared person handle 31 toward the cared person side (direction A in FIG. 1). , Is an example of the first detection means

  The torso holder 40 includes a front holding part 41 that holds the front face of the cared person's torso, and a side face holding part 42 that holds the side face of the cared person's torso. The body holder 40 is supported by the arm 30 so that the front surface holding portion 41 can rotate. A pair of side holding portions 42 are provided on the left and right sides, one facing the left flank of the cared person's torso and the other facing the right flank of the cared person's torso. The side surface holding part 42 moves in the left-right direction in accordance with the operation of the caregiver controller 50 by the caregiver. The torso holder 40 receives the cared person with the side surface holding part 42 opened in the left and right outer direction, brings the cared person's torso into contact with the front surface holding part 41, and then moves the side surface holding part 42 to the left and right inside. It is the structure which closes in the direction.

  The caregiver controller 50 is a controller operated by a caregiver. In the first embodiment, it is assumed that the caregiver controller 50 is a portable hand push button type. The caregiver controller 50 can operate the cart 10, the arm 30, and the side surface holding part 42 as described above. An instruction signal instructed by the caregiver by pressing the button on the caregiver controller 50 with a finger is wirelessly transmitted from the caregiver controller 50 to the control device 60 described later.

  FIG. 3 is a block diagram illustrating an example of a schematic functional block of the transfer apparatus 1 according to the first embodiment. As shown in FIG. 3, the transfer device 1 according to the first embodiment controls the caregiver controller 50, the first load sensor 32, the arm 30, the carriage 10, and the side surface holding part 42. A device 60 is provided.

  The control device 60 includes a detection unit 61 and a control unit 62. The detection unit 61 detects the intention of the care receiver to stand up based on the value of the handle load detected by the first load sensor 32, and is an example of a detection unit. Details of the detector 61 will be described later. The control unit 62 controls the arm 30, the cart 10, and the side surface holding unit 42 based on the instruction signal wirelessly transmitted by the caregiver controller 50. For example, the control unit 62 drives a motor (not shown) that rotationally drives the arm 30 to control the lifting and lowering operations of the body holder 40 by the arm 30, and is an example of a control unit. Further, the control unit 62 controls a movement by the carriage 10 by driving a motor (not shown) that rotationally drives the wheels 12 of the carriage 10. In addition, the control unit 62 drives a motor (not shown) that moves and drives the side surface holding unit 42 in the left-right direction, and controls movement in the left-right direction by the side surface holding unit 42. The detection unit 61 and the control unit 62 are realized by, for example, a CPU (Central Processing Unit) that performs control processing, arithmetic processing, and the like. The control device 60 is centered on a microcomputer including a CPU, a ROM (Read Only Memory) storing a control program executed by the CPU, an arithmetic program, and the like, a RAM (Random Access Memory) storing processing data, and the like. The hardware is configured. The control device 60 may be arranged at an arbitrary position on the transfer device main body side.

  The first embodiment is characterized by the control of the lifting operation of the body holder 40 by the arm 30 among the controls performed by the control device 60. Therefore, in the following, the control of the lifting operation of the body holder 40 by the arm 30 will be described in detail.

  When a caregiver moves a cared person between a wheelchair, a bed, a toilet, and the like, first, the caregiver brings the transfer device 1 closer to the cared person sitting on the sitting object. Subsequently, the caregiver brings the cared person's torso into contact with the front surface holding portion 41 in a state where the side surface holding portion 42 is opened in the left and right outer directions, and then the side surface holding portion 42 is moved to the left and right inside by the caregiver controller 50. Operate to close in the direction. In this way, the caregiver holds the cared person by the torso holder 40 and causes the cared person to hold the care receiver handle 31 to complete the preparation for the lifting operation of the torso holder 40. Let After that, the caregiver operates the caregiver controller 50 to start the lifting operation on the arm 30. Specifically, the caregiver turns on a lift button on the caregiver controller 50. Then, the caregiver controller 50 wirelessly transmits to the control device 60 a lifting operation start instruction signal instructing the start of the lifting operation of the trunk holder 40.

  Conventionally, the arm 30 starts the lifting operation at the timing when the lifting operation start instruction signal is received from the caregiver controller 50. However, this timing is the timing determined by the caregiver and is equivalent to the fact that the care receiver is not ready and the lifting operation is suddenly started. Therefore, the cared person may take an avoidance action to keep the posture as it is. This tendency is often seen when the cared person is an elderly person or when the cognitive function is impaired. When the cared person takes an avoidance action, the cared person's torso is easily displaced from the body holder 40, and the degree of adhesion between the cared person's body and the body holder 40 decreases. As a result, the cared person may feel pain or the cared person may fall.

  Therefore, in the first embodiment, the lifting operation is not started by the arm 30 just by receiving the lifting operation start instruction signal from the caregiver controller 50, and the lifting operation is started as follows. The configuration is as follows.

  After the caregiver sends a lifting operation start instruction signal from the caregiver controller 50, for example, when the caregiver is made aware of the caregiver by calling out, for example, “I ’ll go up now” The cared person is thought to get up at his own timing. In the first embodiment, the detection unit 61 is provided in order to detect the intention of the care recipient to stand up. Details of the detection method by the detection unit 61 will be described later. Then, after receiving the lifting operation start instruction signal from the caregiver controller 50, the control unit 62 causes the arm 30 to start the lifting operation when the detection unit 61 detects the intention of the care receiver to stand up. We will control it.

  Therefore, for the cared person, the arm 30 starts the lifting operation at his / her own timing, and thus the cared person can be prevented from taking the wrinkle avoidance action. Thereby, since the operation of the cared person and the arm 30 is synchronized, the degree of adhesion between the cared person's trunk and the body holder 40 can be secured, and the cared person feels pain or the cared person's It is possible to suppress the occurrence of slipping.

Next, the detection unit 61 according to the first embodiment will be described.
FIG. 4 is a diagram illustrating an example of a case where a caregiver assists a cared person's standing operation. The cared person in FIG. 4 is a cared person who can stand up with a relatively small amount of assistance, and the caregiver pulls the cared person's hand to the caregiver's side, so that the cared person can start up. I'm making it. When the caregiver performs such an operation, the care receiver performs an operation of pulling the caregiver's hand toward the care receiver as a reaction force against the caregiver's force.

  Therefore, in the first embodiment, when the cared person stands up, the cared person pulls the carer's hand toward the cared person side, and the cared person moves the cared person's handle 31 to the cared person side (A in FIG. 1). It is assumed that it is detected as a force pulled in the direction). For this purpose, the first load sensor 32 described above is provided. The first load sensor 32 detects a handle load, which is a load on the cared person side, that is applied to the cared person handle 31 when the cared person pulls the cared person handle 31 toward the cared person side. The detection unit 61 detects that the care receiver is willing to stand up when the value of the handle load detected by the first load sensor 32 is equal to or greater than a set value (first set value). In addition, B in FIG. 1 shall point out the direction to the lower side of the handle 31 for care recipients.

Next, a control method of the transfer apparatus 1 according to the first embodiment will be described with reference to a timing chart.
FIG. 5 is a timing chart for explaining an example of a control method when the arm 30 starts the lifting operation in the transfer apparatus 1 according to the first embodiment. In FIG. 5, the upper row shows ON / OFF of the lifting button on the caregiver controller 50, the middle row shows the value of the handle load detected by the first load sensor 32, and the lower row shows the body to be lifted by the arm 30. The height of the holder 40 is shown as 0 when the body holder 40 is in the initial position of FIG. The middle stage also shows a first set value of a handle load that becomes a trigger for the arm 30 to start the lifting operation, and the lower stage also shows a target value of the height of the body holder 40.

  The caregiver holds the cared person with the torso holder 40, causes the cared person to hold the care receiver handle 31, and completes the preparation for the lifting operation of the torso holder 40, and then The lift button on the controller 50 is pressed with a finger to turn it on (time t1). Then, the caregiver controller 50 wirelessly transmits a lifting operation start instruction signal to the control device 60.

  Subsequently, the caregiver makes a call to the care recipient such as “I will go up now” (time t2). In response to this, the cared person starts the operation of pulling the cared person's handle 31 toward the cared person side in an attempt to stand up at his / her own timing, and thereby the handle load detected by the first load sensor 32 is increased. The value gradually increases (time t3).

  When the value of the handle load becomes equal to or greater than the set value (time t4), the detection unit 61 detects that the cared person has an intention to stand up, and in response to this, the control unit 62 performs the lifting operation of the arm 30. Control to start. Thereby, the arm 30 starts the lifting operation, and the height of the body holder 40 gradually increases.

  After that, although the value of the handle load is less than the set value (time t5), the control unit 62 performs control so as to continue the lifting operation without stopping the lifting operation of the trunk holder 40. That is, when the arm 30 starts the lifting operation, if the lifting button on the caregiver controller 50 remains ON even if the value of the handle load becomes less than the set value thereafter, the body holder 40 The arm 30 continues the lifting operation until the height reaches the target value.

  FIG. 6 is a timing chart for explaining an example of a control method in the case of stopping the lifting operation at the caregiver's judgment after the arm 30 starts the lifting operation in the transfer apparatus 1 according to the first embodiment. The upper, middle, and lower stages in FIG. 6 are the same as those in FIG.

  The lifting button on the caregiver controller 50 is a button that is turned off when the finger is released by releasing the finger. That is, the lift button is not a latch type button that continues to be turned on even if the finger is released and released.

  For example, the caregiver stops the lifting operation when the caregiver complains of pain, or when the caregiver's torso and the torso holder 40 are not sufficiently close to each other. Suppose that it is determined. In this case, the caregiver removes the finger from the lift button on the caregiver controller 50 and turns off the lift button (time t6). Then, the caregiver controller 50 wirelessly transmits to the control device 60 a lifting operation stop instruction signal that instructs to stop the lifting operation of the trunk holder 40. Since the control unit 62 is configured to prioritize the instruction signal from the caregiver controller 50, when the operation stop instruction signal is received, the control unit 62 controls to stop the lifting operation of the body holder 40. In this case, the cared person has loosened the pulling force of the cared person handle 31, and the value of the handle load detected by the first load sensor 32 gradually decreases, and then becomes less than the set value.

  When the caregiver resumes the lifting operation of the torso holder 40, first, as with the start of the lifting operation, the caregiver first presses the lifting button on the caregiver controller 50 with his finger to turn it on (time t7). Talk to the care recipient. Then, since the cared person starts to increase the force to pull the cared person handle 31 toward the cared person side at his / her own timing, the value of the handle load detected by the first load sensor 32 gradually increases.

  When the value of the handle load becomes equal to or greater than the set value (time t8), the detection unit 61 detects that the cared person has an intention to stand up, and in response to this, the control unit 62 performs the lifting operation of the arm 30. Control to resume.

Next, a control method of the transfer apparatus 1 according to the first embodiment will be described with reference to a flowchart.
FIG. 7 is a flowchart for explaining an example of a control method when the arm 30 starts the lifting operation in the transfer apparatus 1 according to the first embodiment.

When the caregiver presses the lifting button on the caregiver controller 50 with a finger and turns it on, the caregiver controller 50 transmits a lifting operation start instruction signal to the control device 60 (step S1).
Subsequently, the detection unit 61 detects whether or not the care receiver is willing to stand up depending on whether or not the handle load value detected by the first load sensor 32 is equal to or greater than a set value ( Step S2).

In step S2, when the detection unit 61 detects that the care receiver is willing to stand up (YES in step S2), the control unit 62 controls the arm 30 to start the lifting operation (step S3). .
On the other hand, if the detection unit 61 does not detect that the care receiver is willing to stand up in step S2 (No in step S2), the process returns to step S2. In this manner, the lifting operation of the trunk holder 40 is not started until the detection unit 61 detects that the care receiver is willing to stand up.

  As described above, according to the first embodiment, after receiving the lifting operation start instruction signal from the caregiver controller 50, the care receiver pulls the care receiver handle 31 to the care receiver handle 31. When it is detected that the value of the handle load to be applied is equal to or greater than the set value, the cared person is willing to stand up, the lifting operation of the body holder 40 is started.

  Therefore, for the cared person, the arm 30 starts the lifting operation at his / her own timing, and thus the cared person can be prevented from taking the wrinkle avoidance action. Thereby, since the operation of the cared person and the arm 30 synchronizes, the degree of adhesion between the cared person's trunk and the body holder 40 can be secured, and the cared person feels pain or the cared person falls down. It can suppress generating.

  In addition, the cared person grasps the cared person handle 31 to stabilize the posture or to obtain a sense of security. By using the handle load applied to the care receiver handle 31 by the care receiver in such a state, it is possible to accurately detect the intention of the care receiver to stand up.

  Further, according to the first embodiment, after the lifting operation of the body holder 40 is started, after the lifting operation stop instruction signal is received from the caregiver controller 50, the lifting operation of the body holder 40 is stopped. Then, after stopping the lifting operation of the torso holder 40, when receiving a lifting operation start instruction signal from the caregiver controller 50, when it is detected that the care receiver is willing to stand up, The lifting operation of the body holder 40 is resumed.

  Therefore, even when the lifting operation of the body holder 40 is resumed, the care receiver is required to take the heel avoidance operation because the arm 30 resumes the lifting operation at his own timing. Can be suppressed.

  In the first embodiment, the caregiver controller 50 is portable, but is not limited to this. The caregiver controller 50 may be provided at an arbitrary position on the transfer device main body side. Moreover, although the caregiver controller 50 is a hand button type, it is not limited to this. The caregiver controller 50 may be a stepping type.

In addition, the setting value of the handle load as a trigger for starting the lifting operation of the body holder 40 may be set constant regardless of the cared person, and the appropriate value varies depending on the cared person. You may set for every care receiver.
Further, the lifting speed when the arm 30 lifts the torso holder 40 may be set constant irrespective of the cared person, and the appropriate value varies depending on the cared person. It may be set to.

(2) Embodiment 2
In the first embodiment, the intention of the care recipient to stand up is detected using the handle load. However, when the cared person is handicapped, the cared person's handle 31 cannot be gripped or pulled, and therefore the intention of the cared person to stand up cannot be detected.
The second embodiment is configured such that the care recipient can detect his / her intention to stand up even when the care recipient is handicapped.

  FIG. 8 is a diagram illustrating another example of the case where the caregiver assists the standing motion of the care receiver. The cared person in FIG. 8 is a cared person who has symptoms such as difficulty in raising the arm and difficulty in applying force when the arm is extended, and requires more assistance when standing up than the cared person in FIG. It is. Therefore, the caregiver increases the amount of assistance by having the elbow around the cared person, and makes it easier to move the center of gravity of the cared person forward. When the caregiver performs such an operation, the cared person performs an operation of putting the force on the sole and tilting the trunk forward.

  Therefore, in the second embodiment, when the cared person stands up, the force to tilt the body forward is detected as the force by which the cared person presses the body against the front surface holding portion 41 of the body holder 40.

  FIG. 9 is a perspective view schematically showing an example of the external configuration of the body holder 40 according to the second embodiment. In the body holder 40 according to the second embodiment, the front surface holding portion 41 includes a second load sensor 43. The second load sensor 43 detects a pressing load that is a load applied to the front surface holding portion 41 when the cared person presses the torso, and is an example of a second detection unit. In FIG. 9, two second load sensors 43 are provided on the left and right of the upper portion of the front surface holding portion 41. However, the number and arrangement positions of the second load sensors 43 are not limited to the example of FIG. 9 as long as the care receiver can detect the force pressing the torso. The detection unit 61 detects that the care receiver is willing to stand up when the value of the pressing load detected by the second load sensor 43 is equal to or greater than a set value (second set value).

In the second embodiment, a second load sensor 43 is provided in addition to or instead of the first load sensor 32 of the first embodiment. In the case where the second load sensor 43 is provided in addition to the first load sensor 32 of the first embodiment, the detection unit 61 is willing to start up the cared person when at least one of the following two is satisfied: It is sufficient to detect that there is.
1) When the handle load value detected by the first load sensor 32 is greater than or equal to the set value (first set value). 2) The pressing load value detected by the second load sensor 43 is the set value (second set value). ) In the above case Other configurations and operations of the second embodiment are the same as those of the first embodiment.

As described above, according to the second embodiment, when the care receiver detects the pressing load applied to the front surface holding portion 41 by pressing the torso, and the value of the pressing load exceeds the set value, Detects that person is willing to get up.
Therefore, even when the cared person is handicapped, the intention of the cared person to stand up can be detected.
Other effects of the second embodiment are the same as those of the first embodiment.

(3) Embodiment 3
As in the second embodiment, the third embodiment is configured such that the care recipient can detect his / her intention to stand up even when the care recipient is handicapped.
As described in the second embodiment, when the caregiver holds the elbow around the cared person as shown in FIG. 8 and assists the standing-up motion, the cared person puts power on the soles of the torso. To move forward. In the second embodiment, the force that the cared person tilts the torso forward is detected. On the other hand, this Embodiment 3 detects the floor reaction force which acts on a sole, when a cared person puts force on a sole.

  FIG. 10 is a graph showing an example of a floor reaction force (VRF: Vertical Reaction Force) that acts on the sole of the cared person when the cared person stands. In addition, the graph of FIG. 10 is non-patent literature (Yukinobu Sugimura, “Study on the estimation of the standing motion from the chair by the sole information”, [Search February 5, 2016], Internet <URL: https: / /ds.lib.kyutech.ac.jp/dspace/retrieve/2854/D-32_%E5%AD>). In FIG. 10, the vertical axis on the right side indicates VRF, the vertical axis on the left side indicates the vertical position (m) of the head and the hip (Hip), and the horizontal axis indicates time (%). Yes. In FIG. 10, the value of VRF at the start of the standing motion is set to 0 as a reference value, and the vertical position of the head and the buttocks at the start of the standing motion is set to 0 as the reference position.

In FIG. 10, the fact that the vertical position of the buttocks (Hip) is larger than 0 means that the buttocks are separated from the seating surface. As can be seen from FIG. 10, the VRF is maximized around the time when the buttocks are separated from the seating surface.
Therefore, in the third embodiment, the floor reaction force acting on the sole is detected by applying force to the sole when the cared person stands up.

  FIG. 11 is a side view schematically showing an example of the external configuration of the transfer apparatus 2 according to the third embodiment. In the transfer device 2 according to the third embodiment, the carriage body 11 includes a third load sensor 14. The third load sensor 14 detects a floor reaction force that acts on the sole when the care receiver places the sole on the footrest 13 and is an example of a third detection unit. The detection unit 61 detects that the care receiver is willing to stand up when the value of the floor reaction force detected by the third load sensor 14 is equal to or greater than a set value (third set value).

In the third embodiment, a third load sensor 14 is provided in addition to or instead of the first load sensor 32 of the first embodiment and / or the second load sensor 43 of the second embodiment. . When the third load sensor 14 is provided in addition to the first load sensor 32 of the first embodiment and the second load sensor 43 of the second embodiment, the detection unit 61 is filled with at least one of the following three. It is sufficient to detect that the care recipient is willing to stand up.
1) When the handle load value detected by the first load sensor 32 is greater than or equal to the set value (first set value). 2) The pressing load value detected by the second load sensor 43 is the set value (second set value). ) When above 3) When the value of the floor reaction force detected by the third load sensor 14 exceeds the set value (third set value) Other configurations and operations of the third embodiment are This is the same as the first embodiment.

As described above, according to the third embodiment, when the cared person detects a floor reaction force acting on the sole by putting force on the sole, and the value of the floor reaction force exceeds a set value Then, it is detected that the care recipient is willing to stand up.
Therefore, even when the cared person is handicapped, the detection unit 61 can detect the intention of the cared person to stand up.
Other effects of the third embodiment are the same as those of the first embodiment.

Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.
For example, in the second embodiment, the force to tilt the torso forward when the cared person stands up is detected as the force by which the cared person presses the torso, but the present invention is not limited to this. As described above, the care giver causes the care receiver who is not handicapped to hold the care receiver handle 31. When the cared person tilts the torso forward while holding the cared person's handle 31, it is considered that a force to be pushed downward is generated in the cared person's handle 31 as the cared person's body moves. . Therefore, you may detect the force in which a cared person pushes down the handle 31 for cared persons downwards as the force which pushes down a trunk | drum forward when a cared person stands up. In the case of this configuration, the first load sensor 32 is placed on the care receiver side 31 (direction A in FIGS. 1 and 11) and the lower side (direction B in FIGS. 1 and 11). The handle load in at least two axial directions can be detected. And when the value of either the handle load to the care receiver side or the handle load to the lower side detected by the first load sensor 32 exceeds the set value, the detection unit 61 detects the care receiver. Detect that there is an intention to stand up. The set value of the handle load may be different for the care receiver side and the lower direction, or may be the same.

DESCRIPTION OF SYMBOLS 1, 2 Transfer device 10 Cargo 11 Cargo body 12 Wheel 13 Footrest part 14 Third load sensor 20 Support part 30 Arm 31 Caregiver handle 32 First load sensor 40 Body holder 41 Front surface holding part 42 Side surface holding part 43 Second load sensor 50 Caregiver controller

Claims (6)

A holder for holding the torso of the cared person;
An arm that performs a lifting operation to lift the holder;
A controller for a caregiver operated by a caregiver;
Detecting means for detecting whether or not the care recipient is willing to stand up;
After receiving the lifting operation start instruction signal instructing to start the lifting operation from the caregiver controller, the arm starts the lifting operation when the detecting means detects that the intention is present And a control means for controlling the transfer. A handle held by the care recipient,
First detecting means for detecting a load applied to the handle;
The detection means includes
The transfer device according to claim 1, wherein when there is a load value detected by the first detection unit becomes equal to or greater than a first set value, it is detected that the intention is present. A second detection means for detecting a load applied to a front surface holding portion that holds the front surface of the cared person's torso in the holder;
The detection means includes
3. The transfer device according to claim 1, wherein when there is a load value detected by the second detection unit becomes equal to or greater than a second set value, it is detected that there is the intention. A foot rest on which the care recipient places a sole;
A third detecting means for detecting a floor reaction force acting on the sole of the care recipient when the care receiver places the sole on the footrest;
The detection means includes
4. The transfer device according to claim 1, wherein when the value of the floor reaction force detected by the third detection unit is equal to or greater than a third set value, it is detected that there is the intention. 5. The control means includes
After the arm starts the lifting operation, when the lifting operation stop instruction signal instructing to stop the lifting operation is received from the caregiver controller, the arm is controlled to stop the lifting operation. ,
After the arm stops the lifting operation, when the lifting operation start instruction signal is received from the caregiver controller, the arm is lifted when the detection means detects that the intention is present The transfer device according to claim 1, wherein the transfer device is controlled to resume operation. A holder for holding the torso of the cared person;
An arm that performs a lifting operation to lift the holder;
A controller for a caregiver operated by a caregiver;
A control method for a transfer device comprising:
Detecting whether the care recipient is willing to stand up,
After receiving the lifting operation start instruction signal instructing to start the lifting operation from the caregiver controller, the arm is controlled to start the lifting operation when it is detected that there is the intention. , Control method.

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