JP2021065327A - Standing/seating movement support apparatus and standing/seating movement support method - Google Patents

Abstract

To provide a standing/seating movement support apparatus for performing support movement that can increase attractiveness and a feeling of security to a user, and can unconsciously move the user on an aiming trajectory.SOLUTION: The present apparatus includes a mechanism which performs support movement for supporting a standing movement constituted of: a first movement for making a body trunk bend forward to move a body gravity center position from the top of buttocks to the top of soles; a second movement for lifting the body trunk up; and a third movement for making the body trunk extend to prepare the posture. The apparatus supports the standing movement of a user transferring from a seating posture to a standing posture. The support movement of the present apparatus is configured such that a peak of movement speed on a trajectory of movement for guiding the first movement is set in a first half of time axis of the first movement, and the peak of the movement speed on the trajectory of movement for guiding the second movement is set in the first half of the time axis of the second movement.SELECTED DRAWING: Figure 1

Description

The present invention relates to a device and a method for supporting a user's standing / sitting motion in which the standing motion or the like is hindered due to a weakening of the lower limbs or the like.

A major problem in an aging society is that it becomes difficult for elderly people to carry out their daily lives independently due to deterioration of physical function with aging. Among the declines in physical function, the orthostatic disorder due to the weakening of the lower limbs is the biggest factor that hinders the independence of the elderly in daily life. Elderly people with impaired physical function cannot stand up due to the weakening of their lower limbs, so they fall into a state of being bedridden (wheelchair life) or bedridden, and use the physical strength of their lower limbs while sitting or being bedridden. In many cases, the absence causes a vicious cycle in which the weakening of the lower limbs is further promoted.
In Japan today, elderly people in need of assistance in their daily lives are classified into five different levels of care. Care level 1 is mild and care level 5 is serious. Elderly people with care level 1 or 2 generally have difficulty standing, walking, or sitting alone, but can carry out normal daily activities with assistance. However, for example, according to some statistical data, more than 10% of care level 1 patients are assigned to higher care levels within the next year. Therefore, there is a need for orthostatic devices and methods that can improve the quality of life of elderly patients who require only low levels of care.

Conventionally, an assisting robot having a holding portion that supports a part of a user's body and assists standing and sitting has been known (see Patent Document 1). According to the assisting robot disclosed in Patent Document 1, in supporting the standing motion, the position of the center of gravity of the user (assisted person) is set so as to be within the range of the soles of both feet of the assisted person. It is possible to stand up without giving a sense of discomfort to the person being assisted.
Further, in Patent Document 1, the speed of the holding portion is set to be the speed corresponding to the burden on the person being assisted in the section corresponding to the body part to be trained by the person being assisted among the plurality of sections of the standing locus. A configuration for controlling the speed of the drive unit is also disclosed. Further, Patent Document 1 suggests that when the passing speed of each section is slow, it is necessary to maintain the posture for a long time as compared with the case where the passing speed is fast, so that the load on the person being assisted increases.
However, in Patent Document 1, the specific speed control is such that the speed of the holding portion becomes a speed corresponding to the burden on the person being assisted in the section corresponding to the body part to be trained by the person being assisted. It is only supposed to control the speed of the drive unit, and specifically, what kind of speed control should be performed in which section will provide the care recipient with the most secure and attractive standing support. Nothing is mentioned.

In addition, as documents related to specific speed control, there are documents disclosed about exercise strategies related to human standing up motion (see Non-Patent Document 1), and when the flexion angle of the knee joint is changed in standing up motion. Documents disclosed about changes in the anterior-posterior movement speed and forward tilt angle of the trunk (see Non-Patent Document 2), and a standing motion support system that can be expected to reduce the physical load and utilize the remaining functions in a personalized manner. The disclosed literature (see Non-Patent Document 3) is known.
Generally, the standing motion is the motion of tilting the trunk forward and moving the center of gravity from the top of the buttocks to the soles of one's feet (first motion), the motion of lifting the trunk upward (second motion), and the motion of lifting the trunk upward. In addition, it consists of three movements (third movement) of extending the trunk (stretching the chest) and erecting the body. The non-patent documents 1 to 3 suggest a quick movement of the center of gravity of the body in the initial stage of the standing motion.
However, in order to enhance the attractive effect and the sense of security for the long-term care recipient, there is a problem that it is not enough to move the center of gravity of the body quickly for the first movement of tilting the trunk forward.

JP-A-2017-209548

"Verification of exercise strategy in standing up motion with varying motion speed" Takayuki Obi Sword et al. Journal of Japanese Society of Health Vol.12 No3 2009 "Torso forward tilt angle and movement speed required for standing up" Kimito Momose et al. Physical Therapy Supplement 2005 "Study on Standing Motion Support that Can Reduce Physical Load and Utilize Remaining Functions" Asuka Takai Osaka Prefecture University Doctoral Dissertation 2015

As described above, in the technology for supporting the standing motion so far, the speed control of the motion has not been studied, and there is a problem from the viewpoint of realizing the standing support having a sense of security and an incentive effect for the user. Therefore, there is a problem that the user cannot follow the trajectory that the device considers ideal and wants to guide.

In view of such a situation, the present invention provides a standing / sitting motion support device and a method for enhancing an attraction effect and a sense of security for a user and performing a support motion capable of unconsciously moving the user on a target trajectory. The purpose.

In order to solve the above problems, the standing / sitting motion support device of the present invention is a device that supports the standing motion of the user who shifts from the sitting posture to the standing posture. The device consists of a first motion of moving the body from the top of the buttocks to the sole of the foot, a second motion of lifting the trunk upward, and a third motion of extending the trunk and adjusting the posture. It is provided with a mechanism for performing a support operation for inducing a third operation. In the assisting operation of the device, the peak of the moving speed on the orbit of the operation for inducing the first operation is set in the first half of the time axis of the first operation, and the peak of the movement speed on the orbit of the operation for inducing the second operation is set. The peak of the moving speed of is set in the first half of the time axis of the second operation.
As a result, it is possible to perform a support operation for unconsciously moving the user from the sitting posture to the standing posture on the target trajectory.

Here, the trajectory in the support motion is preferably a trajectory that imitates the motion in which a skilled physiotherapist guides the user's motion, but is not limited to this, and the user's individual physique, muscle strength, and so on. Depending on the situation such as the degree of failure, the trajectory of the assisting motion optimized by computer simulation may be used.
Further, the peak of the moving speed is preferably set to 20 to 30% of the total required time of each operation.

The standing and sitting motion support device of the present invention is a device that supports the sitting motion of the user who shifts from the standing posture to the sitting posture, and the sitting motion includes the fourth motion of bending the trunk and losing the posture and the trunk. It consists of a fifth movement that lowers the body downward and a sixth movement that moves the position of the center of gravity of the body from the top of the sole to the top of the buttocks while tilting the trunk backward, and the device performs the fourth to sixth movements. It is equipped with a mechanism to perform a guiding support operation. In the assisting motion, the peak of the moving speed in the orbit of the motion for inducing the fourth motion is set in the first half of the time axis of the fourth motion.
As a result, it is possible to perform a support operation for unconsciously moving the user from the standing posture to the sitting posture on the target trajectory. The trajectory in the support motion is preferably a trajectory that imitates the motion in which a skilled physiotherapist guides the user's motion, as in the case of assisting the user's standing motion in which the sitting posture shifts to the standing posture. Further, the peak of the moving speed is preferably set to 20 to 30% of the total required time of the movement, as in the case of supporting the standing movement of the user who shifts from the sitting posture to the standing posture.

In the standing / sitting motion support device of the present invention, the mechanism for performing the support motion in the device specifically includes a mechanism capable of moving the pedestal surface mounted on the device in the horizontal direction and the vertical direction, and the user's arm portion can move. By contacting the pedestal surface, the user's operation is assisted.
Alternatively, the mechanism that performs the support operation in the device includes two grip portions, a movable portion that moves each grip portion, and a control unit that controls the movable portion, and the grip portion is held by the user with his / her left and right hands. It has a shape of gripping or placing the left and right arms, and the movement of the gripping portion assists the user's movement.
Mechanisms that can move the pedestal surface mounted on the device in the horizontal and vertical directions include, for example, a mechanism that allows the entire device to move horizontally on the floor surface and a mechanism that allows the pedestal surface mounted on the device to move vertically. It may be provided with a mechanism capable of moving, or the pedestal surface itself may be provided with a mechanism capable of moving not only in the vertical direction but also in the horizontal direction.

Next, the standing / sitting motion support method of the present invention will be described.
The standing / sitting motion support method of the present invention is a method of supporting the standing motion of the user who shifts from the sitting posture to the standing posture, and the standing posture tilts the trunk forward and positions the body center of gravity from above the buttocks to the sole of the foot. It consists of a first movement to move upwards, a second movement to lift the trunk upwards, and a third movement to extend the trunk and prepare the posture, and the method induces the first to third movements. It is provided with a step to perform a support operation.
In the step of performing the assisting motion, the peak of the movement speed on the trajectory of the motion for inducing the first motion is set in the first half of the time axis of the first motion, and the trajectory of the motion for inducing the second motion. The peak of the upper movement speed is set in the first half of the time axis of the second operation.

Further, the standing and sitting motion support method of the present invention is a method of supporting the sitting motion of the user who shifts from the standing posture to the sitting posture, and the sitting motion is a fourth motion of bending the trunk and losing the posture. It consists of a fifth movement that lowers the trunk downward and a sixth movement that tilts the trunk backward and moves the position of the center of gravity of the body from above the sole to above the buttocks, and the method consists of the fourth to sixth movements. It is provided with a step of performing a support operation to guide the patient.
In the step of performing the assisting motion, the peak of the moving speed in the orbit of the motion for inducing the fourth motion is set in the first half of the time axis of the fourth motion.

In the standing / sitting motion support method of the present invention, similarly to the above-described standing / sitting motion support device of the present invention, the trajectory in the assisting motion is a trajectory that imitates the motion in which a skilled physiotherapist guides the user's motion. It is preferable, but not limited to this, the trajectory of the assisting motion optimized by computer simulation may be used according to the situation such as the individual physique, muscular strength, and degree of disability of the user. Further, the peak of the moving speed is preferably set to 20 to 30% of the total required time of each operation.

According to the standing / sitting motion support device and the method of the present invention, there is an effect that the attraction effect and a sense of security to the user are enhanced, and the user can be unconsciously moved on the target trajectory.

Functional block diagram of the standing / sitting motion support device of the first embodiment Image of use of the standing / sitting motion support device of the first embodiment Flow chart of the standing and sitting motion support method of the first embodiment Explanatory drawing of human standing and sitting motion Graph showing trial state of movement based on minimum jerk trajectory Screen plot of preliminary experimental analysis Graph showing the load of positive factor and kindness factor Graph showing the movement of the armrest in the standing and sitting motion support device Graph showing the speed profile in the support operation of the first operation of the device Graph 1 showing the position of the center of gravity during the standing motion Graph 2 showing the position of the center of gravity during the standing motion Graph 3 showing the position of the center of gravity during the standing motion Graph 1 showing the results of questionnaires for each pattern when healthy subjects are used as subjects Graph 2 showing the results of questionnaires for each pattern when healthy subjects are used as subjects Image diagram of standing motion support when an elderly person is the subject Graph showing the position of the center of gravity during standing motion when an elderly person is the subject Flow chart of the standing and sitting motion support method of the second embodiment

Hereinafter, an example of the embodiment of the present invention will be described in detail with reference to the drawings. The scope of the present invention is not limited to the following examples and illustrated examples, and many modifications and modifications can be made.

FIG. 1 shows a functional block diagram of the standing / sitting motion support device of the first embodiment. The standing / sitting motion support device 1 includes a guidance mechanism 2, and the guidance mechanism 2 includes a pedestal portion 3 and a movable portion 4. The movable portion 4 includes a horizontal moving mechanism 5 and a vertical moving mechanism 6.

FIG. 2 shows a usage image diagram of the standing / sitting motion support device of the first embodiment. The pedestal portion 3 of the standing / sitting motion support device 1 shown in FIG. 2 is composed of an armrest portion 31 and a handle 32. Further, the movable portion 4 is composed of an autonomous walker 50 and a standing support manipulator 60. The care recipient 9 places an elbow on the armrest portion 31, grips the handle 32, and performs a standing motion from a state of being seated on the chair 10.

The autonomous walker 50 is provided with an operating wheel 51, a front caster 52a, and a rear caster 52b. In FIG. 2, only the actuating wheel 51, the front casters 52a, and the rear casters 52b on the right side when viewed from the care recipient 9 are shown, but similar actuating wheels and casters are also provided on the left side. The operating wheel 51 is provided with an actuator and an electric parking brake (not shown). The standing / sitting motion support device 1 can be used not only for the standing motion but also for the sitting motion and the walking motion. The front caster 52a and the rear caster 52b help the care recipient 9 change their orientation on the spot while maintaining a balance when walking using the standing / sitting motion support device 1. The actuator has sufficient power to control the actuating wheel 51, but when stopping the standing / sitting motion support device 1 for a long time, an energy-efficient mechanical brake (not shown) is used. Can be used.

Although not shown, the standing support manipulator 60 is provided with a linear DC motor and a gas spring, and constitutes a vertical movement mechanism 6. Specifically, it has a structure that moves up and down by a linear DC motor and is assisted by a gas spring. The standing / sitting motion support device 1 can lift a heavy object of about 40 kg, and has sufficient performance to support the care recipient. By using a gas spring, the standing / sitting motion support device 1 can use a small actuator, and the device can be manufactured at low cost. The gas spring can prevent the standing / sitting motion support device 1 from suddenly moving when the electric power is lost.

Next, a method of supporting the standing motion using the standing / sitting motion support device will be described. FIG. 3 shows a flow chart of the standing / sitting motion support method of the first embodiment. Further, FIG. 4 shows an explanatory diagram of a human standing and sitting motion.
As shown in FIG. 4, in general, the human standing motion is a motion of shifting from the sitting posture A to the posture B, that is, the trunk is tilted forward from the sitting posture, and the center of gravity is set from the top of the butt to the sole of one's foot. The first movement of moving to, the movement of shifting from posture B to posture C, that is, the second movement of lifting the trunk upward, and the movement of shifting from posture C to standing posture D, that is, extending the trunk ( It consists of three movements, a third movement that makes the body stand upright (with the chest stretched).

When supporting a human standing motion, the standing / sitting motion support device 1 first tilts the trunk forward and moves the position of the center of gravity of the body from above the buttocks to above the soles of the feet (first motion). A support operation for guiding is performed (step S01). Here, the peak of the moving speed in the orbit of the support motion for inducing the first motion is set in the first half of the time axis of the first motion, and the support motion is performed. More specifically, the support operation is performed by setting the peak to be located at the time when 25% of the total required time of the first operation has elapsed.
Next, a support operation for inducing an operation of lifting the trunk upward (second operation) is performed (step S02). Here, the peak of the moving speed in the orbit of the assisting motion for inducing the second motion is set in the first half of the time axis of the second motion, and more specifically, 25% of the total required time of the second motion. Set so that the peak is located at the time when is elapsed, and perform the support operation.
Finally, a support motion for inducing a motion of extending the trunk and adjusting the posture (third motion) is performed (step S03).

The experiment that led to the support motion of the above standing motion will be described. First, a simple device arm (not shown) was used to perform preliminary experiments to evaluate how these characteristics were perceived by the care recipient. In the preliminary experiment, the device arm was moved by various methods, and the impression of the care recipient was evaluated using the semantic differential method (SD method). The SD method is a method of performing an impression rating of a stimulus target from the results using a bipolar rating scale of a plurality of pairs of adjective sets associated with a certain stimulus target, and a parameter of human sensitivity that cannot be directly observed. It has the advantage of being able to be quantified.
Although not shown, the device arm of the preliminary experiment was capable of reproducing one-dimensional horizontal movement, and the subject grabbed the upper part of the device arm and wore an eye mask. The subject stood in front of the device arm and tracked the movement of the arm. The subjects were 23 young students aged 22 to 24 years, each of whom tried the experiment twice.

Table 1 below lists 26 sets of bipolar adjectives. A questionnaire was given to the subjects, and they were asked to explain the exercise by evaluating using each word shown in Table 1. Generally, the scale of the questionnaire used in the SD method is 1 to 5 or 1 to 7, but here we use the scale of 1 to 6 so as not to concentrate on the word "neither". did.

To investigate which characteristics of device arm movement affect the care recipient, we designed various candidate patterns of device arm movement, including typical characteristics that have already been identified. Physiologically, it has been demonstrated that the spontaneous arm movements of humans can be analyzed and approximated by a minimal jerk orbit model with a characteristic velocity profile, so the orbital model is used to design assistive movements. did.

In the minimum jerk orbit model, human one-dimensional motion is represented as an orbit that minimizes Equation 1 below. Here, t _f is the final time of exercise, and d ³ x (t) / dt ³ is the difference in acceleration called jerk. If x (t) is the solution of Euler's Poisson's equation, then C _j is an extremum.

The boundary condition is assumed to be Equation 2 below. Here, x _f is the distance traveled and t _f is the time required for this exercise. x ₀ is the starting position and t ₀ is the time when the exercise starts.

When the above formula 2 is applied to the above formula 1, x (t) is represented by the following formulas 3 and 4.

In the above equations 3 and 4, _{only two parameters, x f} and t _f , are required for deriving the motion. Therefore, we designed the movement of the device to follow, which is close to the typical human movement. FIG. 5 is a graph showing a trial state of movement based on the minimum jerk trajectory model. Table 2 below shows the parameters of the orbital model.
In the preliminary experiment, the moving distance was set to x _f = 0.5 m, and the required time _{was set to t f} = 0.7, 0.9, or 1.4 seconds. In addition, the time at which the velocity reached its peak was shifted. As shown in FIG. 5 and Table 2, for each movement pattern, the peak velocities that occur _{at relative times s = t / t f of 25%, 33%, 50%, 67% and 75% are set.}

In this preliminary experiment, analysis software (IBM SPSS Statistics 22) was used for factor analysis. The varimax rotation is applied to the impression given by the subject. Table 3 below shows the factor loadings for each bipolar adjective set.

FIG. 6 shows a screen plot of the preliminary experimental analysis. As shown in FIG. 6, the factor load can be classified into two factors from the screen plot. Factors are interpreted individually. Pairs of bipolar adjectives with an absolute factor load of 0.6 points or more are shown in bold in Table 3 above.
For factor 1, "strong", "brave" (the antonym of "cowardly"), "reliable", "dominant", "quick" (the antonym of "curse"), "sensitive", "sharp" , "Fast", "Exciting" (antonym of "boring"), "Clear", "Flashy", "Aggressive", "Dangerous", and "Intense"("Gentle" The word) has a higher factor load than other factors, which gives the impression of positiveness. Therefore, factor 1 was defined as a positive factor.
Regarding factor 2, "like", "good" (antonym of "bad"), "comfortable", "friendly", "favorable", "safe" (antonym of "anxiety") , And the word "pleasant" have a high factor load that gives the impression of tenderness. Therefore, factor 2 was defined as a kindness factor.

FIG. 7 is a graph showing the loading of the positive factor and the gentle factor. To verify statistical significance, t-test was applied at the 5% level for all combinations of factor scores. As shown in FIG. 7 (1), with respect to the positive factor, the score of pattern A of the movement of the device was high, and the score of pattern C was low. The maximum speed of pattern A was 1.2 m / s, and the maximum speed of pattern C was 0.6 m / s. This means that for fast patterns, the positive factors tend to increase. Furthermore, the score of pattern X1 (X is A, B, or C) was high, and the score of pattern X5 was low. In the case of pattern X1, the maximum velocity occurred at 25% relative time, and in the case of pattern X5, it occurred at 75%. This means that patterns that reach maximum speed faster are more positively recognized.

As shown in FIG. 7 (2), the tenderness factor was opposite to the tendency of the positive factor. The score of pattern C was high, and the score of pattern A was low. This means that the tenderness factor tends to increase when the device moves slowly. Furthermore, the score of pattern X5 was high and the score of pattern X1 was low. This means that patterns that later reach maximum speed will be perceived as gentler.
From the above results, the movement of the device can convey various impressions (aggressiveness, kindness, etc.) to the care recipient. The standing / sitting motion support device 1 needs to use a motion pattern according to the situation.

The standing motion recommended by the long-term care specialist can be divided into the three support motions of the first to third motions as described above, and in order to realize the three support motions, the following conditions are satisfied. You need to be. First, in the support motion of the first motion, the care recipient tilts the upper body forward to perform a support motion so that the center of gravity is on the foot. In the support motion of the second motion, the patient performs a support motion for smoothly changing the direction of the motion from the front to the top. These conditions mean that the care recipient needs to perform the necessary exercise for each movement. Therefore, the standing / sitting motion support device needs to perform the support motion necessary for guiding each motion of the care recipient to the care recipient, and the intended motion of the device is designed based on the positive factor.

FIG. 8 is a graph showing the movement of the armrest portion of the pedestal portion in the standing / sitting motion support device. The graph showing the standing motion shown in FIG. 8 is a support motion for the standing motion recommended by a long-term care specialist, and is composed of the support motions for the first to third motions described above. The operation of the graph shown in FIG. 8 is used as the reference trajectory in this embodiment. In the support movements of the first to third movements recommended by the long-term care specialist, the peak movement speed occurs in about 50% of the time of the entire movement pattern. The velocity profile of the assisting motion is approximated using the minimum jerk trajectory model.

FIG. 9 is a graph showing a speed profile in the support motion of the first motion of the standing / sitting motion support device. Here, the relative time of the peak velocity is shifted in consideration of the result of the preliminary experiment. The difference between the patterns in FIG. 9 is due only to the speed profile. Each pattern follows the same reference trajectory shown in FIG.
For each motion pattern, peak velocities are set to occur at 25% (pattern 1A), 50% (original pattern 1B), and 75% (pattern 1C). Pattern 1A has a stronger positive factor and pattern 1C has a stronger tenderness factor. Therefore, pattern 1A can effectively guide the patient in the forward direction in the first step. This is useful for care recipients who do not understand standing support. On the other hand, pattern 1C is expected to give the patient a mild impression. This can be useful for care recipients who do not like device support.

Table 4 below shows the speed profile of the standing motion. The difference between each pattern is due only to the velocity profile, and each pattern follows the same reference trajectory. Therefore, the time required for each pattern is different, but the start position and end position are the same.

The following experiments were conducted to verify the effectiveness of the standing and sitting motion support device. The subjects were twelve healthy people aged 22 to 45 years, who wore special equipment to restrict movement to mimic the experience of the elderly (not shown).
The subject performed the standing motion 9 times in response to the assisting motion of the standing / sitting motion support device 1. In each experiment, randomly different standing motion patterns from Table 4 above were used. Subjects were unaware of which pattern was used in each experiment. The subjects conducted the experiment without being able to convey information about how the standing / sitting motion support device 1 performs the support motion. The subjects had to judge how the standing / sitting motion support device 1 moved during use and decide how to stand. The position of the center of gravity of the subject's body was measured to confirm that the subject adopted the reference posture while standing.

As a result of the experiment, the subject was able to stand up well except for some patterns by receiving the support motion of the standing / sitting motion support device 1. The subject took an inappropriate posture for some patterns, 1C-2X (X is A, B or C). In this case, since the subject could not tilt his upper body forward, the center of gravity was not on the feet but on the buttocks in the support motion of the first motion, and as a result, only the standing and sitting motion support device 1 moved forward. .. 10 to 12 are graphs showing the position of the center of gravity during the standing operation. Specifically, FIG. 10 (1) is pattern 1A-2A, FIG. 10 (2) is pattern 1A-2B, FIG. 10 (3) is pattern 1A-2C, and FIG. 11 (1) is pattern 1B-2A. 11 (2) is pattern 1B-2B, FIG. 11 (3) is pattern 1B-2C, FIG. 12 (1) is pattern 1C-2A, FIG. 12 (2) is pattern 1C-2B, and FIG. 12 (3) is pattern. The case of 1C-2C is shown. The solid line indicates the position of the center of gravity during the standing operation, and the broken line indicates the reference trajectory.
In the case of pattern 1A-2X, the center of gravity has moved sufficiently forward. In the case of pattern 1C-2X, the subject did not tilt his upper body. This means that active support methods are excellent in guiding the subject to the reference posture. In the case of pattern 1X-2A, the center of gravity was raised sufficiently to achieve the final reference position. However, if the body tilt is not sufficient in the support motion of the first motion, the lifting motion may fail in this pattern.

13 and 14 are graphs showing the results of questionnaires for each pattern when a healthy subject is used as a subject. FIG. 13 (1) is "easy to stand-difficult to stand", and FIG. 13 (2) is "like-dislike". , FIG. 14 (1) shows the results of the questionnaire about "stable-unstable", and FIG. 14 (2) shows the results of the questionnaire about "cooperative-non-cooperative".
As shown in FIGS. 13 and 14, it was found that in the case of patterns 1A-2A, it was evaluated as "easy to stand", "like", "stable" and "cooperative".

FIG. 15 is an image diagram of standing motion support when an elderly person is a subject, and (1-a) to (1-d) are patterns 1A-2A, and (2-a) to (2-d) are. The case of pattern 1C-2C is shown. As shown in FIG. 15 (1-a), an elderly female care recipient 9 was a subject and performed a standing motion while receiving standing motion support by the standing / sitting motion support device 1. The assistant 11 is a person who accompanies the care recipient 9 in order to ensure safety, and does not support the standing motion.
As shown in FIGS. 15 (1-a) and (2-a), in any of the patterns 1A-2A and 1C-2C, no difference is observed in the seated state, but in FIG. 15 (1-a). As shown in b) and (2-b), in the state where the trunk is tilted forward and the position of the center of gravity of the body is moved from the top of the buttocks to the top of the sole (first movement), the pattern 1C- It can be seen that the pattern 1A-2A has a sufficiently forward leaning posture as compared with the case of 2C.
As shown in FIGS. 15 (1-c) and (2-c), in the state where the trunk is lifted upward (second motion), in the case of pattern 1A-2A, a sufficient forward leaning posture is performed. However, in the case of pattern 1C-2C, the trunk is smoothly raised because it is in a backward leaning posture as compared with the case of pattern 1A-2A. You can see that it has not been lifted.
Further, as shown in FIGS. 15 (1-d) and (2-d), even in the movement of extending the trunk and adjusting the posture (third movement), in the case of the pattern 1A-2A, the trunk is firmly held. However, in the case of pattern 1C-2C, it can be seen that the backward leaning posture continues slightly and the trunk is not sufficiently extended.

FIG. 16 is a graph showing the position of the center of gravity during the standing motion when an elderly person is a subject. Case 1 shows the case of pattern 1A-2A, and case 2 shows the case of pattern 1C-2C. From FIG. 16, it was confirmed that in the case of Case 2, the orbit was significantly deviated from the reference orbit, but in the case of Case 1, it was almost the same as the reference orbit.
From the above, it can be seen that by using the standing / sitting motion support method of the present embodiment, the support motion for unconsciously moving the care recipient on the target trajectory can be performed.

In this embodiment, a method of supporting the sitting motion using the standing / sitting motion support device will be described. As shown in FIG. 4, in general, the human sitting motion is a motion of shifting from the standing posture D to the posture C, that is, a motion of bending the trunk and losing the posture (fourth motion) and a motion of changing the posture from the posture C to the posture B. The movement of shifting, that is, the movement of lowering the trunk downward (fifth movement) and the movement of shifting from posture B to the sitting posture A, that is, the position of the center of gravity of the body from the top of the sole to the buttocks while tilting the trunk backward. It consists of three movements, such as the movement to move up (sixth movement).

FIG. 17 shows a flow chart of the standing / sitting motion support method of the second embodiment. As shown in FIG. 17, in supporting the sitting motion, first, the motion of bending the trunk and losing the posture (fourth motion) is induced (step S11). Here, the peak of the moving speed in the orbit of the assisting motion for inducing the fourth motion is set in the first half of the time axis of the fourth motion, and the assisting motion is performed. More specifically, the support operation is performed by setting the peak to be located at the time when 25% of the total required time of the fourth operation has elapsed. As a result, it is possible to perform a support operation for unconsciously moving the user from the standing posture to the sitting posture on the target trajectory.
Next, a support operation for inducing an operation of lowering the trunk (fifth operation) is performed (step S12). Finally, a support motion is performed to induce a motion (sixth motion) of moving the position of the center of gravity of the body from above the sole of the foot to above the buttocks while tilting the trunk backward (step S13).
The trajectory in the support motion is a trajectory that imitates the motion in which a skilled physiotherapist guides the user's motion, as in the case of supporting the user's standing motion in which the sitting posture is changed to the standing posture.

(Other Examples)
The standing / sitting motion support device includes two grip portions, a movable portion for moving each grip portion, and a control unit for controlling the movable portion. Alternatively, the shape may be such that the left and right arms are placed on the left and right arms, and the movement of the grip portion assists the user's movement.

INDUSTRIAL APPLICABILITY The present invention is useful as a device that supports the standing and sitting motion of a care recipient who has difficulty in standing and sitting motion due to weakening of the lower limbs and the like.

1 Standing and sitting movement support device 2 Guidance mechanism 3 Pedestal part 4 Movable part 5 Horizontal movement mechanism 6 Vertical movement mechanism 9 Care recipient 10 Chair 11 Assistant 31 Armrest 32 Handle 50 Autonomous walker 51 Activating wheel 52a Front caster 52b Rear caster 60 Manipulator for standing support

Claims (9)

It is a device that supports the standing motion of the user who shifts from the sitting posture to the standing posture.
The standing operation is
The first movement of tilting the trunk forward and moving the position of the center of gravity of the body from above the buttocks to above the soles of the feet,
The second action to lift the trunk upwards,
The third movement to extend the trunk and prepare the posture,
Consists of
The device includes a mechanism for performing a support operation for inducing the first to third operations.
The support operation is
The peak of the moving speed in the orbit of the motion for inducing the first motion is set in the first half of the time axis of the first motion, and
The peak of the orbital moving speed of the motion that induces the second motion is set in the first half of the time axis of the second motion.
A standing and sitting motion support device characterized by this. It is a device that supports the sitting motion of the user who shifts from the standing posture to the sitting posture.
The seating motion is
The fourth movement that bends the trunk and loses posture,
The fifth action of lowering the trunk and
The sixth movement to move the position of the center of gravity of the body from the top of the sole to the top of the buttocks while tilting the trunk backward.
Consists of
The device includes a mechanism for performing a support operation for inducing a fourth to sixth operation.
The support operation is
A standing / sitting motion support device characterized in that the peak of the moving speed in the orbit of the motion for inducing the fourth motion is set in the first half of the time axis of the fourth motion. The standing / sitting motion support device according to claim 1 or 2, wherein the trajectory in the assisting motion is a trajectory that imitates a motion in which a skilled physiotherapist guides the user's motion. The standing / sitting motion support device according to claim 1 or 2, wherein the peak of the moving speed is set to 20 to 30% of the total required time of each motion. The mechanism that performs the support operation in the device is
Equipped with a mechanism that can move the pedestal surface mounted on the device in the horizontal and vertical directions.
The standing / sitting motion support device according to any one of claims 1 to 4, wherein the user's arm abuts on the pedestal surface to assist the user's motion. The mechanism for performing the support operation in the device includes two grip portions, a movable portion for moving each grip portion, and a control unit for controlling the movable portion.
Claims 1 to 1, wherein the grip portion has a shape in which the user grips each of the grip portions with his / her left and right hands or puts the left and right arms on the grip portion, and the operation of the grip portion assists the user's operation. Standing and sitting motion support device according to any one of 4. It is a method to support the standing motion of the user who shifts from the sitting posture to the standing posture.
The standing operation is
The first movement of tilting the trunk forward and moving the position of the center of gravity of the body from above the buttocks to above the soles of the feet,
The second action to lift the trunk upwards,
The third movement to extend the trunk and prepare the posture,
Consists of
The method comprises a step of performing a support motion for inducing a first to third motion.
In the step of performing the support operation
The peak of the moving speed in the orbit of the motion for inducing the first motion is set in the first half of the time axis of the first motion, and
The peak of the orbital moving speed of the motion that induces the second motion is set in the first half of the time axis of the second motion.
A method of supporting standing and sitting movements, which is characterized by the fact that. It is a method to support the sitting motion of the user who shifts from the standing posture to the sitting posture.
The seating motion is
The fourth movement that bends the trunk and loses posture,
The fifth action of lowering the trunk and
The sixth movement, which tilts the trunk backward and moves the position of the center of gravity of the body from the top of the sole to the top of the buttocks.
Consists of
The method comprises a step of performing a support motion for inducing a fourth to sixth motion.
In the step of performing the support operation
A standing / sitting motion support method, characterized in that the peak of the moving speed in the orbit of the motion for inducing the fourth motion is set in the first half of the time axis of the fourth motion. The standing / sitting motion support method according to claim 7, wherein the peak of the moving speed is set to 20 to 30% of the total required time of each motion.

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