JP6722668B2 - Assistance robot - Google Patents

Description

The present invention relates to an assistance robot.

The assistance robot described in Patent Document 1 is a robot that assists the person being assisted in standing up or sitting, and includes a pair of armpit holding portions (swinging arms) that hold both sides of the person being assisted. Slide members that are slidable to the left and right are attached to the tips of the pair of armpit holding portions, and by adjusting the left and right positions of the slide members, it is possible to match the physique of the person being assisted.

JP 2008-36392 A

In a conventional assistance robot, the pair of armpit holding portions are adjusted to the physique of the person being assisted by adjusting the left and right positions of the slide member, but it may be difficult to slide the slide member depending on the state of the person being assisted.

An object of the present invention is to provide an assistance robot in which adjustment of a pair of armpit holding parts is easy.

The assistance robot has a base, a body pad that supports the body of the person being assisted, and a pair of armpit holding portions that can hold both sides of the person being assisted, and is movable with respect to the base. And a holding unit provided in the support robot, wherein the pair of armpit holding units are moved with respect to the base to assist the person being assisted in a standing motion or a sitting motion. The armpit holding portion is capable of turning in the left-right direction at least around a fulcrum provided on the back side of the person being assisted with respect to at least the portion holding the person's armpit, and the armpit support surface of the body pad is provided. It is provided so as to be rotatable about an axis parallel to the normal .

As a result, when the person being assisted inserts the armpit holders into the armpits on both sides, the armpit holder has a position where the armpit of the person being assisted is held around the fulcrum provided on the back side. Can be turned to suit. Therefore, the person being assisted can easily fit the part of the armpit holding portion holding the armpit to his/her physique.

It is the figure which looked at the assistance robot of this embodiment from the advancing direction right side. The right side of the figure is the front in the traveling direction. It is a top view of the assistance robot of FIG. The right side of the figure is the front in the traveling direction. It is the figure which looked at the assistance robot of FIG. 1 from the advancing direction back. It is the figure which looked at the assistance robot of FIG. 1 from the front in the traveling direction. It is the figure which looked at the assistance robot in the state which raised the holding part in the assistance robot of FIG. 1 from the advancing direction right side. FIG. 3 is a plan view showing an arrangement of a side holding portion, a grip and a body pad of the assistance robot of FIG. 1. The upper side of the figure is the front in the traveling direction. FIG. 6B is a perspective view of FIG. 6A seen from the diagonally rear side in the traveling direction. FIG. 6B is a diagram when the side holding portion of FIG. 6A is swung outward. It is the perspective view which looked at FIG. 7A from the diagonally backward direction of travel. It is a top view which shows the turning structure of the armpit holding|maintenance part on the right side of the advancing direction of the assistance robot of FIG. The upper side of the figure is the front in the traveling direction. FIG. 8B is a diagram when the swivel structure of the side holding portion in FIG. 8A is swung outward. It is the sectional view on the AA line of FIG. 8B. It is the figure which looked at the assistance robot from the right side in the traveling direction when the person being assisted is in a sitting posture. It is the figure which looked at the assistance robot from the right side in the traveling direction when the person being assisted is standing up. It is the figure which looked at another example of the side holding|maintenance part from the advancing direction right side. The right side of the figure is the front in the traveling direction. It is a top view of another example of a side holding part. The upper side of the figure is the front in the traveling direction.

(1. Overall configuration of the assistance robot)
The overall configuration of the assistance robot of this embodiment will be described with reference to FIGS. 1 to 5. The assistance robot 1 supports a part of the body (for example, the upper half of the body) of the person M1 to be assisted (shown in FIGS. 9 and 10) to assist the standing motion and the sitting motion. As shown in FIGS. 1 to 5, the assistance robot 1 includes a base 10, lifting arms 20, 30, a lifting unit 40, a holding unit 50, an attachment 60, lifting actuators 70, 80, longitudinal actuators 90, 100, and control. A device 120 is provided. In the following description, front, rear, left and right are front, rear, left and right when the traveling direction of the assistance robot 1 is the front.

The base 10 is a part installed on the ground. As shown in FIG. 2, the base 10 is formed in a U-shape that opens rearward in plan view. The base 10 includes four wheels 15-18 and can move forward and backward. The base 10 is covered with a cover 11.

The elevating arms 20 and 30 are provided on the left and right sides of the upper surface of the base 10, and are capable of expanding and contracting upward. As shown in FIGS. 1 and 5, the elevating arms 20 and 30 linearly expand and contract in the direction in which the upper end inclines forward with respect to the lower end. The elevating part 40 is provided on the upper ends of the elevating arms 20 and 30. As the lifting arms 20 and 30 expand and contract in the vertical direction, the lifting unit 40 moves up and down with respect to the base 10. That is, as shown in FIGS. 1 and 5, the elevating part 40 moves linearly in a direction of moving forward as it rises with respect to the base 10. The elevating arms 20 and 30 are covered with covers 25 and 35, respectively.

The holding unit 50 is located above the elevating unit 40 and is supported by the elevating unit 40. The holding part 50 moves back and forth with respect to the elevating part 40 and tilts. The holding unit 50 holds a part of the body of the person being assisted M1. The holding unit 50 includes an attachment 60 that can be replaced according to the person being assisted M1. The details of the attachment 60 will be described later.

The lifting actuators 70 and 80 drive the lifting operation of the lifting unit 40 with respect to the base 10. Each of the lifting actuators 70 and 80 drives expansion and contraction of the corresponding lifting arms 20 and 30. That is, by driving the elevating actuators 70 and 80, the elevating part 40 performs the operation of moving the base 10 from the state shown in FIG. 1 to the raised position and forward position shown in FIG. 5 and vice versa. The lifting actuators 70 and 80 are provided across the base 10 and the lifting arms 20 and 30.

The longitudinal actuators 90, 100 drive the holder 50 with respect to the elevating part 40 in the longitudinal and tilting directions. That is, by driving the longitudinal actuators 90 and 100, the holding unit 50 performs the operation of moving the holding unit 50 from the state shown in FIG. 1 to the forward position and forward leaning state shown in FIG. To do. The longitudinal actuators 90, 100 are provided across the elevating part 40 and the holding part 50.
The control device 120 controls the lifting actuators 70, 80 and the longitudinal movement actuators 90, 100 according to the operation by the person being assisted M1.

(2. Structure of attachment 60)
The attachment 60 will be described with reference to FIGS. The attachment 60 includes a main body portion 61, a body pad 62, left and right grips 63a and 63b, left and right elbow rest portions 64a and 64b, left and right armpit holding portions 65a and 65b, and an operating portion 66.
The main body portion 61 is detachably attached to the main body frame 51 of the holding portion 50.

The body pad 62 is formed of a cushion material into a substantially plate shape. The body pad 62 is located on the upper surface of the main body 61 at the left-right center and the front-back center of the entire attachment 60. The body pad 62 is provided with its upper surface slightly inclined rearward. The torso pad 62 supports almost the entire torso of the person being assisted M1, that is, from the chest to the abdomen, and from near the left armpit to near the right armpit. In particular, the lateral width of the body pad 62 is formed such that the upper portion corresponding to the chest is narrower than the lower portion corresponding to the abdomen. As a result, the person being assisted M1 can position both sides without feeling a sense of discomfort, and can obtain a feeling of being stably supported near the abdomen. Further, the upper edge of the body pad 62 is formed in a concave shape so as not to interfere with the operation of the head of the person being assisted M1. The lower edge of the body pad 62 is formed in a concave shape so that the legs can enter and the waist can be stably supported.

The grips 63a and 63b are formed of a plastic material or a metal material in an arc shape (inverted U shape) that is convex upward. The grips 63a and 63b are arranged in front of each of the left and right sides of the main body 61. One end of each of the grips 63a and 63b is fixed to the main body 61, and the other end of the grips 63a and 63b is arranged as a free end so that the grips 63a and 63b face the rear outside of the main body 61 from the fixed end. Accordingly, the person being assisted M1 can support himself/herself when the person being assisted M1 operates by extending both arms and grasping the grips 63a and 63b with both hands.

The elbow rests 64a and 64b are formed of a cushion material into a rectangular parallelepiped shape. The elbow rests 64a and 64b are arranged on the left and right sides of the main body 61, respectively. Accordingly, the person being assisted M1 supports himself/herself when the person being assisted M1 operates by placing the elbows on the elbow rests 64a and 64b in a state where both arms are bent substantially at right angles. At the same time, both arms of the person being assisted M1 can be rested.

The armpit holding portions 65a, 65b are formed of a plastic material or a metal material whose surface is covered with a cushion material in an arc shape (U-shape) that is concave downward. As shown in FIGS. 6A and 6B and FIGS. 7A and 7B, the armpit holding portions 65a and 65b include armpit support portions 651a and 651b that support the armpits of the person being assisted M1 from below and armpit support portions 651a and 651b that are located above. It is provided with parts Sa and Sb that hold the sides including rising parts 652a and 652b that stand up. The armpit holding parts 65a, 65b are respectively arranged via brackets 67a, 67b rotatably provided on the left and right body parts 61 of the body pad 62. That is, the armpit holding portions 65a and 65b are provided above the elbow placement portions 64a and 64b and turnable to the person being assisted M1 on the front side of the grips 63a and 63b. Accordingly, the person being assisted M1 can support himself/herself when the person being assisted M1 operates and regulate the back and forth movement of the person being assisted M1 by inserting the armpit holding portions 65a and 65b into both sides.

The armpit holding parts 65a and 65b are in an expanded state (states of FIGS. 7A and 7B) and a contracted state (states of FIGS. 6A and 6B) via brackets 67a and 67b rotatably provided on the main body 61. Are provided so as to be rotatable around the fulcrum. In the expanded state, the stand-up portions 652a and 652b are located outside the shoulder width of the person being assisted M1 so that the person being assisted M1 can easily approach the holding position on the body pad 62 between the armpit holding portions 65a and 65b. It refers to the state of expanding until it reaches. The contracted state is a state in which the parts Sa and Sb holding both sides are contracted so as to be located under the both sides of the person being assisted M1.

As a result, the person being assisted M1 swivels the armpit holding portions 65a, 65b in the expansion direction Do (see FIGS. 7A and 7B) about the fulcrum, so that the rising portions 652a, 652b are more than the shoulder width of the person being assisted M1. Also, the arm passing region A (see FIGS. 7A and 7B) can be secured between the person being assisted M1 and the grips 63a and 63b while being kept away from the outside. Therefore, the person being assisted M1 does not get in the way of the rising portions 652a, 652b on the front side of the U-shaped side holding portions 65a, 65b, and places both sides on the side supporting portions 651a, 651b of the side holding portions 65a, 65b. Can be posted. In addition, the person being assisted M1 can extend both arms through the arm passing area A, and thus can easily grip the grips 63a and 63b with both hands. Then, the person to be assisted M1 inserts the armpit holding portions 65a and 65b into both sides, thereby turning the armpit holding portions 65a and 65b around the fulcrum in the contraction direction Ds (see FIGS. 6A and 6B) to assist the person being assisted. The portions Sa and Sb that hold both sides of the person M1 can be easily adjusted to the positions under the both sides of the person being assisted M1.

The brackets 67a and 67b that fixedly support the armpit holding portions 65a and 65b are provided on the back side of the person being assisted M1 with respect to the portions Sa and Sb of the armpit holding portions 65a and 65b that hold both sides of the person being assisted M1. It is provided so as to be rotatable around a fulcrum C (only the bracket 67b side is shown in FIG. 6B, but the bracket 67a is also the same). More specifically, as shown in FIGS. 8A, 8B, and 8C, the bracket 67b is provided with a pivot pin 2 serving as a fulcrum C, and an elongated hole 4 into which the guide pin 3 is inserted to serve as a pivot guide. The same applies to the bracket 67a. As a result, the side holding portions 65a and 65b can be prevented from turning more than necessary because the turning stroke is limited. Further, the turning mechanism of the side holding portions 65a and 65b has a simple structure, and it is possible to suppress an increase in cost.

Further, the brackets 67a and 67b are provided with elastic members for urging in the contracting/closing direction Ds, respectively, and are temporarily locked when they are swung in the expanding direction Do against the urging force of the elastic members. A locking member is provided. Specifically, as shown in FIGS. 8A, 8B, and 8C, as the elastic member, the tension coil spring 5 is attached so as to bias the bracket 67b in the contracting/closing direction Ds. As the locking member, the recess 7 into which the ball of the ball plunger 6 provided in the main body 61 is fitted is provided. The same applies to the bracket 67a. The elastic force of the coil spring 5 is adjusted so that when the person being assisted M1 pushes open the armpit holding portions 65a and 65b with both hands, the armpit holders 65a and 65b can easily swivel in the expanding direction. Further, the elastic force of the ball plunger 6 is adjusted so that the recessed portion 7 of the brackets 67a, 67b can be easily removed from the ball of the ball plunger 6 when the person being assisted M1 sandwiches the armpit holding portions 65a, 65b under both sides. It

As a result, when the person being assisted M1 turns the armpit holding portions 65a and 65b in the expansion direction Po about the fulcrum C, the armpit holders 65a and 65b move in the contraction direction Pc by the urging force of the coil spring 5. The ball plunger 6 can prevent the turning. Therefore, the person being assisted M1 can easily pass both arms to the arm passing area A without pressing the side holding portions 65a and 65b, and can easily grip the grips 63a and 63b with both hands. Then, the person being assisted M1 inserts the armpit holding portions 65a and 65b into both sides to release the locking of the ball plunger 6, and the urging force of the coil spring 5 assists the turning in the contracting/closing direction Pc. The person to be assisted M1 can easily align the portions Sa and Sb that hold both sides of the person to be assisted M with the positions under the both sides of the person to be assisted M1.

The operation unit 66 is a button operated by the person being assisted M1 or the person being assisted, and includes a lifting operation button. When the person being assisted M1 operates the raising/lowering operation button on the operation unit 66, the raising/lowering unit 40 performs the raising/lowering operation, and the holding unit 50 moves back and forth and tilts in conjunction with the raising/lowering operation of the raising/lowering unit 40.

The attachment 60 may be configured such that the body pad 62, the left and right grips 63a and 63b, the left and right elbow mounting portions 64a and 64b, the side holding portions 65a and 65b, and the operation portion 66 can be individually replaced. Further, the attachment 60 does not need to include all of the body pad 62, the left and right grips 63a and 63b, the left and right elbow rests 64a and 64b, the side holding parts 65a and 65b, and the operation part 66, and may be appropriately provided. A configuration including the selected one may be adopted.

(3. Operations of the person being assisted and the assistance robot)
The person being assisted M1 takes a sitting posture and holds the armpit holding portions 65a and 65b with both hands. Then, the person being assisted M1 swivels the armpit holding portions 65a and 65b to the left and right around the fulcrum C, and widens the armpit holding portions 65a and 65b. As a result, the space between the person being assisted M1 and the grips 63a and 63b is widely opened as the arm passing area A. Then, the person being assisted M1 separates his/her hands from the armpit holding parts 65a, 65b, extends his/her arms, passes the inside of the U-shape of the armpit holding parts 65a, 65b in the arm passage area A, and grips 63a, 63b with both hands, respectively. Hold it.

Next, the person being assisted M1 inserts the armpit holding portions 65a and 65b into the undersides of both sides, and presses the chest against the body pad 62. When the person being assisted M1 inserts the armpit holding portions 65a and 65b into the undersides of the armpits, the armpit holding portions 65a and 65b receive the armpit of the person being assisted M1 around the fulcrum C provided on the back side. The caregiver M1 is swung to match the armpit position. Therefore, the person being assisted M1 can easily adjust the side holding portions of the side holding portions 65a and 65b to their own physique. Therefore, the person being assisted M1 does not need to lift or extend both elbows after gripping the grips 63a and 63b with both hands.

Then, as shown in FIG. 9, the control device 120 first drives the back-and-forth actuators 90, 100 to move the holding part 50 back and forth and tilt. After that, the control device 120 drives the raising/lowering actuators 70, 80 while driving the forward/backward movement actuators 90, 100. That is, as shown in FIG. 10, the holding part 50 moves up and down while moving back and forth and tilting. The rising height of the holding unit 50 can be set according to the height of the person being assisted M1. Also, when the person being assisted M1 shifts from the standing posture to the sitting posture, the raising/lowering operations by the raising/lowering actuators 70, 80 and the forward/backward movement and tilting by the forward/backward actuators 90, 100 similarly cooperate. Is done. 9 and 10, it is assumed that the person M1 to be assisted has some strength in his/her legs. Therefore, even if both sides of the person M1 to be assisted are not supported by the armpit holding portions 65a and 65b. The person M1 to be assisted can be made to stand up. On the other hand, when the person being assisted M1 is a person who does not apply much force to his/her legs, both sides of the person being assisted M1 are supported by the armpit holding portions 65a and 65b to stand the person being assisted. At that time, the armpit support portions 651a and 651b support both sides of the person being assisted M1 from below, and the rising portions 652a and 652b prevent the person being assisted M1 from sliding backward.

(4. Other)
In the above-described embodiment, the armpit holding portions 65a and 65b are formed in an arcuate shape (U-shaped) that is concave downward, but any shape that allows the armchairs to be pinched on the armpit of the person being assisted M1 may be used. For example, as shown in the side view of FIG. 11, only the upper surface 68s of the side holding portion 68 may be formed in a U shape. Further, as shown in the plan view of FIG. 12, the inner side surface 69s of the armpit holding portion 69 may be formed in an arc shape which is concave in the left-right direction with respect to the person being assisted M1. It becomes possible to hold the back side. Further, the side holding portions 65a and 65b may be L-shaped having a rising portion only on the rear side.

Further, in the above-described embodiment, the side holding portions 65a and 65b are provided with the swivel pin 2 serving as the fulcrum C and the elongated hole 4 into which the guide pin 3 is inserted to serve as swivel guide. It suffices that the side holding parts 65a and 65b can be guided by turning, and the invention is not limited to the guide pin 3 and the elongated hole 4.
Further, the extension coil springs 5 are provided on the side holding portions 65a and 65b, but any elastic member that biases the pair of side holding portions 65a and 65b in the direction of contracting and closing may be used. A form of spring (compression coil spring, torsion coil spring, or the like) or rubber may be used. Further, an elastic member that biases the pair of side holding portions 65a and 65b in the expanding direction may be provided. As a result, the opened state of the side holding portions 65a and 65b becomes the original position, so that it is possible to save the labor of opening the side holding portions 65a and 65b when the person being assisted M1 gets on the assistance robot 1.

Further, although the recesses 7 are provided in the brackets 67a and 67b and the ball plunger 6 is provided in the main body 61, the ball plungers 6 are provided in the brackets 67a and 67b and the recess 7 is provided in the main body 61. May be Further, it is sufficient that the pair of side holding parts 65a and 65b can be locked when they are opened, and the invention is not limited to the ball plunger 6 and the recess 7.

(5. Effect)
Assistance robot 1 of this embodiment includes a base 10 provided to be movable against the base 10, respectively capable of holding a pair of side holding portion 65a to both sides of the care receiver M1, and 65b, a , The pair of armpit holding parts 65a and 65b are moved with respect to the base 10 to assist the person being assisted M1 in the standing motion or sitting motion. The pair of armpit holding portions 65a and 65b are provided so as to be rotatable at least around a fulcrum C that is provided on the back side of the person M1 to be assisted at least with respect to the portions Sa and Sb holding the sides of the person M1 to be assisted. ..

As a result, when the person being assisted M1 inserts the armpit holding portions 65a and 65b into both armpits, the armpit holding portions 65a and 65b hold the armpit of the person being assisted M1 around the fulcrum C provided on the back side. The part is swung so as to match the position of the armpit of the person being assisted M1. Therefore, the person being assisted M1 can easily adjust the side holding portions of the side holding portions 65a and 65b to their own physique.

Further, the portions Sa and Sb that hold the armpits include armpit support portions 651a and 651b that support the armpits of the person being assisted M1 from below, and rising portions 652a and 652b that rise upward from the armpit support portions 651a and 651b, The pair of armpit holding portions 65a and 65b swivel so that the pair of rising portions 652a and 652b can be expanded until they are positioned outside the shoulder width of the person being assisted M1. As a result, the person being assisted M1 does not get in the way of the rising portions 652a, 652b on the front side of the U-shaped side holding portions 65a, 65b and keeps both sides on the side supporting portions 651a, 651b of the side holding portions 65a, 65b. Can be posted on.

Further , the person being assisted M1 is provided with a pair of grips 63a, 63b which can be grasped by both hands and inserted with a pair of armpit holding portions 65a, 65b on both sides, and the pair of grips 63a, 63b are provided to the person being assisted M1. It is provided on the inner side of the pair of side holding portions 65a and 65b. When the pair of arm holding portions 65a and 65b are swung in the direction of expanding around the fulcrum C, the arm passing area A is secured between the person being assisted M1 and the pair of grips 63a and 63b. As a result, the person M1 to be assisted can extend both arms through the arm passing area A, and can easily grip the grips 63a and 63b with both hands.
Further , since the elastic member 5 is provided for urging the pair of armpit holding portions 65a and 65b respectively in the contracting and closing directions, the person being assisted M1 assists the portions Sa and Sb that hold both sides of the person M1 to be assisted. It can be easily adjusted to the positions under both sides of the person M1.

Further , since the pair of side arm holding portions 65a and 65b are respectively provided with locking members 6 and 7 which are temporarily locked against each other when they are swung in the expanding direction against the biasing force of the elastic member 5, the assisted person The person M1 does not need to press the side holding portions 65a and 65b and can easily perform the next operation.
Moreover, lever comprises an elastic member for urging each in the direction of expanding the pair of side holding portion, the side holding portion 65a, the state 65b is open becomes situ when the care M1 is boarding the assistance robot 1 Moreover, it is possible to save the trouble of opening the side holding portions 65a and 65b.
Further , since the swivel pin 2 serving as the fulcrum C and the elongated hole 4 into which the guide pin 3 is inserted and serving as a swivel guide are provided, it is possible to limit the swivel stroke and prevent excessive swiveling. Further, the turning mechanism of the side holding portions 65a and 65b has a simple structure, and it is possible to suppress an increase in cost.

1: assistance robot, 2: turning pin, 3: guide pin, 4: elongated hole, 5: tension coil spring (elastic member) 6: ball plunger (locking member), 7: recess (locking member), 10: Base, 20, 30: Lifting arm, 40: Lifting part, 50: Holding part, 60: Attachment, 63a, 63b: Grip, 65a, 65b: Side holding part, 70, 80: Lifting actuator, 90, 100: Front and back Dynamic actuator, 120: control device, M1: person being assisted, C: fulcrum, A: arm passing region

Claims (8)

A base,
A torso pad for supporting the body of the person being assisted, and a pair of side arm holding portions capable of respectively holding both sides of the person being assisted, a holding portion movably provided with respect to the base,
Equipped with
An assisting robot that assists a standing motion or a seating motion of the person being assisted by moving the holding part with respect to the base,
The pair of armpit holding portions are each capable of turning in the left-right direction around at least a fulcrum provided on the back side of the person being assisted with respect to the person holding the person's armpit, and the body pad of the body pad An assisting robot that is provided so as to be rotatable about an axis parallel to the normal to the support surface . The assistance robot according to claim 1, wherein the fulcrum is provided on the holding unit. A base,
A pair of armpit holding portions that are movably provided with respect to the base and can hold both sides of the person being assisted, respectively.
An elastic member for urging each of the pair of side holding parts in a direction of contracting and closing,
Equipped with
A assistance robot that assists the person being assisted in a standing motion or a sitting motion by moving the pair of armpit holding parts with respect to the base,
An assistance robot in which the pair of armpit holding portions are provided so as to be respectively rotatable around at least a fulcrum provided on a back side of the person being assisted with respect to a portion holding the person's armpit. The assistance robot according to claim 3 , further comprising a locking member that temporarily locks when the pair of side arm holding portions are respectively swung in a direction in which the pair of side holding portions is expanded against the biasing force of the elastic member. .. A base,
A pair of armpit holding portions that are movably provided with respect to the base and can hold both sides of the person being assisted, respectively.
An elastic member for urging the pair of armpit holding portions in the expanding direction, respectively.
Equipped with
A assistance robot that assists the person being assisted in a standing motion or a sitting motion by moving the pair of armpit holding parts with respect to the base,
An assistance robot in which the pair of armpit holding portions are provided so as to be respectively rotatable around at least a fulcrum provided on a back side of the person being assisted with respect to a portion holding the person's armpit. The part that holds the armpit includes a armpit support part that supports the armpit of the person being assisted from below, and a rising part that rises upward from the armpit support part,
The assistance robot according to any one of claims 1 to 5 , wherein the pair of armpit holding portions pivot so as to be able to expand until the pair of rising portions are positioned outside the shoulder width of the person being assisted. .. Furthermore, the person being assisted is equipped with a pair of grips that can be grasped with both hands and insert the pair of armpit holding portions on both sides,
The pair of grips are respectively provided on the back side of the person being assisted with respect to the pair of armpit holding portions,
When the pair of side holding portion has pivoted in the direction of expanding around the fulcrum, the arm passage region between the pair of grip and the care is ensured, any claim 1- 6 The assistance robot according to 1 above. Furthermore, the pivot pin serving as the fulcrum, and a long hole which is a guide of the pivot guide pin is inserted, assisted robot according to any one of claims 1 7.

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