JP7007912B2 - Caregiving device - Google Patents

Caregiving device Download PDF

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JP7007912B2
JP7007912B2 JP2017544389A JP2017544389A JP7007912B2 JP 7007912 B2 JP7007912 B2 JP 7007912B2 JP 2017544389 A JP2017544389 A JP 2017544389A JP 2017544389 A JP2017544389 A JP 2017544389A JP 7007912 B2 JP7007912 B2 JP 7007912B2
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support member
person
assisted
armpit
insertion portion
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JPWO2017061151A1 (en
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剛裕 野口
丈二 五十棲
英明 野村
伸幸 中根
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Priority claimed from PCT/JP2015/078274 external-priority patent/WO2017060964A1/en
Priority claimed from PCT/JP2015/083821 external-priority patent/WO2017094128A1/en
Priority claimed from PCT/JP2016/051031 external-priority patent/WO2017122331A1/en
Priority claimed from PCT/JP2016/053499 external-priority patent/WO2017134815A1/en
Priority claimed from PCT/JP2016/054342 external-priority patent/WO2017141335A1/en
Priority claimed from PCT/JP2016/054343 external-priority patent/WO2017141336A1/en
Priority claimed from PCT/JP2016/064651 external-priority patent/WO2017061136A1/en
Priority claimed from PCT/JP2016/064649 external-priority patent/WO2017199348A1/en
Priority claimed from PCT/JP2016/064650 external-priority patent/WO2017199349A1/en
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Publication of JPWO2017061151A1 publication Critical patent/JPWO2017061151A1/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1017—Pivoting arms, e.g. crane type mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/32—Specific positions of the patient lying
    • A61G2200/325—Specific positions of the patient lying prone
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/34—Specific positions of the patient sitting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/36—Specific positions of the patient standing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/52—Underarm

Description

本発明は、被介助者の起立補助を行う介助装置に関するものである。 The present invention relates to an assisting device that assists the person being assisted in standing up.

特許文献１には、被介助者の起立補助を行う介助装置が記載されている。この介助装置は、被介助者の胴体を支持する胴体支持部材と、被介助者の脇を支持する脇支持部材とを備える。胴体支持部材及び脇支持部材が、昇降可能であると共に前後方向に傾動可能である。従って、介助装置は、被介助者の胴体及び脇を支持した状態で、被介助者を座位姿勢から立位姿勢に移行することができる。 Patent Document 1 describes an assisting device that assists the person being assisted in standing up. This assist device includes a body support member that supports the body of the person being assisted, and a side support member that supports the side of the person being assisted. The fuselage support member and the armpit support member can be raised and lowered and can be tilted in the front-rear direction. Therefore, the assisting device can shift the assisted person from the sitting posture to the standing posture while supporting the body and armpits of the assisted person.

国際公開第２０１５／１４５９１５号International Publication No. 2015/145915

ここで、特許文献１において、脇支持部材は、上側に開口するＵ字状に形成されており、被介助者の脇下に加えて、肩の前面及び後面に対向する部位を備える。そのため、座位姿勢の被介助者が介助装置に乗り込む際に、被介助者の脇が脇支持部材に支持される状態にするためには、被介助者は、肩及び肘を高く上げる必要があった。しかし、被介助者は、肩及び肘を高く上げることは容易ではない。また、重度の被介助者においては、脇が脇支持部材に支持される状態にするために、介助者による介助が必要となることがある。その場合でも、介助者は被介助者の肩及び肘を高く上げつつ被介助者を介助装置に乗り込ませる必要があり、介助者の負担が大きかった。そのため、被介助者が介助装置に楽に乗り込むことが求められる。
本発明は、被介助者が楽に乗り込むことができる介助装置を提供することを目的とする。Here, in Patent Document 1, the armpit support member is formed in a U shape that opens upward, and includes a portion facing the front surface and the rear surface of the shoulder in addition to the armpit of the person being assisted. Therefore, when the care recipient in the sitting posture gets into the assist device, the care recipient needs to raise his / her shoulders and elbows high in order to support the side of the care recipient by the armpit support member. rice field. However, it is not easy for the care recipient to raise the shoulders and elbows high. Further, in a severely assisted person, assistance by a caregiver may be required in order to make the armpits supported by the armpit support member. Even in that case, the caregiver had to raise the shoulders and elbows of the caregiver high and let the caregiver get into the care device, which was a heavy burden on the caregiver. Therefore, the person being assisted is required to easily get into the assisting device.
An object of the present invention is to provide an assisting device that allows a person to be assisted to easily get in.

本発明に係る介助装置は、被介助者の上半身を支持して前記被介助者の起立補助を行う介助装置である。介助装置は、基台と、前記基台に昇降可能に設けられる昇降部と、面状に形成され、前記昇降部に前後方向に傾動可能に設けられ、前記被介助者の胴体の前面に面接触して前記胴体を支持する胴体支持部材と、前記胴体支持部材に支持され、前記被介助者の脇を支持する脇支持部とを備える。 The caregiving device according to the present invention is a caregiving device that supports the upper body of the person being assisted and assists the person being assisted in standing up. The assisting device is formed in a surface shape with a base, an elevating part provided on the base so as to be able to move up and down, and is provided on the elevating part so as to be tiltable in the front-rear direction, and is provided on the front surface of the body of the person being assisted. It includes a body support member that comes into contact with the body to support the body, and a side support portion that is supported by the body support member and supports the side of the person being assisted.

前記脇支持部は、前記被介助者の脇に挿入される脇挿入部を備える。前記脇挿入部は、前記胴体支持部材が座位姿勢の前記被介助者に対して乗り込み位置に位置するときに、前記胴体支持部材から前記被介助者の後方に且つほぼ水平方向に向かって延びる乗り込み姿勢となるように設けられ、前記胴体支持部材が前方に傾動することにより前記被介助者を前記座位姿勢から立位姿勢に移行させる際に、前記胴体支持部材の前方への傾動に伴って前記脇挿入部の後端が前端に対して上方に立ち上がり前記胴体支持部材から前記被介助者の上後方に向かって延びる立ち上がり姿勢となるように設けられる。 The armpit support portion includes a side insertion portion that is inserted to the side of the person being assisted. The side insertion portion is a boarding portion that extends from the body support member to the rear of the person being assisted and in a substantially horizontal direction when the body support member is positioned at a boarding position with respect to the person being assisted in a sitting posture. It is provided so as to be in a posture, and when the torso support member tilts forward to shift the person being assisted from the sitting posture to the standing posture, the torso support member tilts forward as described above. The rear end of the side insertion portion is provided so as to stand up upward with respect to the front end and extend from the body support member toward the upper rear of the person being assisted.

当該介助装置によれば、胴体支持部材が乗り込み位置に位置するときに、脇挿入部が後方に向かって延びる乗り込み姿勢となるように設けられている。そのため、座位姿勢の被介助者は、介助装置に乗り込む際に、脇挿入部を脇に挿入させやすくなる。従って、座位姿勢の被介助者は、介助装置に楽に乗り込むことができる。 According to the caregiving device, when the fuselage support member is positioned at the boarding position, the side insertion portion is provided so as to be in a boarding posture extending rearward. Therefore, the person being assisted in the sitting posture can easily insert the armpit insertion portion into the armpit when getting into the assisting device. Therefore, the person being assisted in the sitting posture can easily get into the assisting device.

また、被介助者が介助装置に乗り込んだ後には、胴体支持部材が前方に傾動することにより、被介助者は座位姿勢から立位姿勢に移行する。胴体支持部材の前傾に伴って、脇挿入部は、被介助者の後方への倒れを防止する姿勢（立ち上がり姿勢）となる。従って、立位姿勢に移行する際に、脇挿入部は、立位姿勢の被介助者を下方且つ後方から支持するため、高い安全性を有する。 Further, after the person being assisted gets into the assisting device, the body support member tilts forward, so that the person being assisted shifts from the sitting posture to the standing posture. As the body support member leans forward, the side insertion portion is in a posture (standing posture) to prevent the person being assisted from falling backward. Therefore, when shifting to the standing posture, the side insertion portion supports the person being assisted in the standing posture from below and from behind, and thus has high safety.

座位姿勢の被介助者が乗り込む状態における介助装置を斜め後方から見た斜視図である。It is a perspective view which looked at the caregiver from the diagonally rear view with the caregiver in a sitting posture getting in. 図１の介助装置の側面図を示し、さらに座位姿勢の起立補助動作開始姿勢の被介助者を付加する。The side view of the assist device of FIG. 1 is shown, and a person to be assisted in the standing assist operation start posture in the sitting posture is added. 介助装置の身体支持部材を構成する胴体支持部材の支持本体と脇支持部材との関係を示す側面図であって、胴体支持部材のクッション材を省略した図である。It is a side view which shows the relationship between the support main body of the body support member which constitutes the body support member of a care device, and the side support member, and is the figure which omitted the cushion material of the body support member. 図３のIV方向（胴体支持部材の法線方向）から見た図である。It is a figure seen from the IV direction (the normal direction of the fuselage support member) of FIG. 被介助者が起立準備姿勢に移行した状態における介助装置の側面図を示し、起立準備姿勢の被介助者を付加する。The side view of the assist device in the state where the care recipient has shifted to the standing preparation posture is shown, and the care recipient in the standing preparation posture is added. 被介助者が立位姿勢に移行した状態における介助装置の側面図を示し、立位姿勢の被介助者を付加する。The side view of the care device in the state where the care recipient has shifted to the standing posture is shown, and the care recipient in the standing posture is added. 座位姿勢の被介助者が乗り込む状態における介助装置を斜め後方から見た斜視図であって、図１に対して脇支持部材の脇挿入部を側方の外側に移動させた状態の図である。It is a perspective view of the caregiving device in a sitting posture as seen from diagonally rearward, and is a state in which the side insertion portion of the side support member is moved to the outside of the side with respect to FIG. .. 図７の介助装置の側面図を示し、さらに座位姿勢の体格の大きな被介助者を付加する。The side view of the assist device of FIG. 7 is shown, and a person to be assisted having a large physique in a sitting posture is added.

（１．介助装置１の構成）
介助装置１について、図１及び図２を参照にして説明する。図１及び図２には、座位姿勢の被介助者Ｍが乗り込む状態の介助装置１が図示されている。介助装置１は、被介助者Ｍの上半身を支持して、被介助者Ｍの座位姿勢から立位姿勢への起立補助を行う。さらに、介助装置１は、被介助者Ｍの上半身を支持して、被介助者Ｍの立位姿勢から座位姿勢への着座補助を行う。これにより、介助装置１は、被介助者Ｍの移乗介助及び移動介助が可能となっている。(1. Configuration of assistance device 1)
The assistance device 1 will be described with reference to FIGS. 1 and 2. 1 and 2 show the assisting device 1 in which the assisted person M in the sitting posture gets on board. The care device 1 supports the upper body of the person being assisted M and assists the person being assisted M in standing up from a sitting posture to a standing posture. Further, the assist device 1 supports the upper body of the assisted person M and assists the assisted person M in sitting from a standing posture to a sitting posture. As a result, the assistance device 1 is capable of transfer assistance and movement assistance for the person being assisted M.

なお、「立位姿勢」とは、被介助者Ｍの下半身が立っている姿勢を意味し、上半身の姿勢を問わない。つまり、起立補助は、被介助者Ｍの臀部の位置を上方へ移動させる動作の補助である。また、着座補助は、被介助者Ｍの臀部の位置を下方へ移動させる動作の補助である。 The "standing posture" means a posture in which the lower body of the care recipient M is standing, regardless of the posture of the upper body. That is, the standing assist is an assist in the operation of moving the position of the buttocks of the person being assisted M upward. Further, the sitting assist is an assist in the operation of moving the position of the buttocks of the person being assisted M downward.

介助装置１は、基台２、昇降部３、揺動部４、身体支持部材５、及び制御部６などを備える。基台２は、フレーム２１、支柱２２（図２に示す）、固定カバー２３、足載置台２４、下腿当て部２５、及び６個の車輪２６～２８などを備える。フレーム２１は、床面Ｆの近くにほぼ水平に設けられる。支柱２２は、フレーム２１の前寄りの左右方向の中央から上方に向かって立設されている。支柱２２の略矩形断面の内部空間に、後述する昇降駆動部３２が配置される。固定カバー２３は、支柱２２及び後述する昇降部材３１の下部の周囲を覆って保護する。 The caregiving device 1 includes a base 2, an elevating part 3, a swinging part 4, a body support member 5, a control part 6, and the like. The base 2 includes a frame 21, a support column 22 (shown in FIG. 2), a fixed cover 23, a footrest base 24, a lower leg rest 25, six wheels 26 to 28, and the like. The frame 21 is provided substantially horizontally near the floor surface F. The support column 22 is erected upward from the center in the left-right direction toward the front of the frame 21. An elevating drive unit 32, which will be described later, is arranged in an internal space having a substantially rectangular cross section of the support column 22. The fixed cover 23 covers and protects the periphery of the lower portion of the support column 22 and the elevating member 31, which will be described later.

足載置台２４は、フレーム２１の上面後方に固定されて、ほぼ水平に設けられる。足載置台２４の上面に描かれた足形の接地マーク２４１は、被介助者Ｍが足を乗せる位置を案内する。基台２は、被介助者Ｍが乗っても十分な機械的強度を有する。 The footrest table 24 is fixed to the rear of the upper surface of the frame 21 and is provided substantially horizontally. The foot-shaped ground contact mark 241 drawn on the upper surface of the footrest table 24 guides the position where the person being assisted M puts his / her foot. The base 2 has sufficient mechanical strength even when the person being assisted M rides on it.

下腿当て部２５は、左右一対の支持アーム２５１，２５１によって、接地マーク２４１よりも少し前側の上方に設けられる。支持アーム２５１，２５１は、Ｌ字状に形成されており、支柱２２の左右両側からそれぞれ後方に延び、途中で屈曲して上方に延びている。下腿当て部２５は、左右の支持アーム２５１の直立した部分を渡って配置され、左右方向に延在する。下腿当て部２５は、被介助者Ｍの下腿が接触する部位であり、クッション材によって形成される。下腿当て部２５の配置高さは、調整可能である。 The lower leg rest 25 is provided slightly above the ground contact mark 241 by a pair of left and right support arms 251,251. The support arms 251,251 are formed in an L shape, extend rearward from both the left and right sides of the support column 22, bend in the middle, and extend upward. The lower leg rest 25 is arranged across the upright portion of the left and right support arms 251 and extends in the left-right direction. The lower leg pad 25 is a portion where the lower leg of the person being assisted M comes into contact with the lower leg, and is formed of a cushioning material. The placement height of the lower leg rest 25 is adjustable.

フレーム２１の下側には、左右に３個ずつの車輪２６～２８が設けられている。各車輪２６～２８は、移動方向を転換する転舵機能を有しており、少なくとも前車輪２６は、移動を規制するロック機能を備える。６個の車輪２６～２８により、フレーム２１及び足載置台２４は、床面Ｆからわずかに離れて水平に維持される。６個の車輪２６～２８の転舵機能により、介助装置１は、前後方向の移動および方向転換だけでなく、横移動（真横への移動）や超信地旋回（その場旋回）が可能となっている。 On the lower side of the frame 21, three wheels 26 to 28 are provided on each side. Each of the wheels 26 to 28 has a steering function for changing the direction of movement, and at least the front wheels 26 have a locking function for restricting movement. The six wheels 26-28 keep the frame 21 and the footrest 24 horizontal, slightly away from the floor surface F. With the steering function of the six wheels 26 to 28, the caregiving device 1 is capable of not only moving in the front-back direction and changing direction, but also laterally moving (moving to the side) and super-credit turning (in-situ turning). It has become.

昇降部３は、昇降部材３１、昇降駆動部３２、及び、昇降カバー３３などを備える。昇降部材３１は、上下方向に長い長尺部材であり、支柱２２の後面に昇降動可能に支持されている。本実施形態においては、昇降部材３１は、支柱２２に対して上下動することにより昇降するが、支柱２２に対して揺動することにより昇降するようにしてもよい。 The elevating unit 3 includes an elevating member 31, an elevating drive unit 32, an elevating cover 33, and the like. The elevating member 31 is a long member that is long in the vertical direction, and is supported on the rear surface of the column 22 so as to be able to move up and down. In the present embodiment, the elevating member 31 moves up and down with respect to the support column 22, but may be moved up and down by swinging with respect to the support column 22.

昇降部材３１の上部は後方に突出しており、突出した後端寄りに揺動支持部３４が設けられている。昇降部材３１の上部の内部空間には、後述する揺動駆動部４２が配置される。支柱２２の内部空間に配置された昇降駆動部３２は、昇降部材３１の昇降動作を駆動する。昇降カバー３３は、昇降部材３１及び支柱２２の周り及び上方を覆って保護する。昇降カバー３３は、昇降部材３１に結合されており、昇降部材３１とともに昇降する。昇降する昇降カバー３３の下部は、常に固定カバー２３の外周側に重なっている。 The upper part of the elevating member 31 protrudes rearward, and a swing support portion 34 is provided near the protruding rear end. A swing drive unit 42, which will be described later, is arranged in the internal space above the elevating member 31. The elevating drive unit 32 arranged in the internal space of the column 22 drives the elevating operation of the elevating member 31. The elevating cover 33 covers and protects the elevating member 31 and the support column 22 around and above. The elevating cover 33 is coupled to the elevating member 31 and moves up and down together with the elevating member 31. The lower part of the elevating cover 33 that elevates and elevates always overlaps with the outer peripheral side of the fixed cover 23.

揺動部４は、揺動部材４１、揺動駆動部４２、及び、第一ハンドル４３を備える。揺動部材４１は、アーム状に形成されている。揺動部材４１は、昇降部材３１に対して前後方向に揺動可能に設けられる。詳細には、揺動部材４１の一端が、昇降部材３１の揺動支持部３４に揺動可能に支持されている。昇降部材３１の上部の内部空間に配置された揺動駆動部４２は、揺動部材４１の一端を揺動中心として、揺動部材４１の他端を前後方向に揺動駆動する。 The swinging portion 4 includes a swinging member 41, a swinging drive portion 42, and a first handle 43. The swing member 41 is formed in an arm shape. The swing member 41 is provided so as to be swingable in the front-rear direction with respect to the elevating member 31. Specifically, one end of the swing member 41 is swingably supported by the swing support portion 34 of the elevating member 31. The swing drive unit 42 arranged in the internal space above the elevating member 31 swings and drives the other end of the swing member 41 in the front-rear direction with one end of the swing member 41 as the swing center.

揺動部材４１の他端には、第一ハンドル４３が一体に設けられている。第一ハンドル４３は、概ね四角形の枠形状に形成されている。第一ハンドル４３は、揺動部材４１の他端から前上方向に延びるように形成されている。第一ハンドル４３の側方部分は、被介助者Ｍの両手によって把持される。さらに、第一ハンドル４３の側方部分及び前方部分は、介助者によって介助装置１を移動させるために把持される。 A first handle 43 is integrally provided at the other end of the swing member 41. The first handle 43 is formed in a substantially quadrangular frame shape. The first handle 43 is formed so as to extend forward and upward from the other end of the swing member 41. The lateral portion of the first handle 43 is gripped by both hands of the person being assisted M. Further, the side portion and the front portion of the first handle 43 are gripped by the caregiver to move the care device 1.

身体支持部材５は、胴体支持部材５１、脇支持部材５２，５２、及び第二ハンドル５３などを備える。胴体支持部材５１は、支持本体５１１と、クッション材５１２とを備える。支持本体５１１は、金属製であって、板状に形成されている。支持本体５１１の前下側は、揺動部材４１の他端に支持されている。従って、支持本体５１１は、揺動駆動部４２によって昇降部材３１に対して前後方向に傾動可能となる。 The body support member 5 includes a body support member 51, armpit support members 52, 52, a second handle 53, and the like. The body support member 51 includes a support body 511 and a cushion material 512. The support body 511 is made of metal and is formed in a plate shape. The front lower side of the support main body 511 is supported by the other end of the swing member 41. Therefore, the support main body 511 can be tilted in the front-rear direction with respect to the elevating member 31 by the rocking drive unit 42.

さらに、支持本体５１１は、揺動部材４１に対して、所定角度範囲において、前後方向に自由傾動可能に支持されている。支持本体５１１は、図２に示す状態を所定角度範囲の端として、図２の時計回りに所定角度範囲を傾動可能となる。なお、自由傾動とは、アクチュエータなどによって駆動される傾動ではなく、手動によって動かすことが可能な傾動を意味する。 Further, the support main body 511 is supported so as to be able to freely tilt in the front-rear direction with respect to the swing member 41 within a predetermined angle range. The support main body 511 can tilt in the predetermined angle range in the clockwise direction of FIG. 2 with the state shown in FIG. 2 as the end of the predetermined angle range. The free tilt means a tilt that can be manually moved, not a tilt driven by an actuator or the like.

支持本体５１１の後上側に、クッション材５１２が固定されている。クッション材５１２は、被介助者Ｍの胴体形状に近い面状に形成されており、柔軟な変形が可能になっている。クッション材５１２の支持面は、被介助者Ｍの胴体の前面に面接触して支持する。特に、クッション材５１２は、被介助者Ｍにおける胸部から腹部に亘る範囲を下方から支持する。 The cushion material 512 is fixed to the rear upper side of the support main body 511. The cushion material 512 is formed in a surface shape close to the body shape of the person being assisted M, and can be flexibly deformed. The support surface of the cushion material 512 is in surface contact with the front surface of the body of the person being assisted M and is supported. In particular, the cushion material 512 supports the range from the chest to the abdomen of the person being assisted M from below.

脇支持部材５２，５２は、胴体支持部材５１の左右に設けられている。脇支持部材５２は、支持本体５２１と、脇アーム５２２とを備える。脇支持部材５２の支持本体５２１は、金属製であって、胴体支持部材５１の支持本体５１１に揺動可能に支持される。 The armpit support members 52 and 52 are provided on the left and right sides of the body support member 51. The armpit support member 52 includes a support body 521 and an armpit arm 522. The support body 521 of the side support member 52 is made of metal and is swingably supported by the support body 511 of the body support member 51.

脇アーム５２２は、被介助者Ｍの脇を支持する。脇アーム５２２は、棒状部材により、Ｌ字状に形成されている。脇アーム５２２の表面は、柔軟な変形が可能な材料により覆われている。脇アーム５２２は、脇挿入部５２２ａと、肩受け部５２２ｂとを備える。 The armpit arm 522 supports the armpit of the person being assisted M. The armpit arm 522 is formed in an L shape by a rod-shaped member. The surface of the armpit 522 is covered with a flexible deformable material. The armpit arm 522 includes an armpit insertion portion 522a and a shoulder support portion 522b.

脇挿入部５２２ａは、Ｌ字状の一方の延在部位であって、ほぼ直線状に形成されている。脇挿入部５２２ａは、図２において後方に向かって延びるように設けられている。脇挿入部５２２ａは、ほぼ直線状に形成されており、被介助者Ｍの脇に挿入される。より詳細には、脇挿入部５２２ａは、胴体支持部材５１の上下方向の中央部から後方に向かって延びるように形成されている。 The armpit insertion portion 522a is one of the L-shaped extending portions and is formed substantially in a straight line. The side insertion portion 522a is provided so as to extend rearward in FIG. 2. The armpit insertion portion 522a is formed in a substantially linear shape and is inserted to the side of the person being assisted M. More specifically, the side insertion portion 522a is formed so as to extend rearward from the vertical central portion of the body support member 51.

肩受け部５２２ｂは、Ｌ字状の他方の延在部位であって、ほぼ直線状に形成されている。る。肩受け部５２２ｂは、図２において、脇挿入部５２２ａの前端から上方に向けて延びるように形成されている。肩受け部５２２ｂは、被介助者Ｍの肩の前面を支持する。脇挿入部５２２ａの長さは、肩受け部５２２ｂの長さより長く形成されている。そして、肩受け部５２２ｂの前面に、脇支持部材５２の支持本体５２１が固定されている。 The shoulder support portion 522b is the other extending portion of the L-shape and is formed in a substantially linear shape. To. The shoulder support portion 522b is formed so as to extend upward from the front end of the armpit insertion portion 522a in FIG. 2. The shoulder support portion 522b supports the front surface of the shoulder of the person being assisted M. The length of the armpit insertion portion 522a is formed longer than the length of the shoulder support portion 522b. Then, the support main body 521 of the side support member 52 is fixed to the front surface of the shoulder support portion 522b.

第二ハンドル５３は、胴体支持部材５１の支持本体５１１の前面に一体に設けられている。第二ハンドル５３は、横長のＵ字状に形成されている。第二ハンドル５３は、支持本体５１１の下端に固定され左右方向に延びる基軸部分と、基軸部分の両端から第一ハンドル４３側に向かって延びる把持部分とを備える。 The second handle 53 is integrally provided on the front surface of the support main body 511 of the body support member 51. The second handle 53 is formed in a horizontally long U-shape. The second handle 53 includes a base shaft portion fixed to the lower end of the support main body 511 and extending in the left-right direction, and a grip portion extending from both ends of the base shaft portion toward the first handle 43 side.

制御部６は、フレーム２１の上側右寄りに設けられている。制御部６は、被介助者Ｍ又は介助者からの指令に基づいて、昇降駆動部３２および揺動駆動部４２を制御する。制御部６には、ソフトウェアで動作するコンピュータ装置を用いることができる。コンピュータ装置は、被介助者Ｍ又は介助者からの指令を受け付ける図略のリモコン装置を備えていてもよい。ソフトウェアとして、起立補助を行う起立補助プログラムや、着座補助を行う着座補助プログラムが実行可能に記憶されている。制御部６の下側には、繰り返しての充放電が可能な符号略のバッテリ電源が付属されている。バッテリ電源は、フレーム２１の上側左寄りにも付属されている。バッテリ電源は、昇降駆動部３２および揺動駆動部４２にも共用される。 The control unit 6 is provided on the upper right side of the frame 21. The control unit 6 controls the elevating drive unit 32 and the swing drive unit 42 based on a command from the person being assisted M or the caregiver. A computer device operated by software can be used for the control unit 6. The computer device may include a remote control device (not shown) that receives a command from the person being assisted M or the caregiver. As software, a standing assist program that assists standing and a sitting assist program that assists sitting are executably stored. A battery power supply (abbreviated as a symbol) capable of repeated charging and discharging is attached to the lower side of the control unit 6. The battery power supply is also attached to the upper left side of the frame 21. The battery power supply is also shared by the elevating drive unit 32 and the swing drive unit 42.

（２．脇支持部材５２の旋回構造）
次に、脇支持部材５２の旋回構造について、図３及び図４を参照して説明する。脇支持部材５２の支持本体５２１は、脇挿入部５２２ａよりも前方に設けられる支点５２１ａを中心に、胴体支持部材５１の支持本体５１１に旋回可能に設けられる。支点５２１ａは、胴体支持部材５１の支持本体５１１の上下方向中央より上側であって、支持本体５１１の左右方向中央より外側にずれた位置に位置する。支点５２１ａは、脇アーム５２２より左右方向内側に位置する。つまり、支点５２１ａは、被介助者Ｍの鎖骨付近に対応する位置に位置する。支点５２１ａの旋回軸線Ａは、支持本体５２１の法線方向に平行である。(2. Swing structure of armpit support member 52)
Next, the swivel structure of the side support member 52 will be described with reference to FIGS. 3 and 4. The support body 521 of the armpit support member 52 is rotatably provided on the support body 511 of the body support member 51 around a fulcrum 521a provided in front of the side insertion portion 522a. The fulcrum 521a is located above the vertical center of the support main body 511 of the fuselage support member 51 and at a position shifted outward from the horizontal center of the support main body 511. The fulcrum 521a is located inside the side arm 522 in the left-right direction. That is, the fulcrum 521a is located at a position corresponding to the vicinity of the clavicle of the person being assisted M. The swivel axis A of the fulcrum 521a is parallel to the normal direction of the support main body 521.

脇支持部材５２の支持本体５２１が、胴体支持部材５１の支持本体５１１に対して支点５２１ａを中心に旋回することにより、図４の二点鎖線で示すように、脇アーム５２２の脇挿入部５２２ａは、胴体支持部材５１のクッション材５１２の側面から側方に離れる方向に移動可能となる。つまり、脇支持部材５２が旋回することにより、脇アーム５２２の左右方向位置が変化する。 The support body 521 of the armpit support member 52 swivels around the fulcrum 521a with respect to the support body 511 of the body support member 51, so that the armpit insertion portion 522a of the armpit arm 522 is shown by the two-dot chain line in FIG. Can move in a direction away from the side surface of the cushion material 512 of the body support member 51. That is, when the armpit support member 52 turns, the position of the armpit arm 522 in the left-right direction changes.

（３．胴体支持部材５１と脇支持部材５２との位置及び姿勢）
次に、胴体支持部材５１と脇支持部材５２との相対的な位置及び姿勢について、図２を参照して説明する。図２は、介助装置１が座位姿勢の被介助者Ｍに対して乗り込み位置に位置する状態を図示する。(3. Position and posture of the body support member 51 and the side support member 52)
Next, the relative positions and postures of the body support member 51 and the side support member 52 will be described with reference to FIG. FIG. 2 illustrates a state in which the assist device 1 is located at the boarding position with respect to the assisted person M in the sitting posture.

介助装置１の側方視（図２に示す向き）において、図２に示すように胴体支持部材５１が乗り込み位置に位置するときに、胴体支持部材５１のクッション材５１２の支持面の法線ベクトルＮａは、後方且つ上方に向かう方向となる。法線ベクトルＮａは、床面Ｆの鉛直方向に対して後方に４５～６０°のなす角度を有する。 When the body support member 51 is located at the boarding position as shown in FIG. 2 in the side view of the assistance device 1 (direction shown in FIG. 2), the normal vector of the support surface of the cushion material 512 of the body support member 51. Na is in the backward and upward direction. The normal vector Na has an angle of 45 to 60 ° backward with respect to the vertical direction of the floor surface F.

脇支持部材５２の支点５２１ａの旋回軸線Ａは、介助装置１の側方視において、クッション材５１２の法線ベクトルＮａにほぼ平行となる。つまり、胴体支持部材５１が乗り込み位置に位置するときに、支点５２１ａの旋回軸線も、後方且つ上方を向かう方向となる。 The swivel axis A of the fulcrum 521a of the side support member 52 is substantially parallel to the normal vector Na of the cushion material 512 in the lateral view of the assist device 1. That is, when the fuselage support member 51 is located at the boarding position, the turning axis of the fulcrum 521a also faces backward and upward.

脇アーム５２２は、胴体支持部材５１のクッション材５１２の側方に配置されている。介助装置１の側方視において、脇アーム５２２の脇挿入部５２２ａは、胴体支持部材５１のクッション材５１２の支持面から後方に向かって直線状に延びる。脇挿入部５２２ａの当該姿勢が、「乗り込み姿勢」である。従って、脇挿入部５２２ａにおける後方へ向かう方向ベクトルＮｂとクッション材５１２の法線ベクトルＮａとは、角度を有している。ただし、介助装置１の側方視において、法線ベクトルＮａは、方向ベクトルＮｂよりも上方を向く。 The armpit arm 522 is arranged on the side of the cushion material 512 of the body support member 51. In the lateral view of the care device 1, the armpit insertion portion 522a of the armpit arm 522 extends linearly rearward from the support surface of the cushion member 512 of the body support member 51. The posture of the armpit insertion portion 522a is the "boarding posture". Therefore, the direction vector Nb toward the rear in the side insertion portion 522a and the normal vector Na of the cushion material 512 have an angle. However, in the lateral view of the assistance device 1, the normal vector Na faces upward from the direction vector Nb.

好適には、胴体支持部材５１が乗り込み位置に位置するときに、脇挿入部５２２ａは、ほぼ水平方向に向かって延びる乗り込み姿勢となる。ほぼ水平方向とは、水平方向に対して上下それぞれに０～５°傾いた範囲を含む意味である。さらに、クッション材５１２の法線ベクトルＮａと脇挿入部５２２ａの方向ベクトルＮｂとのなす角度θは、鋭角の角度を有している。なす角度θは、好適には１０～５０°であり、より好適には３５～４５°である。 Preferably, when the fuselage support member 51 is located at the boarding position, the side insertion portion 522a is in a boarding posture extending substantially in the horizontal direction. The substantially horizontal direction means to include a range inclined by 0 to 5 ° vertically with respect to the horizontal direction. Further, the angle θ formed by the normal vector Na of the cushion material 512 and the direction vector Nb of the side insertion portion 522a has an acute angle. The angle θ formed is preferably 10 to 50 °, more preferably 35 to 45 °.

脇アーム５２２の肩受け部５２２ｂは、胴体支持部材５１のクッション材５１２の側面に配置されている。介助装置１の側方視において、肩受け部５２２ｂは、上方に向かって直線状に延びる。好適には、肩受け部５２２ｂは、上方且つ前方に向かって延びる姿勢となる。 The shoulder support portion 522b of the side arm 522 is arranged on the side surface of the cushion material 512 of the body support member 51. In the lateral view of the care device 1, the shoulder support portion 522b extends linearly upward. Preferably, the shoulder support portion 522b is in a posture extending upward and forward.

そして、介助装置１の側方視において、クッション材５１２の法線ベクトルＮａと肩受け部５２２ｂの方向ベクトルＮｃとのなす角度φは、鋭角の角度を有している。なす角度φは、好適には４０～８０°であり、より好適には４５～６０°である。また、脇挿入部５２２ａの方向ベクトルＮｂと肩受け部５２２ｂの方向ベクトルＮｃとのなす角度（θ＋φ）は、好適には９０～１２０°である。つまり、脇アーム５２２は、直角又は鈍角のなす角度を有するＬ字状をなしている。 Then, in the lateral view of the care device 1, the angle φ formed by the normal vector Na of the cushion material 512 and the direction vector Nc of the shoulder receiving portion 522b has an acute angle. The angle φ formed is preferably 40 to 80 °, more preferably 45 to 60 °. Further, the angle (θ + φ) formed by the direction vector Nb of the side insertion portion 522a and the direction vector Nc of the shoulder receiving portion 522b is preferably 90 to 120 °. That is, the armpit arm 522 has an L-shape having an angle formed by a right angle or an obtuse angle.

（４．介助装置１による補助動作）
次に、介助装置１の起立補助の動作について、図２、図５及び図６を参照して説明する。介助装置１は、図２に示すように椅子Ｃに座っている座位姿勢の起立補助動作開始姿勢の被介助者Ｍを、図６に示すように椅子Ｃから被介助者Ｍの臀部が上方へ移動した立位姿勢にする起立動作の補助を行う。介助装置１は、起立動作において、図２に示す起立補助動作開始状態から、図５に示す起立準備状態となり、その後に図６に示す起立完了状態となる。(4. Auxiliary operation by the assist device 1)
Next, the operation of the assisting device 1 for assisting standing up will be described with reference to FIGS. 2, 5, and 6. As shown in FIG. 2, the assisting device 1 moves the assisted person M in the standing assisting operation start posture in the sitting posture sitting on the chair C, and the buttocks of the assisted person M upward from the chair C as shown in FIG. Assists in standing motion to move to a standing posture. In the standing operation, the assistance device 1 changes from the standing assisting operation start state shown in FIG. 2 to the standing preparation state shown in FIG. 5, and then changes to the standing completion state shown in FIG.

まず、介助者は、介助装置１を座位姿勢の被介助者Ｍの近くに移動させる。このとき、介助者は、図２に示すように、介助装置１を動作させて、座位姿勢の被介助者Ｍが乗り込むことができる状態にする。つまり、胴体支持部材５１が、上下方向の可動範囲の下寄りに位置している状態であって、側方視における胴体支持部材５１の法線ベクトルＮａが上方且つ後方を向く方向となる状態とされる。 First, the caregiver moves the care device 1 close to the care recipient M in the sitting posture. At this time, as shown in FIG. 2, the caregiver operates the caregiver 1 so that the care recipient M in the sitting posture can get in. That is, the fuselage support member 51 is located below the movable range in the vertical direction, and the normal vector Na of the fuselage support member 51 in the lateral view is in a direction facing upward and backward. Will be done.

このとき、介助者は、被介助者Ｍの高さに応じて、昇降部材３１の高さを調整する。続いて、被介助者Ｍは、両脚を身体支持部材５の下側に入り込ませる。ここで、身体支持部材５が邪魔になる場合には、被介助者Ｍ又は介助者が、身体支持部材５の下端部を手で持ち上げて、被介助者Ｍの両脚を身体支持部材５の下側に入れやすくすることができる。 At this time, the caregiver adjusts the height of the elevating member 31 according to the height of the person being assisted M. Subsequently, the person being assisted M causes both legs to enter the lower side of the body support member 5. Here, when the body support member 5 becomes an obstacle, the person being assisted M or the caregiver lifts the lower end portion of the body support member 5 by hand, and both legs of the person being assisted M are placed under the body support member 5. It can be easily put on the side.

次に、被介助者Ｍは、両足を接地マーク２４１の上に載せ、下腿を下腿当て部２５に接触させる。さらに、被介助者Ｍは、胴体を胴体支持部材５１のクッション材５１２の支持面に載せる。つまり、被介助者Ｍの上半身は、身体支持部材５に支持された状態において、少し前傾した姿勢となる。 Next, the person being assisted M puts both feet on the ground contact mark 241 and brings the lower leg into contact with the lower leg rest 25. Further, the person being assisted M puts the body on the support surface of the cushion material 512 of the body support member 51. That is, the upper body of the person being assisted M is in a slightly forward leaning posture while being supported by the body support member 5.

同時に、被介助者Ｍは、脇に脇挿入部５２２ａを挿入させる。ここで、脇挿入部５２２ａの乗り込み姿勢は、胴体支持部材５１のクッション材５１２よりも後方に直線状に延びる。特に、脇挿入部５２２ａの乗り込み姿勢は、ほぼ水平方向に延びる。従って、被介助者Ｍは、脇挿入部５２２ａを脇に挿入させやすい。そのため、座位姿勢の被介助者Ｍは、介助装置１に楽に乗り込むことができる。 At the same time, the person being assisted M inserts the armpit insertion portion 522a to the side. Here, the riding posture of the side insertion portion 522a extends linearly behind the cushion material 512 of the body support member 51. In particular, the riding posture of the side insertion portion 522a extends in the substantially horizontal direction. Therefore, the person being assisted M can easily insert the armpit insertion portion 522a into the armpit. Therefore, the person M in the sitting position can easily get into the care device 1.

被介助者Ｍは、脇挿入部５２２ａの前端付近まで脇に挿入させて、肩の前面を肩受け部５２２ｂに接触させる。このとき、介助者は、被介助者Ｍの姿勢を考慮して、昇降部材３１の高さを微調整する。このようにして、介助装置１は、起立補助動作開始状態に設定される。そして、介助者は、被介助者Ｍに、第一ハンドル４３を把持させる。このときの被介助者Ｍの当該姿勢が、起立補助動作開始姿勢である。 The person being assisted M is inserted aside to the vicinity of the front end of the armpit insertion portion 522a, and the front surface of the shoulder is brought into contact with the shoulder receiving portion 522b. At this time, the caregiver finely adjusts the height of the elevating member 31 in consideration of the posture of the person being assisted M. In this way, the care device 1 is set to the standing assist operation start state. Then, the caregiver causes the care recipient M to grip the first handle 43. The posture of the person being assisted M at this time is the posture for starting the standing assist operation.

続いて、介助者は、介助装置１の起立補助プログラムに基づいて、介助装置１の駆動を開始する。これにより、昇降部材３１の昇降と揺動部材４１の前方への傾動とが協調して行われる。 Subsequently, the caregiver starts driving the care device 1 based on the standing assist program of the care device 1. As a result, the raising and lowering of the raising and lowering member 31 and the forward tilting of the swinging member 41 are performed in coordination.

起立補助プログラムが実行されると、介助装置１は、図５に示す起立準備状態となる。介助装置１の起立準備状態とは、座位姿勢の被介助者Ｍを椅子Ｃから持ち上げる直前の状態である。つまり、介助装置１は、図２に示す起立補助動作開始状態から、昇降部材３１は下降し、且つ、揺動部材４１が前傾することにより、図５に示す起立準備状態となる。ここで、介助装置１が起立準備状態において、被介助者Ｍの臀部が椅子Ｃの座面に接触し、胴体が前傾し、且つ、胴体が伸張した状態となる。被介助者Ｍの当該姿勢を起立準備姿勢と称する。 When the standing assist program is executed, the caregiving device 1 is in the standing preparation state shown in FIG. The standing preparation state of the care device 1 is a state immediately before the person M in the sitting position is lifted from the chair C. That is, in the caregiving device 1, the elevating member 31 descends from the standing assisting operation start state shown in FIG. 2, and the swinging member 41 tilts forward, so that the assisting device 1 is in the standing preparation state shown in FIG. Here, when the assist device 1 is in the standing preparation state, the buttocks of the person being assisted M come into contact with the seat surface of the chair C, the torso is tilted forward, and the torso is in an extended state. The posture of the person being assisted M is referred to as a standing preparation posture.

介助装置１が、起立補助動作開始状態から起立準備状態に移行する間、揺動部材４１の前傾により、胴体支持部材５１及び脇支持部材５２，５２も前傾する。このとき、図５に示すように、脇挿入部５２２ａの後端（図５の左端）が、前端（図５の右端）に対して上方に立ち上がる。従って、被介助者Ｍが起立準備姿勢となる状態、すなわち被介助者Ｍの臀部が椅子Ｃの座面から完全に離れる前において、脇挿入部５２２ａは、被介助者Ｍの後方への倒れを防止する。 While the assist device 1 shifts from the standing assist operation start state to the standing preparation state, the body support member 51 and the side support members 52 and 52 also tilt forward due to the forward tilt of the swing member 41. At this time, as shown in FIG. 5, the rear end (left end in FIG. 5) of the side insertion portion 522a rises upward with respect to the front end (right end in FIG. 5). Therefore, in the state where the care recipient M is in the standing preparation posture, that is, before the buttocks of the care recipient M are completely separated from the seat surface of the chair C, the side insertion portion 522a causes the care recipient M to fall backward. To prevent.

起立補助プログラムがさらに継続されると、図６に示すように、昇降部材３１は上昇し、且つ、揺動部材４１がさらに前傾することで、起立補助プログラムが終了する。そうすると、被介助者Ｍは、起立準備姿勢から立位姿勢となる。つまり、立位姿勢の被介助者Ｍの上半身は、大きく前傾した姿勢となり、被介助者Ｍの臀部の位置は、椅子Ｃの座面より高い位置に位置する。そして、被介助者Ｍの脚部は、ほぼ伸びた状態となる。 When the standing assist program is further continued, as shown in FIG. 6, the elevating member 31 rises and the swing member 41 further tilts forward, so that the standing assist program ends. Then, the person being assisted M changes from the standing posture to the standing posture. That is, the upper body of the person being assisted M in the standing posture is in a posture of being greatly tilted forward, and the position of the buttocks of the person being assisted M is located higher than the seating surface of the chair C. Then, the leg portion of the person being assisted M is in a substantially extended state.

このように、被介助者Ｍが介助装置１に乗り込んだ後には、胴体支持部材５１が前方に傾動することにより、被介助者Ｍは座位姿勢における起立補助動作開始姿勢から起立準備姿勢を介して立位姿勢に移行する。胴体支持部材５１の前傾に伴って、脇挿入部５２２ａは、胴体支持部材５１から上後方に延びる姿勢（立ち上がり姿勢）となる。従って、介助装置１の起立補助動作の開始直後から被介助者Ｍが起立準備姿勢を介して立位姿勢に移行する際に、脇挿入部５２２ａは、被介助者Ｍを下方且つ後方から支持するため、被介助者Ｍの後方への倒れを防止できる。このように、介助装置１は、被介助者Ｍが立位姿勢に移行する際の高い安全性を有する。特に、介助装置１は、被介助者Ｍが椅子Ｃの座面から離れている間、すなわち被介助者Ｍが起立準備姿勢から立位姿勢に移行する際の高い安全性を有する。 In this way, after the assisted person M gets into the assisting device 1, the body support member 51 tilts forward, so that the assisted person M moves from the standing assisting operation start posture in the sitting posture to the standing preparation posture. Move to a standing position. As the body support member 51 tilts forward, the side insertion portion 522a is in a posture (standing posture) extending upward and backward from the body support member 51. Therefore, when the assisted person M shifts to the standing posture through the standing preparation posture immediately after the start of the standing assisting operation of the assisting device 1, the side insertion portion 522a supports the assisted person M from below and behind. Therefore, it is possible to prevent the person being assisted M from falling backward. As described above, the care device 1 has high safety when the person being assisted M shifts to the standing posture. In particular, the assisting device 1 has high safety while the assisted person M is away from the seat surface of the chair C, that is, when the assisted person M shifts from the standing posture to the standing posture.

また、介助装置１の着座補助の動作は、起立補助の動作に対してほぼ逆の動作を行うことになる。つまり、胴体支持部材５１が後方に傾動しつつ、昇降部材３１が下降することで、被介助者Ｍを立位姿勢から座位姿勢に移行させることができる。そして、座位姿勢の被介助者Ｍは、容易に脇挿入部５２２ａを脇から抜くことができる。 Further, the operation of the assisting device 1 for assisting sitting is substantially opposite to the operation of assisting standing up. That is, the elevating member 31 descends while the body support member 51 tilts backward, so that the person being assisted M can shift from the standing posture to the sitting posture. Then, the care recipient M in the sitting posture can easily pull out the armpit insertion portion 522a from the armpit.

（５．体格の大きな被介助者Ｍの場合）
次に、体格の大きな被介助者Ｍが介助装置１に乗り込む場合について、図７及び図８を参照して説明する。ここで、体格の大きな被介助者Ｍは、胸部の横幅が大きいものとする。(5. In the case of a care recipient M with a large physique)
Next, a case where the person to be assisted M having a large physique gets into the assisting device 1 will be described with reference to FIGS. 7 and 8. Here, it is assumed that the care recipient M having a large physique has a large chest width.

この場合、図７及び図８に示すように、介助者又は被介助者Ｍは、支点５２１ａを中心に脇アーム５２２を揺動させて、脇挿入部５２２ａを胴体支持部材５１の側面から離れた位置へ移動させる。つまり、左右の脇挿入部５２２ａの離間距離が大きくなり、体格の大きな被介助者Ｍの胴体を胴体支持部材５１のクッション材５１２に当てることができる。 In this case, as shown in FIGS. 7 and 8, the caregiver or the care recipient M swings the side arm 522 around the fulcrum 521a and separates the side insertion portion 522a from the side surface of the body support member 51. Move to position. That is, the distance between the left and right side insertion portions 522a becomes large, and the body of the person being assisted M having a large physique can be applied to the cushion material 512 of the body support member 51.

図８に示すように、脇アーム５２２が揺動されて上述した場合とは異なる角度に位置する場合において、脇挿入部５２２ａの乗り込み姿勢は、上記同様に、ほぼ水平方向に延びるようになる。従って、被介助者Ｍは、脇挿入部５２２ａを脇に挿入させやすい。そのため、座位姿勢の被介助者Ｍは、介助者の介助がなくても、介助装置１に楽に乗り込むことができる。 As shown in FIG. 8, when the armpit arm 522 is swung and is positioned at an angle different from the above-mentioned case, the riding posture of the armpit insertion portion 522a is extended in the substantially horizontal direction as described above. Therefore, the person being assisted M can easily insert the armpit insertion portion 522a into the armpit. Therefore, the care recipient M in the sitting posture can easily get into the care device 1 without the care of the caregiver.

（６．実施形態の効果）
本実施形態に係る介助装置１は、被介助者Ｍの上半身を支持して被介助者Ｍの起立補助を行う介助装置である。介助装置１は、基台２と、基台２に昇降可能に設けられる昇降部材３１と、面状に形成され、昇降部材３１に前後方向に傾動可能に設けられ、被介助者Ｍの胴体の前面に面接触して胴体を支持する胴体支持部材５１と、胴体支持部材５１に支持され、被介助者Ｍの脇を支持する脇支持部材５２，５２とを備える。(6. Effect of the embodiment)
The assistance device 1 according to the present embodiment is an assistance device that supports the upper body of the person being assisted M and assists the person being assisted in standing up. The assist device 1 is formed in a planar shape with a base 2 and an elevating member 31 provided on the base 2 so as to be able to move up and down, and is provided on the elevating member 31 so as to be tiltable in the front-rear direction. A body support member 51 that comes into surface contact with the front surface to support the body, and side support members 52 and 52 that are supported by the body support member 51 and support the side of the person being assisted M are provided.

脇支持部材５２は、被介助者Ｍの脇に挿入される脇挿入部５２２ａを備える。図２に示すように、脇挿入部５２２ａは、胴体支持部材５１が座位姿勢の被介助者Ｍに対して乗り込み位置に位置するときに、胴体支持部材５１から被介助者Ｍの後方に向かって延びる乗り込み姿勢となるように設けられる。一方、図６に示すように、脇挿入部５２２ａは、胴体支持部材５１が前方に傾動することにより被介助者Ｍを立位姿勢に移行させる際に、胴体支持部材５１から被介助者Ｍの上後方に向かって延びる立ち上がり姿勢となるように設けられる。 The armpit support member 52 includes an armpit insertion portion 522a that is inserted to the armpit of the person being assisted M. As shown in FIG. 2, when the body support member 51 is positioned at the boarding position with respect to the assisted person M in the sitting posture, the side insertion portion 522a is directed from the body support member 51 toward the rear of the assisted person M. It is provided so that the boarding posture is extended. On the other hand, as shown in FIG. 6, in the side insertion portion 522a, when the body support member 51 tilts forward to shift the person being assisted M to the standing posture, the body support member 51 to the person being assisted M It is provided so as to have a standing posture extending toward the upper rear.

介助装置１によれば、胴体支持部材５１が図２に示すような乗り込み位置に位置するときに、脇挿入部５２２ａが後方に向かって延びる乗り込み姿勢となるように設けられている。そのため、座位姿勢の被介助者Ｍは、介助装置１に乗り込む際に、脇挿入部５２２ａを脇に挿入させやすくなる。従って、座位姿勢の被介助者Ｍは、介助装置１に楽に乗り込むことができる。 According to the caregiving device 1, when the fuselage support member 51 is positioned at the boarding position as shown in FIG. 2, the side insertion portion 522a is provided so as to be in a boarding posture extending rearward. Therefore, the person M in the sitting position can easily insert the side insertion portion 522a to the side when getting into the assistance device 1. Therefore, the person M in the sitting position can easily get into the care device 1.

また、被介助者Ｍが介助装置１に乗り込んだ後には、胴体支持部材５１が前方に傾動することにより、被介助者Ｍは座位姿勢から立位姿勢に移行する。胴体支持部材５１の前傾に伴って、脇挿入部５２２ａは、被介助者Ｍの後方への倒れを防止する姿勢（立ち上がり姿勢）となる。従って、立位姿勢に移行する際に、脇挿入部５２２ａは、立位姿勢の被介助者Ｍを下方且つ後方から支持するため、高い安全性を有する。 Further, after the assisted person M gets into the assisting device 1, the body support member 51 tilts forward, so that the assisted person M shifts from the sitting posture to the standing posture. As the body support member 51 leans forward, the side insertion portion 522a is in a posture (standing posture) to prevent the person being assisted M from falling backward. Therefore, when shifting to the standing posture, the side insertion portion 522a supports the assisted person M in the standing posture from below and from behind, and thus has high safety.

特に、図５に示すように、脇挿入部５２２ａは、胴体支持部材５１が前方に傾動することにより被介助者Ｍを座位姿勢における起立補助動作開始姿勢から起立準備姿勢に移行させる際に、胴体支持部材５１から被介助者Ｍの上後方に向かって延びる立ち上がり姿勢となる。その後、図６に示すように、脇挿入部５２２ａは、胴体支持部材５１がさらに前方に傾動することにより被介助者Ｍを起立準備姿勢から立位姿勢に移行させる際に、さらに立ち上がる。 In particular, as shown in FIG. 5, the side insertion portion 522a has a torso when the body support member 51 tilts forward to shift the person being assisted M from the standing assisting operation starting posture in the sitting posture to the standing preparation posture. The standing posture extends from the support member 51 toward the upper rear of the person being assisted M. After that, as shown in FIG. 6, the side insertion portion 522a further stands up when the body support member 51 tilts further forward to shift the person being assisted M from the standing posture to the standing posture.

従って、被介助者Ｍの臀部が椅子Ｃの座面から離れる直前において、脇挿入部５２２ａは、立位姿勢の被介助者Ｍを下方且つ後方から支持する状態となる。その結果、介助装置１は、被介助者Ｍが椅子Ｃの座面から離れている間、すなわち被介助者Ｍが起立準備姿勢から立位姿勢に移行する際の高い安全性を有する。 Therefore, immediately before the buttocks of the person being assisted M are separated from the seating surface of the chair C, the side insertion portion 522a is in a state of supporting the person being assisted M in the standing posture from below and from behind. As a result, the assisting device 1 has high safety while the assisted person M is away from the seat surface of the chair C, that is, when the assisted person M shifts from the standing posture to the standing posture.

また、脇支持部材５２は、脇挿入部５２２ａの前端に設けられ、胴体支持部材５１の側方に位置し、被介助者Ｍの肩の前面を支持する肩受け部５２２ｂをさらに備える。脇支持部材５２が脇挿入部５２２ａと肩受け部５２２ｂとを備えることにより、被介助者Ｍの脇は、脇挿入部５２２ａにおける肩受け部５２２ｂ寄りの位置に安定して支持される。従って、被介助者Ｍは、胴体支持部材５１によって胴体の前面を支持され、脇支持部材５２の肩受け部５２２ｂによって肩の前面を支持され、脇支持部材５２の脇挿入部５２２ａによって脇を下方から支持される。そのため、被介助者Ｍは、安定して介助装置１に支持される状態となる。 Further, the armpit support member 52 is provided at the front end of the armpit insertion portion 522a, is located on the side of the body support member 51, and further includes a shoulder support portion 522b that supports the front surface of the shoulder of the person being assisted M. Since the armpit support member 52 includes the armpit insertion portion 522a and the shoulder support portion 522b, the armpit of the person being assisted M is stably supported at a position closer to the shoulder support portion 522b in the armpit insertion portion 522a. Therefore, the person being assisted M is supported on the front surface of the body by the body support member 51, the front surface of the shoulder is supported by the shoulder support portion 522b of the side support member 52, and the armpit is downward by the side insertion portion 522a of the side support member 52. Supported by. Therefore, the person being assisted M is in a state of being stably supported by the assisting device 1.

また、脇支持部材５２は、Ｌ字状に形成されており、脇挿入部５２２ａは、Ｌ字状の一方の延在部位であり、肩受け部５２２ｂは、Ｌ字状の他方の延在部位とされている。これにより、被介助者Ｍは、介助装置１に楽に乗り込むことができ、乗り心地が良好となる。 Further, the armpit support member 52 is formed in an L shape, the armpit insertion portion 522a is one extending portion of the L shape, and the shoulder receiving portion 522b is the other extending portion of the L shape. It is said that. As a result, the person being assisted M can easily get into the assisting device 1, and the riding comfort is improved.

また、脇挿入部５２２ａの長さは、肩受け部５２２ｂの長さより長く形成されている。これにより、被介助者Ｍが介助装置１に乗り込んだ状態において、脇挿入部５２２ａが被介助者Ｍの脇よりも十分に後方に存在するため、被介助者Ｍに対して、後方へ倒れにくいという安心感を与えることができる。一方、肩受け部５２２ｂの長さが相対的に短いため、被介助者Ｍが介助装置１に乗り込んだ状態において、被介助者Ｍに対して、肩受け部５２２ｂによる圧迫感を与えないようにできる。 Further, the length of the armpit insertion portion 522a is formed to be longer than the length of the shoulder support portion 522b. As a result, when the care recipient M gets into the care device 1, the armpit insertion portion 522a is sufficiently behind the side of the care recipient M, so that the care recipient M is less likely to fall backward. It can give a sense of security. On the other hand, since the length of the shoulder support portion 522b is relatively short, the care recipient M should not be given a feeling of oppression by the shoulder support portion 522b when the care recipient M is in the assist device 1. can.

また、脇支持部材５２の脇挿入部５２２ａ及び肩受け部５２２ｂは、棒状部材により形成されている。特に、脇挿入部５２２ａは、棒状部材により直線状に形成されており、肩受け部５２２ｂも、棒状部材により直線状に形成されている。そして、脇挿入部５２２ａと肩受け部５２２ｂとが角度を有して設けられている。換言すると、脇挿入部５２２ａ及び肩受け部５２２ｂは、棒状部材により屈曲形成されている。 Further, the armpit insertion portion 522a and the shoulder support portion 522b of the armpit support member 52 are formed of a rod-shaped member. In particular, the armpit insertion portion 522a is formed linearly by the rod-shaped member, and the shoulder support portion 522b is also formed linearly by the rod-shaped member. The armpit insertion portion 522a and the shoulder support portion 522b are provided at an angle. In other words, the armpit insertion portion 522a and the shoulder support portion 522b are bent and formed by a rod-shaped member.

このように、脇挿入部５２２ａが直線状の棒状部材であるため、被介助者Ｍは、脇挿入部５２２ａを脇に挿入させやすい印象を持つことができる。このことから、被介助者Ｍは、介助装置１に楽に乗り込むことができる感覚を持つことができる。さらに、脇挿入部５２２ａが直線状の棒状部材であるため、被介助者Ｍが介助装置１に乗り込んだ状態において、被介助者Ｍは、脇挿入部５２２ａを脇に挟んだ感覚を得ることができる。つまり、被介助者Ｍは、脇挿入部５２２ａに支持されているという安心感を得ることができる。 As described above, since the armpit insertion portion 522a is a linear rod-shaped member, the person being assisted M can have an impression that the armpit insertion portion 522a can be easily inserted into the armpit. From this, the person being assisted M can have a feeling that he / she can easily get into the assisting device 1. Further, since the armpit insertion portion 522a is a linear rod-shaped member, the assisted person M can feel that the armpit insertion portion 522a is sandwiched by the side when the assisted person M gets into the assisting device 1. can. That is, the person being assisted M can get a sense of security that he / she is supported by the side insertion portion 522a.

さらに、脇挿入部５２２ａが直線状の棒状部材であるため、座位姿勢の被介助者が介助装置に乗り込んだ状態において、腕を前後に動作させやすくなる。つまり、被介助者Ｍにとって、乗り心地が良好となる。そして、被介助者Ｍが腕を前後に動作させた場合であっても、被介助者Ｍは脇挿入部５２２ａを脇に挟んだ状態を維持しやすい。このことから、被介助者Ｍは、良好な乗り心地を得ることができ、且つ、安心感をより得やすい。 Further, since the side insertion portion 522a is a linear rod-shaped member, it becomes easy to move the arm back and forth when the person being assisted in the sitting posture gets into the assisting device. That is, the ride quality is good for the person being assisted M. Even when the person being assisted M moves his / her arm back and forth, the person being assisted M can easily maintain the state in which the armpit insertion portion 522a is sandwiched by the armpit. From this, the person being assisted M can obtain a good ride quality and can more easily obtain a sense of security.

また、脇挿入部５２２ａは、胴体支持部材５１の上下方向の中央部から被介助者Ｍの後方に向かって延びるように形成されている。つまり、胴体支持部材５１は、被介助者Ｍの胴体のうち脇よりも上部に位置する胸部から、脇よりも下部に位置する腹部に亘って、支持する。このように、被介助者Ｍの胴体が、広範囲に亘って胴体支持部材５１により支持されるため、被介助者Ｍは安定感が良好となる。 Further, the side insertion portion 522a is formed so as to extend from the vertical central portion of the body support member 51 toward the rear of the person being assisted M. That is, the body support member 51 supports the body of the person being assisted M from the chest located above the armpit to the abdomen located below the armpit. As described above, since the body of the person being assisted M is supported by the body support member 51 over a wide range, the person being assisted M has a good sense of stability.

また、脇挿入部５２２ａは、胴体支持部材５１が座位姿勢の被介助者Ｍに対して乗り込み位置に位置するときに、ほぼ水平方向に向かって延びる乗り込み姿勢となるように設けられる。これにより、座位姿勢の被介助者Ｍは、脇挿入部５２２ａを脇に挿入させやすくなる。従って、座位姿勢の被介助者Ｍは、介助装置１に楽に乗り込むことができる。 Further, the side insertion portion 522a is provided so as to be in a riding posture that extends substantially in the horizontal direction when the body support member 51 is positioned at the riding position with respect to the person being assisted M in the sitting posture. As a result, the person M in the sitting position can easily insert the armpit insertion portion 522a into the armpit. Therefore, the person M in the sitting position can easily get into the care device 1.

また、介助装置１の側方視において、脇挿入部５２２ａにおける後方へ向かう方向ベクトルＮｂと胴体支持部材５１の支持面における法線ベクトルＮａとのなす角度θは、鋭角の角度である。法線ベクトルＮａは、胴体支持部材５１が乗り込み位置に位置するときに、脇挿入部５２２ａにおける後方へ向かう方向ベクトルＮｂよりも上方を向く。 Further, in the lateral view of the care device 1, the angle θ formed by the direction vector Nb toward the rear in the side insertion portion 522a and the normal vector Na on the support surface of the body support member 51 is an acute angle. The normal vector Na faces upward from the rearward direction vector Nb at the side insertion portion 522a when the fuselage support member 51 is located at the boarding position.

これにより、胴体支持部材５１の支持面を鉛直方向よりも前傾させた姿勢にしつつ、脇挿入部５２２ａを水平方向に延びるような姿勢にすることが可能となる。胴体支持部材５１の支持面が前傾しているため、被介助者Ｍの胴体が胴体支持部材５１に支持された状態において、被介助者Ｍは安定感を得ることができる。一方、脇挿入部５２２ａの後端が高い位置に位置しないようにできる。従って、座位姿勢の被介助者Ｍが脇挿入部５２２ａを脇に挿入させやすくなる。このように、介助装置１は、前傾した胴体支持部材５１による安定感を与えることと、乗り込み易さを得ることの両立を図ることができる。 As a result, it is possible to make the support surface of the body support member 51 tilt forward from the vertical direction and to extend the side insertion portion 522a in the horizontal direction. Since the support surface of the body support member 51 is tilted forward, the person being assisted M can obtain a sense of stability in a state where the body of the person being assisted M is supported by the body support member 51. On the other hand, the rear end of the side insertion portion 522a can be prevented from being positioned at a high position. Therefore, the person M in the sitting position can easily insert the armpit insertion portion 522a into the armpit. As described above, the caregiving device 1 can achieve both the provision of a sense of stability by the body support member 51 tilted forward and the ease of boarding.

また、脇挿入部５２２ａにおける後方へ向かう方向ベクトルＮｂと胴体支持部材５１の支持面の法線ベクトルＮａとのなす角度θは、好適には１０～５０°であり、より好適には３５～４５°である。これにより、介助装置１は、前傾した胴体支持部材５１による安定感を与えることと、乗り込み易さを得ることの両立を確実に図ることができる。 Further, the angle θ formed by the backward direction vector Nb in the side insertion portion 522a and the normal vector Na of the support surface of the body support member 51 is preferably 10 to 50 °, more preferably 35 to 45. °. As a result, the caregiving device 1 can surely achieve both the provision of a sense of stability by the body support member 51 tilted forward and the ease of boarding.

特に、胴体支持部材５１が乗り込み位置に位置するときに、介助装置１の側方視において、胴体支持部材５１の法線ベクトルＮａは、床面の鉛直方向に対して後方に４５～６０°のなす角度を有する状態において、方向ベクトルＮｂと法線ベクトルＮａとのなす角度θが、好適には１０～５０°とする。これにより、被介助者Ｍは、前傾した胴体支持部材５１に乗り込み易く、胴体支持部材５１に胴体を支持された状態で支持されているという安心感を得ることができ、且つ、脇挿入部５２２ａに脇を挿入し易くなる。 In particular, when the body support member 51 is located at the boarding position, the normal vector Na of the body support member 51 is 45 to 60 ° rearward with respect to the vertical direction of the floor surface in the lateral view of the assistance device 1. The angle θ formed by the direction vector Nb and the normal vector Na is preferably 10 to 50 ° in a state having an angle formed. As a result, the person being assisted M can easily get into the body support member 51 tilted forward, and can obtain a sense of security that the body is supported by the body support member 51, and the side insertion portion. It becomes easier to insert the armpit into 522a.

また、脇支持部材５２は、脇挿入部５２２ａよりも被介助者Ｍの前方に設けられる支点５２１ａを中心に胴体支持部材５１に旋回可能に設けられる。そして、脇挿入部５２２ａは、胴体支持部材５１が乗り込み位置に位置するときであって、脇支持部材５２が胴体支持部材５１に対して旋回させた状態において、胴体支持部材５１から被介助者Ｍの後方に向かって延びる乗り込み姿勢となるように設けられる。 Further, the armpit support member 52 is provided on the body support member 51 so as to be rotatable around a fulcrum 521a provided in front of the person being assisted M with respect to the armpit insertion portion 522a. Then, the side insertion portion 522a is from the body support member 51 to the person being assisted M when the body support member 51 is located at the boarding position and the side support member 52 is swiveled with respect to the body support member 51. It is provided so that it has a boarding posture that extends toward the rear of the.

これにより、被介助者Ｍが脇挿入部５２２ａを脇に挿入する際に、脇挿入部５２２ａは、前方に設けられた支点５２１ａを中心に被介助者Ｍの脇の位置に合うように旋回させられる。従って、脇挿入部５２２ａの位置を被介助者Ｍの体格に合わせることができるため、介助装置１への被介助者Ｍの乗り込みが容易となる。さらに、脇挿入部５２２ａは、支点５２１ａを中心に旋回させたとしても、胴体支持部材５１から後方に向かって延びる状態となる。従って、被介助者Ｍの体格に関わらず、被介助者Ｍは、介助装置１に楽に乗り込むことができる。 As a result, when the person being assisted M inserts the armpit insertion portion 522a to the side, the armpit insertion portion 522a is swiveled around the fulcrum 521a provided in front so as to be aligned with the position of the armpit of the person being assisted M. Be done. Therefore, since the position of the side insertion portion 522a can be adjusted to the physique of the person being assisted M, it becomes easy for the person being assisted M to get into the assisting device 1. Further, the side insertion portion 522a is in a state of extending rearward from the body support member 51 even if the side insertion portion 522a is swiveled around the fulcrum 521a. Therefore, regardless of the physique of the person being assisted M, the person being assisted M can easily get into the assisting device 1.

また、脇挿入部５２２ａは、胴体支持部材５１が乗り込み位置に位置するときであって、脇支持部材５２が胴体支持部材５１に対する異なる角度に位置する状態において、ほぼ水平方向に向かって延びる乗り込み姿勢となるように設けられる。これにより、被介助者Ｍの体格に関わらず、座位姿勢の被介助者Ｍは、脇挿入部５２２ａを脇に挿入させやすくなる。従って、座位姿勢の被介助者Ｍは、介助装置１に楽に乗り込むことができる。 Further, the side insertion portion 522a is a boarding posture extending in a substantially horizontal direction when the body support member 51 is located at a boarding position and the side support member 52 is located at a different angle with respect to the body support member 51. It is provided so as to be. As a result, regardless of the physique of the person being assisted M, the person being assisted M in the sitting posture can easily insert the armpit insertion portion 522a to the armpit. Therefore, the person M in the sitting position can easily get into the care device 1.

１：介助装置、 ２：基台、 ３：昇降部、 ４：揺動部、 ５：身体支持部材、 ６：制御部、 ３１：昇降部材、 ３２：昇降駆動部、 ４１：揺動部材、 ４２：揺動駆動部、 ５１：胴体支持部材、 ５２：脇支持部材、 ５１１：支持本体、 ５１２：クッション材、 ５２１：支持本体、 ５２１ａ：支点、 ５２２：脇アーム、 ５２２ａ：脇挿入部、 ５２２ｂ：肩受け部、 Ａ：旋回軸線、 Ｍ：被介助者、 Ｎａ：側方視における胴体支持部材のクッション材の支持面の法線ベクトル、 Ｎｂ：側方視における脇挿入部の後方へ向かう方向ベクトル、 Ｎｃ：側方視における肩受け部の方向ベクトル、 θ：法線ベクトルＮａと方向ベクトルＮｂとのなす角度、 φ：法線ベクトルＮａと方向ベクトルＮｃとのなす角度 1: Assistance device, 2: Base, 3: Elevating part, 4: Swinging part, 5: Body support member, 6: Control part, 31: Elevating member, 32: Elevating drive part, 41: Swinging member, 42 : Swing drive part, 51: Body support member, 52: Side support member, 511: Support body, 512: Cushion material, 521: Support body, 521a: Support point, 522: Side arm, 522a: Side insertion part, 522b: Shoulder support, A: swivel axis, M: person being assisted, Na: normal vector of the support surface of the cushioning material of the body support member in lateral view, Nb: direction vector toward the rear of the side insertion part in lateral view. , Nc: Direction vector of the shoulder support in lateral view, θ: Angle formed by the normal vector Na and the direction vector Nb, φ: Angle formed by the normal vector Na and the direction vector Nc.

Claims (10)

被介助者の上半身を支持して前記被介助者の起立補助を行う介助装置であって、
基台と、
前記基台に昇降可能に設けられる昇降部材と、
面状に形成され、前記昇降部材に前後方向に傾動可能に設けられ、前記被介助者の胴体の前面に面接触して前記胴体を支持する胴体支持部材と、
前記胴体支持部材に支持され、前記被介助者の脇を支持する脇支持部材と、
を備え、
前記脇支持部材は、前記被介助者の脇に挿入される脇挿入部を備え、
前記脇挿入部は、
前記胴体支持部材が座位姿勢の前記被介助者に対して乗り込み位置に位置するときに、前記胴体支持部材から前記被介助者の後方に且つほぼ水平方向に向かって延びる乗り込み姿勢となるように設けられ、
前記胴体支持部材が前方に傾動することにより前記被介助者を前記座位姿勢から立位姿勢に移行させる際に、前記胴体支持部材の前方への傾動に伴って前記脇挿入部の後端が前端に対して上方に立ち上がり前記胴体支持部材から前記被介助者の上後方に向かって延びる立ち上がり姿勢となるように設けられる、介助装置。 It is an assistance device that supports the upper body of the person being assisted and assists the person being assisted in standing up.
Base and
An elevating member provided on the base so as to be able to elevate,
A body support member which is formed in a planar shape and is provided on the elevating member so as to be tiltable in the front-rear direction, and which comes into surface contact with the front surface of the body of the person being assisted to support the body.
A side support member that is supported by the body support member and supports the side of the person being assisted.
Equipped with
The armpit support member comprises an armpit insertion portion that is inserted to the armpit of the person being assisted.
The armpit insertion part
When the torso support member is positioned at the boarding position with respect to the person being assisted in a sitting posture, the body support member is provided so as to have a boarding posture extending from the body support member to the rear of the person being assisted and in a substantially horizontal direction. Be,
When the torso support member tilts forward to shift the person being assisted from the sitting posture to the standing posture, the rear end of the armpit insertion portion becomes the front end as the torso support member tilts forward. A care device provided so as to stand up upward with respect to the body and extend from the body support member toward the upper rear of the person being assisted. 前記介助装置は、
前記昇降部材の昇降動作を駆動する昇降駆動部と、
前記胴体支持部材の傾動動作を駆動する揺動駆動部と、
をさらに備え、
前記脇挿入部は、前記揺動駆動部の駆動によって前記立ち上がり姿勢とされる、請求項１に記載の介助装置。 The caregiving device
An elevating drive unit that drives the elevating operation of the elevating member,
A swing drive unit that drives the tilting motion of the fuselage support member,
Further prepare
The assist device according to claim 1, wherein the armpit insertion portion is brought into the rising posture by driving the swing drive portion. 前記脇挿入部は、前記被介助者の臀部が座面から離れる前において前記立ち上がり姿勢とされる、請求項１または２に記載の介助装置。 The assisting device according to claim 1 or 2, wherein the armpit insertion portion is in the standing posture before the buttocks of the person being assisted are separated from the seat surface. 前記脇支持部材は、前記脇挿入部の前端に設けられ、前記胴体支持部材の側方に位置し、前記被介助者の肩の前面を支持する肩受け部をさらに備える、請求項１－３の何れか一項に記載の介助装置。 The armpit support member is provided at the front end of the armpit insertion portion, is located on the side of the body support member, and further includes a shoulder support portion that supports the front surface of the shoulder of the person being assisted, claim 1-3. The assistance device according to any one of the above items. 前記脇支持部材は、Ｌ字状に形成され、
前記脇挿入部は、前記Ｌ字状の一方の延在部位であり、
前記肩受け部は、前記Ｌ字状の他方の延在部位である、請求項４に記載の介助装置。 The armpit support member is formed in an L shape and has an L shape.
The armpit insertion portion is one of the L-shaped extending portions.
The caregiving device according to claim 4, wherein the shoulder support portion is the other extending portion of the L-shape. 前記脇挿入部の長さは、前記肩受け部の長さより長く形成される、請求項５に記載の介助装置。 The caregiving device according to claim 5, wherein the length of the armpit insertion portion is formed longer than the length of the shoulder support portion. 前記脇挿入部は、前記胴体支持部材の上下方向の中央部から前記被介助者の後方に向かって延びるように形成される、請求項１－６の何れか一項に記載の介助装置。 The assist device according to any one of claims 1-6, wherein the armpit insertion portion is formed so as to extend from a central portion in the vertical direction of the body support member toward the rear of the person being assisted. 前記介助装置の側方視において、
前記脇挿入部における後方へ向かう方向ベクトルと前記胴体支持部材の支持面における法線ベクトルとのなす角度は、鋭角の角度であり、
前記支持面の前記法線ベクトルは、前記胴体支持部材が前記乗り込み位置に位置するときに、前記脇挿入部における後方へ向かう前記方向ベクトルよりも上方を向く、請求項１－７の何れか一項に記載の介助装置。 In the side view of the caregiving device
The angle formed by the backward direction vector at the side insertion portion and the normal vector on the support surface of the body support member is an acute angle.
One of claims 1-7 , wherein the normal vector of the support surface faces upward from the direction vector toward the rear at the side insertion portion when the fuselage support member is located at the boarding position. The assistance device described in the section. 前記脇挿入部における後方へ向かう前記方向ベクトルと前記支持面の前記法線ベクトルとのなす角度は、１０～５０°である、請求項８に記載の介助装置。 The assist device according to claim 8 , wherein the angle formed by the direction vector toward the rear in the side insertion portion and the normal vector of the support surface is 10 to 50 °. 前記脇支持部材は、前記胴体支持部材の左右に設けられ、互いの前記脇挿入部の離間距離が左右方向に変化するように前記脇挿入部よりも前記被介助者の前方に設けられる支点を中心に前記胴体支持部材に旋回可能に設けられ、
前記脇挿入部は、前記胴体支持部材が前記乗り込み位置に位置するときであって、左右の前記脇支持部材が前記胴体支持部材に対して前記被介助者の体格に合わせて互いの前記脇挿入部の離間距離が変化するように旋回させた状態において、前記胴体支持部材から前記被介助者の後方に且つほぼ水平に向かって延びる前記乗り込み姿勢となるように設けられる、請求項１－９の何れか一項に記載の介助装置。 The armpit support members are provided on the left and right sides of the body support member, and a fulcrum provided in front of the person being assisted is provided in front of the armpit insertion portion so that the distance between the armpit insertion portions changes in the left-right direction . The fuselage support member is provided in the center so as to be rotatable.
The armpit insertion portion is when the body support member is located at the boarding position, and the left and right armpit support members insert each other into the body support member according to the physique of the person being assisted. Claim 1-9 , which is provided so as to have the riding posture extending from the body support member to the rear of the person being assisted and substantially horizontally in a state of being swiveled so that the separation distance of the portions changes . The assistance device according to any one of the items.
JP2017544389A 2015-10-06 2016-06-30 Caregiving device Active JP7007912B2 (en)

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PCT/JP2015/078274 WO2017060964A1 (en) 2015-10-06 2015-10-06 Assistance robot
JPPCT/JP2015/078274 2015-10-06
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JPPCT/JP2015/083821 2015-12-01
JPPCT/JP2016/051031 2016-01-14
PCT/JP2016/051031 WO2017122331A1 (en) 2016-01-14 2016-01-14 Assistance apparatus, assistance facility, and assistance method
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