JP5773696B2 - Stand-up motion assist robot - Google Patents

Description

  The present invention relates to a start-up motion assist robot that assists a stand-up operation when an elderly person or a cared person stands up from a chair or a bed.

  Patent Document 1 discloses a standing-up training machine including a motor, a rope, and a roller. The rope is wound around a roller. The rope connects the motor and the user. According to the standing-up training machine described in the document, when the user stands up, the user can assist the standing-up operation by winding the rope with a motor.

  Patent Document 2 discloses a walking assist device including a pair of user holding portions, a holding arm, and a support column. The holding arm is attached to the column so as to be swingable in the vertical direction. The pair of user holding portions is attached to the upper end of the holding arm. According to the walking assist device described in the same document, when the user stands up, the pair of user holding portions hold the user's side from below (the user holds the pair of user holding portions on both sides). By swinging the holding arm (in a state), it is possible to assist the user's rising motion.

JP 2008-049881 A Japanese Patent Laid-Open No. 7-184966

  However, the standing-up training machine of Patent Literature 1 and the walking assist device of Patent Literature 2 are both large. For this reason, it is difficult to secure installation space and use space. Moreover, the stand-up training machine of patent document 1 provides the assist force in the case of stand-up operation with respect to a user with the winding transmission mechanism. In addition, the walking assist device of Patent Document 2 provides a user with an assisting force during a standing up motion by a swing mechanism. This complicates the mechanism for providing the auxiliary force.

  The rising motion assist robot of the present invention has been completed in view of the above problems. An object of the present invention is to provide a rising motion assist robot that can be reduced in size and has a simple mechanism for providing an assisting force during the rising motion.

  (1) In order to solve the above-mentioned problem, the rising motion assist robot according to the present invention is capable of swinging in the vertical direction with respect to the base portion, the shaft portion that can be expanded and contracted vertically with respect to the base portion, and the shaft portion. A robot main body having a support portion, and the support portion assists the assisting person's rising motion by extending the shaft portion while following the movement of a part of the support target person's body. Features.

  According to the rising motion assist robot of the present invention, the support portion assists the standing motion of the assisting subject by following the movement of a part of the assisting subject's body (for example, the chest, the abdomen). When assisting, the shaft only extends upward. For this reason, the mechanism for providing the auxiliary force is simplified as compared with the case where the auxiliary force at the time of the rising operation is provided by the winding transmission mechanism or the swing mechanism. In addition, since the mechanism for providing the auxiliary force is simple, the rising motion assist robot can be reduced in size.

  (2) Preferably, in the configuration of the above (1), the robot main body has a main body side fixing portion, and the main body side fixing portion is fixed when assisting the standing up motion of the auxiliary subject. It is better to have an anchor portion having an anchor side fixing portion and a footrest portion on which the auxiliary subject places the sole.

  According to this configuration, the rising motion assist robot includes the anchor unit dedicated to the robot body. When assisting the standing up motion of the person to be assisted, the robot main body is fixed to the anchor portion via the main body side fixing portion and the anchor side fixing portion. For this reason, when assisting the standing up motion of the person to be assisted, it is possible to suppress the posture of the robot body from becoming unstable.

  Further, the weight of the assisting subject himself is added to the footrest portion of the anchor portion. For this reason, the weight of an anchor part becomes heavy as much as the auxiliary | assistant subject's own body weight is added. In this respect as well, it is possible to suppress the posture of the robot body from becoming unstable when assisting the standing up motion of the person to be assisted.

  Further, by increasing the weight of the robot body, it is possible to reduce the weight of the robot body as compared with the case where the posture of the robot body is stabilized when assisting the rising operation. In addition, by increasing the size of the robot body, the robot body can be reduced in size as compared with the case where the posture of the robot body is stabilized when assisting the startup operation.

  In addition, for example, when the robot body has driving wheels (this configuration is also included in the case where the robot body does not have driving wheels), by controlling the driving wheels (by balancing the robot body), when assisting the rising motion Compared with the case where the posture of the robot body is stabilized, the control mechanism of the robot body can be simplified.

  (2-1) Preferably, in the configuration of (2), the main body side fixing portion is preferably fixed to the anchor side fixing portion by a magnetic force. According to this configuration, it is possible to combine and separate the robot main body and the anchor portion using magnetic force. Further, when an electromagnet is used to generate a magnetic force (a case where a permanent magnet is used is also included in this configuration), the magnetic force can be freely turned on and off. For this reason, the robot body and the anchor portion can be easily combined and separated.

  (2-2) Preferably, in the configuration of (2), the main body side fixing portion is preferably fixed to the anchor side fixing portion by an engaging force. According to this configuration, the robot main body and the anchor portion can be combined and separated using mechanical engagement force (for example, claw engagement).

  (3) Preferably, in the configuration of (2), the anchor unit may include a power supply unit that supplies power to the robot body when assisting the standing up motion of the assisting person.

  When assisting the assisting person's standing-up motion, the robot body requires a large amount of power. In this regard, according to this configuration, when assisting the rising operation, power is supplied from the anchor unit to the robot body. For this reason, it is possible to suppress the consumption of the battery of the robot body. Further, sufficient power can be supplied to the robot body.

  (3-1) Preferably, in the configuration of the above (3), the anchor portion may supply power to the robot body by a non-contact power feeding method. According to this configuration, power can be easily supplied to the robot body.

  (3-2) Preferably, in the configuration of (3), when the robot main body cannot supply power from the anchor portion to the robot main body, the robot main body uses the battery of its own to raise the auxiliary subject. It is better to have a configuration to assist. According to this structure, even if it is a case of a power failure etc., the stand-up operation | movement of an assistance subject can be assisted.

  (4) Preferably, in the configuration of (1), the robot body includes an arm unit that fixes the robot body to a structure adjacent to the robot body when assisting the standing-up motion of the assistance subject. It is better to have a configuration.

  According to this configuration, the robot body can be fixed by temporarily using the structure around the auxiliary target person as an anchor. For this reason, when assisting the standing up motion of the person to be assisted, it is possible to suppress the posture of the robot body from becoming unstable.

  Further, by increasing the weight of the robot body, it is possible to reduce the weight of the robot body as compared with the case where the posture of the robot body is stabilized when assisting the rising operation. In addition, by increasing the size of the robot body, the robot body can be reduced in size as compared with the case where the posture of the robot body is stabilized when assisting the startup operation.

  In addition, for example, when the robot body has driving wheels (this configuration is also included in the case where the robot body does not have driving wheels), by controlling the driving wheels (by balancing the robot body), when assisting the rising motion Compared with the case where the posture of the robot body is stabilized, the control mechanism of the robot body can be simplified.

  (5) Preferably, in the configuration of (4), the robot main body further includes an information display unit that is disposed on the structure and displays load resistance information regarding the load resistance of the structure. A reading unit capable of reading the load bearing information, and a control unit having weight information relating to the weight of the auxiliary subject, the control unit comprising the load bearing information read by the reading unit, It is better to determine whether or not the robot body is fixed to the structure by the arm portion by comparing the weight information of the robot itself.

  According to this configuration, it is possible to determine whether or not to use the structure by comparing the load resistance information of the structure and the weight information of the auxiliary target person. For this reason, when assisting the standing up motion of the person to be assisted, it is possible to suppress the posture of the robot body from becoming unstable. In addition, when assisting the standing-up operation, it is possible to suppress the use of a structure that cannot withstand the weight of the assisting subject as an anchor.

  (6) Preferably, in the configuration of the above (1), further, the weight movement of the auxiliary subject is determined based on the load sensor and the load detected by the load sensor, and the shaft portion and the support portion are driven. It is better to have a configuration that includes a control unit. According to this configuration, it is possible to determine the weight shift, that is, the movement of the assisting person during the standing-up operation using the load sensor.

  (7) Preferably, in the configuration of the above (6), the robot main body has a main body side fixing portion, and the main body side fixing portion is fixed when assisting the standing up motion of the auxiliary subject. An anchor portion having an anchor side fixing portion and a footrest portion on which the person to be assisted puts a sole, and the load sensor is a shaft portion side load sensor that detects a shaft portion side load applied to the shaft portion; A footrest portion side load sensor for detecting a footrest portion side load applied to the footrest portion, wherein the control portion is based on a change in a ratio between the shaft portion side load and the footrest portion side load. In addition, it is better to determine the weight shift of the auxiliary subject and drive the shaft and the support.

  According to this configuration, it is possible to determine the weight shift of the assistance subject based on the change in the ratio between the shaft portion side load and the footrest portion side load. In other words, it is possible to determine the movement of the assistance subject using the characteristics of the weight movement of the assistance subject during the standing-up motion.

  (8) Preferably, in the configuration of the above (7), when the ratio of the load on the shaft portion side and the load on the footrest portion does not substantially change for a certain time, the support portion assists the operation of the support subject. It is better to have a configuration.

  When the ratio of the shaft portion side load and the footrest portion side load does not substantially change for a certain period of time, it is assumed that the auxiliary target person is not able to stand up by himself. According to the present configuration, in such a case, the operation of the assistance subject can be assisted by moving the support portion.

  (9) Preferably, in the configuration of the above (6), the robot body includes a step unit having a footrest part on which the assisting subject places a sole when assisting the standing up motion of the assisting subject, The load sensor is a shaft portion side load sensor that detects a shaft portion side load applied to the shaft portion, and a footrest portion side load sensor that detects a footrest portion side load applied to the footrest portion, and The control unit is preferably configured to determine the weight shift of the auxiliary subject based on a change in the ratio between the shaft side load and the footrest side load and drive the shaft and the support unit. .

  According to this configuration, the robot body includes the step unit. For this reason, a dedicated anchor part and an arm part for using a structure as an anchor are unnecessary. Further, even in a place where there is no anchor portion or a place where there is no structure suitable for use as an anchor, it is possible to assist the assisting person in standing up.

  (10) Preferably, in the configuration of (9), when the ratio of the load on the shaft portion side and the load on the footrest portion does not substantially change for a certain period of time, the support portion assists the operation of the support subject. It is better to have a configuration.

  When the ratio of the shaft portion side load and the footrest portion side load does not substantially change for a certain period of time, it is assumed that the auxiliary target person is not able to stand up by himself. According to the present configuration, in such a case, the operation of the assistance subject can be assisted by moving the support portion.

  According to the present invention, it is possible to provide a rising motion assist robot that can be reduced in size and has a simple mechanism for providing an assisting force during the rising motion.

It is a permeation | transmission perspective view of the state with which the robot main body and anchor part of the robot of 1st embodiment were united. It is a right view of FIG. FIG. 3 is an enlarged view in a frame III in FIG. 2. It is a block diagram of the robot. (A) is a schematic diagram of a calling step. (B) is a schematic diagram of a coalescing step. (C) is a schematic diagram of the step before the rising operation. (D) is a schematic diagram of steps during the rising operation. (E) is a schematic diagram of a rising operation completion step. It is a permeation | transmission perspective view of the robot of 2nd embodiment. It is a permeation | transmission perspective view of the robot of 3rd embodiment.

  Hereinafter, embodiments of the rising motion assist robot of the present invention will be described.

<First embodiment>
[Mechanical configuration of robot for assisting standing up]
First, the mechanical configuration of the rising motion assist robot (hereinafter referred to as “robot” as appropriate) of the present embodiment will be described. FIG. 1 is a transparent perspective view showing a state in which the robot main body and the anchor portion of the robot of this embodiment are combined. FIG. 2 shows a right side view of FIG. FIG. 3 shows an enlarged view in the frame III of FIG. FIG. 4 shows a block diagram of the robot.

  As shown in FIGS. 1 to 4, the robot 1 of the present embodiment includes a robot body 2, an anchor unit 3, a shaft side load sensor 40, a footrest side load sensor 41, and an anchor side control unit 42. And a main body side control unit 43. The anchor side control unit 42 and the main body side control unit 43 are included in the concept of the “control unit” of the present invention.

  As shown mainly in FIGS. 1 and 4, the robot body 2 includes a base 20, a shaft 21, a support 22, a grips 23L and 23R, main body side fixings 24L and 24R, and drive wheels 26L. 26R, driven wheel 260, power receiving units 27L and 27R, light receiving unit 28, CCD (Charge-Coupled Device) camera 29, proximity sensor 290, and battery 291.

  The base 20 has a block shape. The base portion 20 has a function as a shaft portion support portion that supports the shaft portion 21 so as to be able to enter and exit. The base 20 houses a battery 291, a main body side control unit 43, and a proximity sensor 290. The battery 291 is a power source for the robot body 2 (specifically, the traveling motors 261L and 261R, the shaft cylinder 211, the support motor 221 and the like). The CCD camera 29 and the light receiving unit 28 are disposed on the upper part of the front surface of the base 20. The light receiving unit 28 can receive infrared rays from the remote controller 10 for the robot body 2. The light receiving unit 28 has a function as an instruction input unit for inputting an instruction from an auxiliary subject.

  The pair of left and right drive wheels 26 </ b> L and 26 </ b> R and the driven wheel 260 are disposed below the base 20. The drive wheels 26L, 26R and the driven wheel 260 are in contact with the floor surface f like a tricycle. The drive wheels 26L and 26R and the driven wheel 260 have a function as a moving body that moves the robot body 2. The pair of traveling motors 261L and 261R are accommodated in the base 20. The driving wheels 26L are driven to rotate independently of each other by the traveling motor 261L, and the driving wheels 26R are driven to rotate independently of each other by the traveling motor 261R. The pair of traveling motors 261L and 261R has a function as a drive actuator that drives the moving body.

  As shown in FIG. 2, the shaft portion 21 includes a shaft portion main body 210 and a shaft portion cylinder 211. The shaft body 210 has an L-shaped prism shape. The shaft body 210 is attached to the upper surface of the base 20 so as to be able to enter and exit in the vertical direction. The upper end of the shaft portion main body 210 is bent forward (auxiliary subject side).

  The shaft portion cylinder 211 is a fluid cylinder. The shaft cylinder 211 is accommodated in the base 20. The shaft portion cylinder 211 is connected to the lower end of the shaft portion main body 210 via a shaft portion side load sensor 40 described later. The shaft portion cylinder 211 can drive the shaft portion main body 210 in the vertical direction. Further, the shaft portion cylinder 211 can adjust the pushing load and the rising speed of the shaft portion main body 210. The pair of left and right grip portions 23L and 23R are provided so as to protrude from both the left and right sides of the shaft body 210.

  The support portion 22 includes a support portion main body 220, a support portion motor 221, and a support portion torque sensor 222. The support portion main body 220 has a plate shape in which a cushion material is pasted on the surface on the auxiliary subject side. As shown in FIG. 2, the lower end of the support portion main body 220 is attached to the upper end of the shaft portion main body 210 so as to be swingable in the vertical direction via a swing shaft 220a. The support portion motor 221 can drive the support portion main body 220 in both forward and reverse directions. The support portion torque sensor 222 can detect the torque applied to the swing shaft 220a.

  As shown mainly in FIGS. 1 and 3, the pair of left and right main body side fixing portions 24 </ b> L and 24 </ b> R are each made of a magnetic material (for example, a metal containing iron) and have a plate shape. The main body side fixing portions 24L and 24R are attached to the lower surface of the base portion 20 so as to be swingable in the vertical direction. The main body side fixing portions 24L and 24R are each urged toward the lower surface of the base portion 20 by a spring (not shown).

  As shown mainly in FIGS. 1, 3, and 4, the pair of left and right power receiving units 27 </ b> L and 27 </ b> R includes power receiving coil units 270 </ b> L and 270 </ b> R, respectively. The power receiving units 27L and 27R are disposed behind the main body side fixing units 24L and 24R. The power receiving units 27 </ b> L and 27 </ b> R are accommodated in the base 20.

  As shown mainly in FIGS. 1, 3, and 4, the anchor portion 3 includes anchor-side fixing portions 30 </ b> L and 30 </ b> R, a footrest portion 31, power feeding portions 32 </ b> L and 32 </ b> R, a proximity sensor 33, and a driven wheel approach. A portion 34, an anchor portion main body 35, and a control box 36 are provided. The anchor part main body 35 has a rectangular plate shape. The footrest portion 31 is disposed on the upper surface of the anchor portion main body 35. The driven wheel entry portion 34 is recessed forward from the center in the left-right direction of the rear edge of the anchor portion main body 35. The proximity sensor 33 is disposed in front of the driven wheel entry portion 34. The proximity sensor 33 is accommodated in the anchor body 35.

  Anchor side fixing | fixed part 30L, 30R is an electromagnet. The anchor side fixing portions 30L and 30R include fixing coil portions 300L and 300R. The anchor side fixing portions 30L and 30R are disposed on both the left and right sides of the driven wheel entry portion 34. The anchor side fixing portions 30L and 30R are accommodated in the anchor portion main body 35. As shown in FIGS. 1 and 3, in a state where the robot main body 2 is united with the anchor portion 3, the anchor side fixing portions 30L and 30R and the main body side fixing portions 24L and 24R face each other in the vertical direction.

  The power feeding units 32L and 32R include power feeding coil units 320L and 320R. The power feeding parts 32L and 32R are arranged behind the anchor side fixing parts 30L and 30R. The power feeding portions 32L and 32R are accommodated in the anchor portion main body 35. As shown in FIGS. 1 and 3, in a state where the robot body 2 is united with the anchor unit 3, the power feeding units 32 </ b> L and 32 </ b> R and the power receiving units 27 </ b> L and 27 </ b> R face each other in the vertical direction.

  The control box 36 is disposed in front of the upper surface of the anchor body 35. The control box 36 accommodates an anchor side control unit 42 described later. As shown in FIG. 4, power is supplied to the anchor-side control unit 42 from an external power supply 11 (for example, a household power supply).

  As shown in FIG. 2, the shaft portion side load sensor 40 is attached to the lower end of the shaft portion main body 210 of the robot main body 2. The shaft portion side load sensor 40 can detect a load applied to the shaft portion main body 210. The footrest portion side load sensor 41 is disposed below the footrest portion 31 of the anchor portion 3. The footrest portion side load sensor 41 is accommodated in the anchor portion main body 35. The footrest portion side load sensor 41 can detect a load applied to the footrest portion 31.

[Electrical configuration of robot for assisting standing up]
Next, the electrical configuration of the rising motion assist robot of this embodiment will be described. As shown in FIG. 4, the main body side control unit 43 includes a CPU (Central Processing Unit) 430, a memory 431, and an input / output unit 432. The main body control unit 43 is stored in the base 20 of the robot main body 2 shown in FIG. Power is supplied to the main body side control unit 43 from the battery 291. Detection signals are input to the main body side control unit 43 from the shaft side load sensor 40, the support portion torque sensor 222, the CCD camera 29, and the proximity sensor 290. In addition, a command is transmitted from the remote controller 10 to the main body side control unit 43 via the light receiving unit 28. Further, the main body side control unit 43 outputs a drive signal to the shaft portion cylinder 211, the support portion motor 221, and the traveling motors 261L and 261R.

  The anchor side control unit 42 includes a CPU 420, a memory 421, and an input / output unit 422. The anchor side control part 42 is stored in the control box 36 of the anchor part 3 shown in FIG. The anchor-side control unit 42 is supplied with power from the external power supply 11. Detection signals from the footrest side load sensor 41 and the proximity sensor 33 are input to the anchor side control unit 42. Further, the anchor side control unit 42 outputs drive signals to the fixing coil units 300L and 300R and the power feeding coil units 320L and 320R.

  The main body side control unit 43 and the anchor side control unit 42 can communicate bidirectionally wirelessly. Therefore, detection signals are input to the anchor side control unit 42 from the shaft side load sensor 40, the support portion torque sensor 222, and the CCD camera 29 via the main body side control unit 43. Further, the anchor side control unit 42 outputs a drive signal to the shaft portion cylinder 211 and the support portion motor 221 via the main body side control unit 43.

[Raising motion assist robot movement]
Next, the movement of the start-up motion assist robot of this embodiment will be described. The movement of the robot when assisting the rising operation includes a calling step, a coalescing step, a step before the rising operation, a step during the rising operation, and a step of completing the rising operation.

  FIG. 5A shows a schematic diagram of the calling step. FIG. 5B shows a schematic diagram of the coalescing step. FIG. 5C shows a schematic diagram of the step before the rising operation. FIG. 5D shows a schematic diagram of steps during the rising operation. FIG. 5E shows a schematic diagram of the rising operation completion step.

  When the robot is not used, the robot body 2 stands by at a power supply station (not shown). In the power supply station, the battery of the robot body 2 is charged by the non-contact power supply method, as in the anchor unit 3 described later. The anchor portion 3 is placed on the floor surface f beside the bed 9.

(Calling step)
As shown in FIG. 5A, in this step, the robot body 2 is moved from the power supply station to the side of the bed 9 (that is, the anchor portion 3). That is, the auxiliary target person M transmits a calling command to the main body side control unit 43 of the robot main body 2 (specifically, the light receiving unit 28 shown in FIG. 4) via infrared rays transmitted from the remote controller 10. The robot body 2 that has received the calling command travels by itself using the driving wheels 26L and 26R while checking the surrounding conditions using the proximity sensor 290 and the CCD camera 29. Then, the robot body 2 arrives at the anchor portion 3.

(Merge step)
As shown in FIG. 5B, in this step, the robot body 2 is fixed to the anchor portion 3. That is, as shown in FIG. 1, when the robot body 2 has reached the anchor portion 3, the driven wheel 260 has entered the driven wheel entry portion 34. As shown in FIGS. 1 and 3, the anchor side fixing portions 30L and 30R and the main body side fixing portions 24L and 24R face each other in the vertical direction. The power feeding units 32L and 32R and the power receiving units 27L and 27R face each other in the vertical direction.

  As shown in FIG. 3, the proximity sensor 33 detects the distance between itself and the driven wheel 260. As shown in FIG. 4, the detected distance is transmitted from the proximity sensor 33 to the anchor side control unit 42. In the memory 421, a predetermined distance (specifically, the anchor side fixing portions 30L and 30R and the main body side fixing portions 24L and 24R face each other in the vertical direction, and the power feeding portions 32L and 32R and the power receiving portion 27L, 27R) is stored in the vertical direction.

  When the detection distance of the proximity sensor 33 matches the predetermined distance stored in the memory 421, the CPU 420 energizes the fixing coil units 300L and 300R. For this reason, anchor side fixing | fixed part 30L and 30R generate | occur | produce a magnetic attraction force. As shown in FIG. 3, the main body side fixing portions 24L and 24R are attracted to the anchor side fixing portions 30L and 30R against the biasing force of the spring by the magnetic attraction force. The main body side fixing portions 24L and 24R are attracted to the upper surface of the anchor portion main body 35. The robot body 2 is fixed to the anchor portion 3 by the suction. As shown in FIG. 5B, the auxiliary subject M is placed on the footrest portion 31 of the anchor portion 3. For this reason, the footrest portion side load F <b> 2 is input from the auxiliary subject person M to the footrest portion 31 of the anchor portion 3. Therefore, the robot body 2 can be firmly fixed.

  As shown in FIG. 4, when the detection distance of the proximity sensor 33 matches the predetermined distance stored in the memory 421, the CPU 420 energizes the power feeding coil portions 320L and 320R. For this reason, as shown in FIGS. 3 and 4, the power feeding units 32L and 32R (power feeding coil units 320L and 320R) to the power receiving units 27L and 27R (power receiving coil units 270L and 270R) are contactlessly fed. Power is supplied. Thus, in the state where the robot body 2 and the anchor unit 3 are combined, power is supplied from the anchor unit 3 (that is, the external power supply 11) to the robot body 2 instead of from the battery 291 of the robot body 2. . For this reason, the electric power necessary for the rising operation can be supplied from the anchor unit 3.

  When it is confirmed that the robot body 2 is fixed to the anchor unit 3, the assistance subject M transmits an assistance start command to the body side control unit 43 of the robot body 2 via infrared rays transmitted from the remote controller 10. The auxiliary start command is transferred from the main body side control unit 43 to the anchor side control unit 42.

  As shown in FIG. 4, the physique information of the assistance subject M is stored in advance in the memory 421 of the anchor-side control unit 42. Receiving the assistance start command, the CPU 420 drives the shaft portion cylinder 211 so that the support portion main body 220 comes to a position slightly lower than the chest of the assistance subject M. That is, the shaft body 210 is expanded and contracted.

(Step before start-up operation)
As shown in FIG. 5 (c), in this step, the robot 1 assists the operation up to immediately before the assisting subject M enters the rising motion. That is, when the auxiliary target person M attempts to enter the standing-up operation, the auxiliary target person M presses the chest against the surface of the support body 220 while holding the grip parts 23L and 23R.

  As shown in FIG. 4, the shaft-side load F <b> 1 applied to the shaft body 210 is input to the anchor-side controller 42 via the shaft-side load sensor 40 and the body-side controller 43. That is, the load applied from the chest of the auxiliary subject M is input. In addition, the anchor-side control unit 42 is input with the footrest-side load F <b> 2 applied to the footrest 31 via the footrest-side load sensor 41. That is, the load applied from the sole part of the auxiliary subject M is input.

  As shown in FIG. 5C, when the auxiliary subject M holds the grip portions 23L and 23R and presses the chest against the surface of the support portion main body 220, the shaft portion side load F1 increases. As shown in FIG. 4, the CPU 420 determines from the increase in the shaft portion side load F <b> 1 that the auxiliary target person M is about to enter the standing up motion.

  The CPU 420 swings the support unit main body 220 via the main body side control unit 43 so as to follow the movement of the chest of the auxiliary subject M. Specifically, as shown in FIGS. 2 and 4, the torque applied to the swing shaft 220 a is transmitted to the anchor side control unit 42 via the support portion torque sensor 222 and the main body side control unit 43. The memory 421 stores a predetermined torque value in advance. When the detected torque value of the support portion torque sensor 222 exceeds a predetermined torque value stored in the memory 421, the CPU 420 drives the support portion motor 221. Then, as shown in FIG. 5C, the support part main body 220 is swung backward (in the direction in which the chest of the support subject M presses the support part main body 220).

  As shown in FIG. 4, the memory 421 stores the weight information of the auxiliary target person M in advance. As shown in FIG. 5C, when the sum of the shaft portion side load F <b> 1 and the footrest portion side load F <b> 2 matches the weight of the auxiliary subject person M stored in the memory 421, the auxiliary subject person M I'm away from. In this case, the CPU 420 determines that the auxiliary target person M has shifted to the rising motion.

(Steps during startup)
As shown in FIG. 5D, in this step, the robot 1 assists the assisting person M in standing up. That is, when the auxiliary target person M enters the standing-up motion, the shaft body 210 extends so as to follow the movement of the auxiliary target person M. Specifically, as shown in FIGS. 2 and 4, the shaft portion side load F <b> 1 applied to the shaft portion main body 210 is applied to the anchor side control portion 42 via the shaft portion side load sensor 40 and the main body side control portion 43. Is transmitted. A predetermined load value is stored in the memory 421 in advance. When the shaft portion side load F <b> 1 becomes less than a predetermined load value stored in the memory 421, the CPU 420 drives the shaft portion cylinder 211 via the main body side control unit 43. Then, as shown in FIG. 5D, the shaft body 210 is extended upward (in the direction in which the support body 220 catches up with the chest of the auxiliary subject M).

  Further, as shown in FIG. 5D, when the assisting subject person M starts up, the support body 220 swings so as to follow the motion of the assisting subject person M. Specifically, as shown in FIGS. 2 and 4, the load applied to the support portion main body 220 is transmitted to the anchor side control portion 42 via the support portion torque sensor 222 and the main body side control portion 43. The memory 421 stores a predetermined torque value in advance. When the detected torque value of the support portion torque sensor 222 is less than the predetermined torque value stored in the memory 421, the CPU 420 drives the support portion motor 221 via the main body side control portion 43. Then, as shown in FIG. 5 (d), the support part body 220 is swung forward (in a direction in which the support part body 220 catches up with the chest of the auxiliary subject M).

  As the auxiliary subject M stands up, the shaft portion side load F1 gradually decreases. On the other hand, the footrest side load F2 gradually increases. When the ratio of the shaft portion side load F1 and the footrest portion side load F2 does not change for a predetermined time, it is conceivable that the auxiliary target person M cannot stand up by himself. In this case, as shown in FIG. 4, the CPU 420 drives the shaft cylinder 211. Then, as shown in FIG. 5D, the shaft body 210 is extended upward (in the direction in which the support body 220 presses the chest of the auxiliary subject M). Further, as shown in FIG. 4, the CPU 420 drives the support portion motor 221. Then, as shown in FIG. 5 (d), the support portion main body 220 is swung forward (in the direction in which the support portion main body 220 presses the chest of the auxiliary subject M). As described above, when the assist target person M cannot stand up, the robot 1 assists the assist target person M in standing up.

(Rise operation complete step)
As shown in FIG. 5 (e), in this step, the robot 1 completes the assistance of the standing up motion of the assistance subject M. That is, when the shaft portion side load F1 becomes 0 and the footrest portion side load F2 coincides with the weight of the assisting subject person M stored in the memory 421, the assisting subject person M has completed the standing up motion. In this case, the CPU 420 determines that the assisting person M has completed the rising motion.

  In this way, the robot 1 assists the stand-up operation of the auxiliary target person M by causing the shaft main body 210 and the support main body 220 to follow the movement of the auxiliary target person M. Further, the posture of the auxiliary target person M is determined from changes in the shaft portion side load F1 and the footrest portion side load F2.

[Function and effect]
Next, the effect of the rising motion assist robot of this embodiment will be described. As shown in FIGS. 5A to 5E, according to the robot 1 of the present embodiment, the support body 220 pushes up the chest of the support subject M from below, so that the support subject M stands up. Is helping. When assisting, the shaft body 210 only extends upward. This simplifies the mechanism for providing the auxiliary force. That is, as shown in FIG. 2, an auxiliary force can be provided by the shaft portion cylinder 211 that reciprocates the shaft portion main body 210 linearly. Further, the robot 1 can be miniaturized because the mechanism for providing the auxiliary force is simple.

  Further, as shown in FIGS. 5A to 5E, the robot 1 according to the present embodiment includes an anchor portion 3 dedicated to the robot body 2. As shown in FIG. 3, when assisting the standing motion of the assisting person M, the robot main body 2 is fixed to the anchor portion 3 via the main body side fixing portions 24L and 24R and the anchor side fixing portions 30L and 30R. . For this reason, when assisting the standing up motion of the assistance subject M, it is possible to prevent the posture of the robot body 2 from becoming unstable.

  Moreover, as shown to Fig.5 (a)-FIG.5 (e), the weight of assistance subject M itself is added to the footrest part 31 of the anchor part 3. FIG. For this reason, the weight of the anchor portion 3 is increased by the amount of the weight of the auxiliary subject M himself. Also in this respect, it is possible to suppress the posture of the robot main body 2 from becoming unstable when assisting the standing up motion of the assistance subject M.

  Further, by increasing the weight of the robot main body 2, the robot main body 2 can be reduced in weight as compared with the case where the posture of the robot main body 2 is stabilized when assisting the rising motion. In addition, by increasing the size of the robot body 2, the robot body 2 can be reduced in size as compared with the case where the posture of the robot body 2 is stabilized when assisting the rising motion.

  In addition, by controlling the drive wheels 26L and 26R (by balancing the robot body 2), the robot body 2 is controlled as compared to the case where the posture of the robot body 2 is stabilized when assisting the rising motion. The mechanism can be simplified.

  The main body side fixing portions 24L and 24R are fixed to the anchor side fixing portions 30L and 30R by the magnetic attractive force of the electromagnet. For this reason, the robot main body 2 and the anchor part 3 can be easily united and separated by turning on and off the energization of the electromagnet.

  Further, when the robot body 2 and the anchor portion 3 are separated, no magnetic attractive force is generated in the anchor side fixing portions 30L and 30R. For this reason, it can suppress that the magnetic attraction force of the anchor side fixing | fixed part 30L and 30R influences the apparatus around the assistance subject M.

  As shown in FIGS. 3 and 4, the anchor portion 3 includes power feeding portions 32L and 32R. For this reason, when assisting the rising operation, electric power can be supplied from the anchor unit 3 (that is, the external power supply 11) to the robot body 2. For this reason, it can suppress that the battery 291 of the robot main body 2 is exhausted. In addition, it is possible to supply the robot body 2 with enough power to assist the rising operation. The anchor unit 3 supplies power to the robot body 2 by a non-contact power feeding method. For this reason, electric power can be easily supplied to the robot main body 2.

  Also, as shown in FIGS. 4 and 5A to 5E, the anchor side control unit 42 of the robot 1 of the present embodiment includes the shaft side load F1 of the shaft side load sensor 40 and the foot. Based on a change in the ratio between the footrest portion side load sensor 41 and the footrest portion side load F2, the weight shift of the auxiliary subject M is determined.

  That is, as shown in FIG. 5 (c), when the sum of the shaft portion side load F1 and the footrest portion side load F2 matches the weight of the auxiliary subject M stored in the memory 421, the CPU 420 It is determined that the person M has shifted to the rising operation. Further, as illustrated in FIG. 5D, when the shaft portion side load F1 is gradually decreased and the footrest portion side load F2 is gradually increased, the CPU 420 indicates that the auxiliary subject M is standing up. Determine. Further, as shown in FIG. 5E, when the shaft portion side load F1 becomes zero and the footrest portion side load F2 matches the weight of the auxiliary subject M stored in the memory 421, the CPU 420 It is determined that the rising operation of the subject M has been completed. Then, the CPU 420 appropriately drives the shaft body 210 and the support body 220 according to the determination result. As described above, according to the robot 1 of the present embodiment, it is possible to determine the operation of the auxiliary target person M using the characteristics of the weight shift of the auxiliary target person M during the standing-up motion.

  Also, as shown in FIGS. 4 and 5A to 5E, the anchor side control unit 42 of the robot 1 of the present embodiment is a ratio of the shaft side load F1 and the footrest side load F2. Is not substantially changed for a certain period of time, the support body 220 assists the operation of the assistance subject M.

  For this reason, the operation of the auxiliary target person M can be assisted only when the auxiliary target person M is in a state where it cannot stand up by himself. In other words, the support body 220 does not press the auxiliary subject M while the auxiliary subject M is standing up by himself. The support part main body 220 only moves following the operation of the auxiliary subject M. For this reason, compared with the case where the robot 1 assists all of the rising motions of the assisting subject M, the muscle strength of the assisting subject M is less likely to decline. Thus, the robot 1 of this embodiment is suitable for the standing training of the auxiliary target person M.

  Further, as shown in FIG. 2, the robot body 2 of the robot 1 of the present embodiment is reduced in size by contracting the shaft body 210 and swinging the support body 220 downward as indicated by a dotted line. be able to. For this reason, it is convenient for storage and carrying.

  Further, as shown in FIG. 3, the swing shafts of the main body side fixing portions 24L and 24R are arranged at the front ends of the main body side fixing portions 24L and 24R (the front end in the advancing direction when the robot main body 2 approaches the anchor portion 3). ing. For this reason, even if the urging force of the spring that urges the main body side fixing portions 24L and 24R toward the lower surface of the base portion 20 is deteriorated, when the robot main body 2 is fixed to the anchor portion 3, the main body side fixing portion 24L. , 24R can reach the upper position of the anchor-side fixing portions 30L, 30R while being in sliding contact with the upper surface of the anchor portion main body 35.

  Further, as shown in FIGS. 5A to 5E, the shaft body 210 has a curved column shape (specifically, an L-shaped prism shape) that curves toward the auxiliary subject M. Further, the support body 220 is disposed at the tip of the shaft body 210 on the auxiliary target person M side. For this reason, it is easy for the auxiliary subject M to hit the chest against the support body 220. Further, the grip portions 23L and 23R are further away from the assistance subject M than the support portion main body 220. For this reason, it becomes easier to draw the support body 220 relatively closer to the chest by using the arm force when the auxiliary subject M holds the grip portions 23L and 23R. Therefore, a position close to the center of gravity of the auxiliary target person M can be arranged directly above the support body 220.

<Second embodiment>
The difference between the rising motion assist robot of this embodiment and the rising motion assist robot of the first embodiment is that the robot body includes a step portion instead of the dedicated anchor portion. Here, only differences will be described.

  FIG. 6 is a transparent perspective view of the robot according to the present embodiment. In addition, about the site | part corresponding to FIG. 1, it shows with the same code | symbol. As shown in FIG. 6, the robot body 2 includes a pair of left and right step portions 50L and 50R. The step portion 50R includes a step body 500R, a first swing shaft 501R, and a second swing shaft 502R. The second swing shaft 502R protrudes from the right surface of the base 20. As indicated by an arrow Y1, the second swing shaft 502R can swing around its own axis by a second swing motor (not shown). The first swing shaft 501R is attached to the tip of the second swing shaft 502R. As indicated by an arrow Y2, the first swing shaft 501R can swing around its own axis by a first swing motor (not shown). The step body 500R has a flat plate shape. The step body 500R is fixed to the first swing shaft 501R. By swinging the first swing shaft 501R and the second swing shaft 502R, the step body 500R can be switched from the housed state in which the step body 500R jumps to the right side of the base 20 to the use state shown in FIG. A footrest 503R is disposed on the upper surface of the step body 500R. The step body 500R houses a footrest portion side load sensor 41R. The footrest portion side load sensor 41R is disposed below the footrest portion 503R. The configuration of the step unit 50L is the same as the configuration of the step unit 50R. The arrangement and movement of the step unit 50L are symmetrical to the arrangement and movement of the step unit 50R.

  The rising motion assist robot 1 of the present embodiment and the rising motion assist robot of the first embodiment have the same operational effects with respect to the parts having the same configuration. Further, according to the robot 1 of the present embodiment, the robot body 2 includes the step units 50L and 50R. For this reason, a dedicated anchor part and an arm part for using a structure as an anchor are unnecessary. Further, even in a place where there is no anchor portion or a place where there is no structure suitable for use as an anchor, it is possible to assist the assisting person in standing up.

<Third embodiment>
The difference between the rising motion assist robot of this embodiment and the rising motion assist robot of the first embodiment is that the robot body includes an arm portion instead of the dedicated anchor portion. Here, only differences will be described.

  FIG. 7 shows a transparent perspective view of the robot of this embodiment. In addition, about the site | part corresponding to FIG. 1, it shows with the same code | symbol. As shown in FIG. 7, the robot body 2 includes a pair of left and right arm portions 51L and 51R. The arm portion 51R includes a hand portion 510R, a forearm portion 511R, and an upper arm portion 512R. As indicated by the arrow Y3, the upper end of the upper arm portion 512R is swingably attached to the right surface of the base portion 20. As indicated by the arrow Y4, the rear end of the forearm portion 511R is swingably attached to the lower end of the upper arm portion 512R. The hand portion 510R includes a palm portion 510Ra and a pair of claw portions 510Rb and 510Rc. As indicated by an arrow Y5, the palm 510Ra is attached to the front end of the forearm 511R so as to be swingable. The claw portions 510Rb and 510Rc are attached to the palm portion 510Ra so as to be opened and closed. Each member constituting the arm portion 51R is driven by a motor (not shown). The configuration of the arm portion 51L is the same as the configuration of the arm portion 51R. The arrangement and movement of the arm part 51L are symmetrical to the arrangement and movement of the arm part 51R.

  The main body side control unit of the robot main body 2 uses the CCD camera 29 to search for structures around the auxiliary target person. The CCD camera 29 is included in the concept of the “reading unit” of the present invention. For example, when the structure (bed pipe) 90 is found, the main body side control unit images the information display unit (barcode) 44 by the CCD camera 29. The information display unit 44 stores load resistance information of the structure 90. The main body side control unit recognizes the load resistance information of the structure 90 from the imaging result of the information display unit 44. On the other hand, the weight information of the assistance subject is stored in the memory of the main body side control unit. The CPU of the main body side control unit compares the load resistance information of the structure 90 with the weight information of the auxiliary target person. As a result of the comparison, when it is determined that the structure 90 can be used as an anchor and the standing motion of the support target person can be assisted, the CPU drives the arm portions 51L and 51R to grip the structure 90. In this state, the assisting person's standing up operation is assisted.

  The rising motion assist robot 1 of the present embodiment and the rising motion assist robot of the first embodiment have the same operational effects with respect to the parts having the same configuration. Further, according to the robot 1 of the present embodiment, the robot body 2 includes the arm portions 51L and 51R. For this reason, a dedicated anchor part and a step part are unnecessary. Moreover, even if it is a place without an anchor part, the standing-up action of the assistance subject M can be assisted.

  Further, according to the robot 1 of the present embodiment, the robot body 2 can be fixed by temporarily using the structure 90 around the auxiliary target person as an anchor. For this reason, it is possible to suppress the posture of the robot body 2 from becoming unstable when assisting the standing-up motion of the assistance subject.

  Further, by increasing the weight of the robot main body 2, the robot main body 2 can be reduced in weight as compared with the case where the posture of the robot main body 2 is stabilized when assisting the rising motion. In addition, by increasing the size of the robot body 2, the robot body 2 can be reduced in size as compared with the case where the posture of the robot body 2 is stabilized when assisting the rising motion.

  In addition, by controlling the drive wheels 26L and 26R (by balancing the robot body 2), the robot body 2 is controlled as compared to the case where the posture of the robot body 2 is stabilized when assisting the rising motion. The mechanism can be simplified.

  Further, according to the robot 1 of the present embodiment, it is possible to determine whether or not to use the structure 90 by comparing the load-bearing information of the structure 90 and the weight information of the auxiliary target person. For this reason, it is possible to suppress the posture of the robot body 2 from becoming unstable when assisting the standing-up motion of the assistance subject. In addition, when assisting the standing-up operation, it is possible to suppress the structure 90 that cannot withstand the weight of the assisting subject from being used as an anchor.

<Others>
The embodiment of the rising motion assist robot of the present invention has been described above. However, the embodiment is not particularly limited to the above embodiment. Various modifications and improvements that can be made by those skilled in the art are also possible.

  As shown in FIG.5 (e), the auxiliary | assistant object person M may use the robot main body 2 for walk assistance after a standup operation completion step. In this case, the drive wheels 26L and 26R may be appropriately rolled by the main body side control unit 43 shown in FIG.

  In addition, as shown in FIG. 5C, when the assisting person M is about to lean forward, the ratio of the shaft side load F1 and the footrest side load F2 does not change substantially for a certain period of time. The support side motor 221 may be driven by the anchor side control unit 42 shown in FIG. 4, and the chest of the auxiliary subject M may be pushed back by the support body 220. If it carries out like this, the assistance subject M can return to the state of the sitting position of FIG.5 (b).

  Further, as shown in FIG. 5 (d), when the assisting person M enters the standing up motion, the anchor side control unit 42 shown in FIG. You may restrict | limit so that 220 may rock | fluctuate only the direction which rocks back (direction which presses the chest of the assistance subject M). If it carries out like this, it can suppress that the auxiliary | assistant object person M loses an attitude | position and becomes the front-slip.

  Moreover, in the said embodiment, as shown to Fig.5 (a)-(e), operation | movement and attitude | position of the assistance subject M are changed from the change of ratio of the axial part side load F1 and the footrest part side load F2. Determined. However, the change in the shaft side load F1 (0 in the state of FIGS. 5A and 5B, sudden increase in the state of FIG. 5C, decrease in the state of FIG. 5D, FIG. ), The movement and posture of the auxiliary subject M may be determined from 0).

  Further, changes in the footrest side load F2 (low values in the states of FIGS. 5 (a) and 5 (b), increase in the state of FIG. 5 (c), increase in the state of FIG. 5 (d), FIG. The motion and posture of the auxiliary target person M may be determined from the weight of the auxiliary target person M in the state of (e). Moreover, the kind of structure 90 shown in FIG. 7 is not specifically limited. A pipe, a floor surface, a wall surface, a shelf, a pillar, etc. may be sufficient.

  The types of the shaft side load sensor 40 and the footrest side load sensor 41 shown in FIG. 4 are not particularly limited. A strain gauge, a load cell, an electric resistance change sensor, a capacitance sensor, or the like can be used. In particular, when a sensor capable of detecting a surface pressure distribution is used as the footrest-side load sensor 41, the operation, posture, center of gravity, etc. of the auxiliary subject M can be determined from the surface pressure distribution.

  Further, the type of the reading unit of the robot body 2 is not particularly limited. In addition to the CCD camera 29 shown in FIG. 7, a CMOS (Complementary Metal-Oxide Semiconductor) camera, an infrared camera, or the like may be used. The types of proximity sensors 33 and 290 shown in FIG. 4 are not particularly limited. For example, ultrasonic or laser proximity sensors 33 and 290 may be used. As the proximity sensors 33 and 290, a CCD camera 29, a CMOS camera, an infrared camera, or the like may be used.

  The type of the support portion torque sensor 222 shown in FIG. 4 is not particularly limited. For example, a shunt resistance type or hall module type torque sensor may be used. Further, the moving mechanism of the robot body 2 is not particularly limited. In addition to the wheels (drive wheels 26L and 26R), an endless track, legs, a meandering multinode, and the like may be used.

  In addition, other actuators such as fluid cylinders (hydraulic cylinders, air cylinders, etc.) and artificial muscles may be used instead of the various motors shown in FIG. Similarly, other actuators such as a motor and an artificial muscle may be used instead of the fluid cylinder.

  Further, the anchor side fixing portions 30L and 30R shown in FIG. 3 may be permanent magnets in addition to electromagnets. Further, the main body side fixing portions 24L, 24R may be magnets (electromagnets, permanent magnets). The fixing mechanism for fixing the robot body 2 to the anchor portion 3 or the structure 90 is not particularly limited. An adsorption mechanism using negative pressure, an engagement mechanism using mechanical engagement force, a gripping mechanism using mechanical gripping force, a friction mechanism using frictional force, and the like can be used. Preferably, a mechanism that is simple to fix and separate is better.

  As shown in FIG. 4, the weight information of the auxiliary target person M may be stored in the memories 431 and 421 in advance. In addition, a correlation map between the human physique and weight is stored in the memories 431 and 421 in advance, and the auxiliary target person is compared with the image of the auxiliary target person M captured by the CCD camera 29 and the correlation map. M weight information may be generated. Further, the type of the information display unit 44 is not particularly limited. In addition to barcodes, two-dimensional codes such as characters, figures, symbols, and QR codes (registered trademark) may be used.

  Further, as shown in FIGS. 5C and 5D, the support body 220 may push up the chest of the auxiliary subject M. Moreover, the support part main body 220 may push up both the shoulder part, the abdominal part, the back part, the both side parts, and both the elbow parts of the auxiliary subject M. Preferably, it is better for the support part main body 220 to push up a part of the upper body of the auxiliary target person M. If it carries out like this, the load of the lower body side of the auxiliary | assistant subject person M will become easy to be detected by the footrest part side load sensor 41, and the load of the upper body side of the auxiliary | assistant subject person M will be easily detected by the axial part side load sensor 40. For this reason, it becomes easy to grasp the posture and motion of the auxiliary target person M. Further, the grip portions 23L and 23R shown in FIG. 1 need not be arranged.

  Further, the power feeding method from the anchor unit 3 to the robot body 2 is not limited to the non-contact power feeding method. For example, power may be supplied from the anchor unit 3 to the robot body 2 by a wired method. That is, by placing an outlet on one of the anchor part 3 and the robot body 2 and a plug on the other, the outlet and the plug are connected when the anchor part 3 and the robot body 2 are combined. Electric power may be supplied from the anchor unit 3 to the robot body 2.

1: Stand-up assist robot, 2: Robot body, 3: Anchor part, 9: Bed, 10: Remote control, 11: External power supply, 20: Base part, 21: Shaft part, 22: Support part, 23L: Grip part, 23R : Grip part, 24L: Main body side fixing part, 24R: Main body side fixing part, 26L: Driving wheel, 26R: Driving wheel, 27L: Power receiving part, 27R: Power receiving part, 28: Light receiving part, 29: CCD camera, 30L: Anchor side fixing part, 30R: anchor side fixing part, 31: footrest part, 32L: power feeding part, 32R: power feeding part, 33: proximity sensor, 34: driven wheel entry part, 35: anchor part main body, 36: control box , 40: Shaft side load sensor, 41: Foot rest side load sensor, 41R: Foot rest side load sensor, 42: Anchor side control part (control part), 43: Main body side control part (control part), 44 : Information table Part, 50L: Step portion, 50R: step portion, 51L: arm portion, 51R: arm, 90: structure.
210: Shaft body, 211: Shaft cylinder, 220: Support body, 220a: Oscillating shaft, 221: Support motor, 222: Torque sensor for support, 260: Driven wheel, 261L: Traveling motor 261R: traveling motor, 270L: power receiving coil section, 270R: power receiving coil section, 290: proximity sensor, 291: battery, 300L: fixing coil section, 320L: power feeding coil section, 421: memory, 422: Input / output unit, 430: CPU, 431: memory, 432: input / output unit, 500R: step body, 501R: first swing axis, 502R: second swing axis, 503R: footrest, 510R: hand, 510Ra: palm part, 510Rb: claw part, 510Rc: claw part, 511R: forearm part, 512R: upper arm part.
F1: Shaft side load, F2: Foot rest side load, M: Auxiliary subject, f: Floor surface.

Claims (8)

A robot main body having a base, a shaft that can be expanded and contracted in the vertical direction with respect to the base, and a support that can swing in the vertical direction with respect to the shaft;
The shaft portion extends while the support portion follows the movement of a part of the body of the assistance subject, thereby assisting the standing up motion of the assistance subject ,
The robot body has a body side fixing portion,
Furthermore, when the auxiliary target person assists the standing-up operation, the anchor-side fixing part to which the main body-side fixing part is fixed, and the anchor part including the footrest part on which the auxiliary target person puts the sole is provided. Motion assist robot.   2. The rising motion assist robot according to claim 1, wherein the anchor unit includes a power feeding unit that supplies power to the robot body when assisting the standing motion of the support target person.   A load sensor; and a control unit that determines the weight shift of the auxiliary subject based on the load detected by the load sensor and drives the shaft and the support.
  The load sensor is a shaft portion side load sensor that detects a shaft portion side load applied to the shaft portion, and a footrest portion side load sensor that detects a footrest portion side load applied to the footrest portion,
  The control unit determines weight shift of the assisting person based on a change in a ratio between the shaft side load and the footrest side load, and drives the shaft and the support unit. Item 3. The rising motion assist robot according to Item 2.   The standing-up motion assist robot according to claim 3, wherein when the ratio of the shaft portion side load and the footrest portion side load does not substantially change for a certain period of time, the support portion assists the motion of the support target person.   A robot main body having a base, a shaft that can be expanded and contracted in the vertical direction with respect to the base, and a support that can swing in the vertical direction with respect to the shaft;
  The shaft portion extends while the support portion follows the movement of a part of the body of the assistance subject, thereby assisting the standing up motion of the assistance subject,
  The robot body is a rising motion assist robot having an arm portion that fixes the robot body to a structure adjacent to the robot body when assisting the standing motion of the support subject.   Furthermore, the information display part which displays the load-bearing information regarding the load-bearing of the structure arranged on the structure,
  The robot body includes a reading unit capable of reading the load resistance information of the information display unit, and a control unit having weight information related to the weight of the auxiliary target person,
  The control unit determines whether the robot body is fixed to the structure by the arm unit by comparing the load-bearing information read by the reading unit with the weight information of the control unit. The rising motion assist robot according to claim 5.   A robot main body having a base, a shaft that can be expanded and contracted in the vertical direction with respect to the base, and a support that can swing in the vertical direction with respect to the shaft;
  The shaft portion extends while the support portion follows the movement of a part of the body of the assistance subject, thereby assisting the standing up motion of the assistance subject,
  A load sensor; and a control unit that determines the weight shift of the auxiliary subject based on the load detected by the load sensor and drives the shaft and the support.
  The robot body includes a step portion having a footrest portion on which the assisting subject places a sole when assisting the standing-up motion of the assisting subject,
  The load sensor is a shaft portion side load sensor that detects a shaft portion side load applied to the shaft portion, and a footrest portion side load sensor that detects a footrest portion side load applied to the footrest portion,
  The control unit is a rising motion assist robot that discriminates a weight shift of the assisting person based on a change in a ratio between the shaft side load and the footrest side load and drives the shaft and the support unit.   The rising motion assisting robot according to claim 7, wherein when the ratio of the shaft portion side load and the footrest portion side load does not substantially change for a certain period of time, the support portion assists the movement of the support target person.

Images