JP7176083B2 - assistive device - Google Patents

Description

The present specification relates to an assistance device that assists a person being assisted in transferring motions.

With the progress of the aging society, the needs for assistive devices are increasing. Assistance devices generally move a support part that supports a part of the body of a person being assisted by being driven by an actuator. The introduction of assistance devices reduces the physical burden on caregivers and caregivers, and alleviates the labor shortage of caregivers. An example of an assist device is a device that assists a person being assisted in transferring from a sitting posture. Patent Documents 1 and 2 disclose technical examples related to this type of assistance device.

The human body transfer device disclosed in Patent Document 1 includes a traveling section equipped with wheels, a supporting section positioned above the traveling section to support a care recipient, a driving section for driving the human body supporting section in a height direction, Prepare. Further, the driving portion corresponding to the actuator causes the supporting portion to swing in an arc. According to this, it is said that the person being assisted can be transported easily and quickly while preventing the caregiver from injuring his back.

In addition, the assistance robot of Patent Document 2 includes an elevating unit that moves vertically with respect to a base, an arm that is provided to the elevating unit so as to be able to swing, and a support that is provided at the tip of the arm. Prepare. The lift and arm are driven by separate actuators to provide a two-step operation. According to this, the lifting section and the arm can be operated in a coordinated manner, and discomfort to the person being assisted can be suppressed.

JP 2016-165313 A WO2017/060964

By the way, in Patent Literature 1, since the supporting portion only swings in an arc shape, it is not necessarily comfortable for the person being assisted. On the other hand, in Japanese Unexamined Patent Application Publication No. 2002-100002, two actuators are used to independently operate the lifting section and the arm, so that the assisted person can move smoothly and use comfort is improved. However, using two actuators leads to increased costs.

An object of the present specification is to provide an assistance device that operates a plurality of members using a single actuator to improve the comfort of use for the person being assisted.

The present specification is an assistance device for assisting a person being assisted in transferring motion, comprising: a base; a support portion provided on the arm so as to be swingable in the front-rear direction; a side support portion provided in the support portion for supporting the side of the person being assisted; One actuator having a main body and a movable part that expands and contracts from the main body for swinging the arm and the support, and the movable part extends from a retracted position to a predetermined intermediate position. a link mechanism that swings the support section forward with respect to the arm by a first movement, thereby lowering the armpit support section forward and restricting the rearward movement of the person being assisted. Disclose the device.

According to the assistance device disclosed in this specification, a single actuator can be used to drive the forward swinging motion of the support portion and the forward swinging motion of the arm. In addition, the initial movement of the actuator and link mechanism restricts the rearward movement of the care recipient. As a result, the assisted person's transfer operation becomes smoother, and the use comfort is improved. Also, the cost is low compared to the prior art using two actuators.

It is the perspective view which looked at the assistance apparatus of embodiment from diagonally back. FIG. 4 is a side cross-sectional view showing an initial state when the assistance device assists the person being assisted in transferring motion; FIG. 4 is a side cross-sectional view showing a state in which the assistance device assists the person being assisted in transferring motion. FIG. 10 is a side cross-sectional view showing the final state when the assistance device assists the person being assisted in transferring. FIG. 4 is a partially enlarged view for explaining the configuration and operation of the link mechanism, and corresponds to the initial state of the assistive device; FIG. 4 is a partial enlarged view for explaining the configuration and operation of the link mechanism, and corresponds to a state in the middle of the assistive device; FIG. 4 is a partially enlarged view for explaining the configuration of the arm regulating mechanism, which corresponds to the initial state of the assistance device; FIG. 4 is a partial enlarged view for explaining the configuration and operation of the arm regulating mechanism, and corresponds to a state in the middle of the assistive device; It is the perspective view which looked at the upper part of the arm from diagonally upward. FIG. 10 is a side cross-sectional view for explaining an unexpected swinging motion of the arm, showing a state in which the movable portion is at an intermediate position;

1. Configuration of Assistance Device 1 of Embodiment The assistance device 1 of the embodiment will be described with reference to FIGS. 1 to 10. FIG. FIG. 1 is a perspective view of the assistive device 1 of the embodiment as seen obliquely from behind. FIG. 2 is a side cross-sectional view showing an initial state when the assistance device 1 assists the person M to transfer. FIG. 3 is a side cross-sectional view showing a state in which the assistance device 1 assists the person being assisted M in transferring motion. FIG. 4 is a side cross-sectional view showing the final state when the assistance device 1 assists the person M to transfer.

The assistance device 1 assists the person being assisted M in transferring between two different places, such as transferring between a bed and a wheelchair, or between a wheelchair and a toilet seat. The assistance device 1 supports the torso of the person being assisted M and assists the transfer movement from the sitting posture to the transfer posture and the sitting motion from the transfer posture to the sitting posture. Here, the transfer posture is a posture in which the buttocks are lifted from the seat surface, and includes a standing posture and a crouching posture. In other words, the transfer posture includes a state in which the upper half of the body is upright, a state in which the user is bent forward, and the like. In addition, the assistance device 1 can transfer the person M who is in the transfer posture when the two transfer positions are separated from each other.

The assistance device 1 includes a base 2, an arm 3, a support section 4, an actuator 5, a link mechanism 6, an arm restriction mechanism 7, a control section (not shown), and the like. The base 2 is formed of a footrest 21, a rear wheel 23, a base rod 24, a lower leg support portion 25, a mounting plate 26, a front wheel 28, and the like. The footrest 21 is arranged substantially horizontally close to the floor surface F. As shown in FIG. An actuator support portion 22 protrudes upward from the upper surface of the footrest 21 toward the front side. A pair of left and right rear wheels 23 are provided on the left and right rear sides of the footrest 21 .

A pair of left and right base rods 24 are provided forwardly from the left and right of the front surface of the footrest 21, respectively. The base rod 24 bends upward from the front and then extends with a slight rearward tilt. The lower leg support part 25 is provided rearward on the upper part of the two base rods 24 . The lower leg support portion 25 is positioned above the footrest 21 toward the front. The lower leg support portion 25 is made of a cushioning material, and the vicinity of the lower leg of the person being assisted M can come into contact with the lower leg support portion 25 .

A pair of left and right mounting plates 26 are fixed at positions slightly above the bending portion bent upward from the front of the base rod 24 and inside positions facing each other. A mounting plate 26 extends forwardly from the base rod 24 . Arm support seats 27 are provided above the pair of left and right mounting plates 26, respectively. A pair of left and right front wheels 28 are provided at the lower front portions of the pair of left and right mounting plates 26 . Due to the steering function of the front wheels 28 and the rear wheels 23, the assistance device 1 is capable of not only straight movement and turning movement, but also lateral movement and pivot turning. Furthermore, the front wheel 28 has a locking function that restricts movement.

The arm 3 is formed of a rod-like member 31, a front cover member 36, an upper cover member 38, and various structural members whose numerals are omitted. The rod-shaped member 31 is a substantially U-shaped rod-shaped member with an open bottom. Lower ends 32 on both sides of the rod-like member 31 are swingably supported by the arm support seats 27 of the mounting plate 26 . As a result, the arm 3 can swing forward and backward with the base 2 as a reference.

In order to regulate the swing angle of the arm 3 , a stopper mechanism whose reference numeral is omitted is provided near the arm support seat 27 . The rod-shaped member 31 extends upward from the left and right lower ends 32, bends and extends rearward and obliquely upward in the middle, and joins at the rear upper portion. The overall shape of the arm 3 is composed of an arm front portion 34 extending upward from the arm support seat 27 and an arm upper portion 35 continuing to the upper portion of the arm front portion 34 and extending rearward and obliquely upward.

The front cover member 36 constitutes the arm front portion 34 . The front cover member 36 is arranged on the front side of the rod-shaped member 31 with a space therebetween. Both side surfaces of the front cover member 36 are bent rearward to define an internal space. A battery 37 is accommodated in the internal space of the front cover member 36 . A battery 37 serves as a power source for the actuator 5 and the controller.

The upper cover member 38 is formed continuously with the front cover member 36 and constitutes the arm upper portion 35 . The upper cover member 38 is arranged close to the upper side of the rod-shaped member 31 . Both side surfaces of the upper cover member 38 are bent downward to define an internal space. The arm regulating mechanism 7 , the link mechanism 6 , and the support portion mounting seat 33 are provided in order from the front lower side to the rear upper side of the internal space of the upper cover member 38 . In addition, in FIG. 1, the upper cover member 38 is omitted from the illustration.

The support portion 4 is formed including a trunk support portion 41 and a pair of left and right side support portions 45 . The body support portion 41 is swingably supported by the support portion mounting seat 33 of the arm upper portion 35 . Thereby, the support portion 4 can swing in the front-rear direction with the arm 3 as a reference. The body support 41 has a handle 42 . The handle 42 is formed in a substantially rectangular frame shape. The handle 42 is a part that is gripped by the person being assisted M, and is also a part that is gripped by the caregiver to move the assistance device 1 .

The body support portion 41 is formed of a base plate 43 (see FIG. 5), a body contact member 44, and the like. The base plate 43 is formed in a substantially rectangular shape using a highly rigid plate material made of metal or resin. The base plate 43 is provided with the handle 42 described above, a portion attached to the support portion mounting seat 33, and a second link member 62 described later.

The body contact member 44 is made of a flexible material and is larger than the base plate 43 and attached to the upper surface of the base plate 43 . The torso contact member 44 can have, for example, a two-layer structure consisting of a surface layer and a base layer. Low-resilience urethane foam can be exemplified as the material for forming the surface layer, and low-combustibility urethane foam can be exemplified as the material for forming the base layer. The torso support part 41 supports the torso, which is a part of the body of the person being assisted M, from the chest to the abdomen.

The pair of left and right armpit support portions 45 are attached to the left and right sides of the body support portion 41 near the chest. The armpit support portion 45 is formed in an L shape bent at an obtuse angle. The side support portion 45 is formed of a core member 46 (see FIG. 5), an outer peripheral member 47, and the like. The core member 46 is formed, for example, by bending a metal or hard resin round bar or pipe into an L shape.

The outer peripheral member 47 is formed in a tubular shape that covers the outer periphery of the core member 46 using a cushioning material. A short linear portion from the proximal end on the mounting side of the side support portion 45 to the bent position serves as a shoulder receiving portion, and a long linear portion from the bent position to the distal end serves as a side entry portion. The shoulder support supports the front surface of the person M's shoulder. The side entry units enter both sides of the torso of the person being assisted M. The trunk support portion 41 and the armpit support portion 45 may be provided with removable covers made of cloth or leather.

The actuator 5 includes a body portion 51, a movable portion 52, a motor 53, and the like. The body portion 51 is tiltably supported by the actuator support portion 22 of the base 2 . As a result, the actuator 5 tilts in the front-rear direction. The movable portion 52 extends and contracts from the body portion 51 . Specifically, the movable portion 52 extends from the shortened position to the extended position via a predetermined intermediate position, and then contracts in the opposite direction. The first motion is during the extension of the movable portion 52 from the retracted position to the intermediate position, and the second motion is during the extension of the movable portion 52 from the intermediate position to the extended position.

30 mm can be exemplified as the stroke length of the first motion, and 60 mm can be exemplified as the stroke length of the second motion. The tip of the movable portion 52 is connected to a connecting pin 613 of the link mechanism 6, which will be described later. The motor 53 is provided in the body portion 51 . The motor 53 drives the expansion and contraction operation of the movable portion 52 by controlling the direction of current flow by a control unit (not shown). It should be noted that, instead of the motor 53, it is possible to use another type of drive source such as a pressure drive source using hydraulic pressure or air pressure.

The link mechanism 6 is composed of a first link member 61, a second link member 62, a regulating member 63, and the like. FIG. 5 is a partially enlarged view for explaining the configuration and operation of the link mechanism 6, and corresponds to the initial state of the assistive device 1. As shown in FIG. 6 is a partially enlarged view for explaining the configuration and operation of the link mechanism 6, which corresponds to a state in which the assistance device 1 is in progress.

First link member 61 is an elongated member having support point 611 , forearm 612 and rear arm 616 . The support point 611 is arranged near the center of the arm upper portion 35 . Further, the support point 611 is swingably supported by the structural material of the arm 3 . As a result, the first link member 61 swings around the support point 611 .

A forearm 612 extends forward from the support point 611 . A connecting pin 613 is provided at the front lower portion of the forearm portion 612 . The connecting pin 613 connects the forearm portion 612 and the distal end of the movable portion 52 . A restricting projection 614 is formed on the front upper portion of the forearm 612 . A rear arm 616 extends rearward from the support point 611 . An engagement pin 617 is provided on the rear side of the rear arm portion 616 so as to extend in the left-right direction. The engagement pin 617 engages with the second link member 62 from the counterclockwise direction in FIG. 5 to push the second link member 62 .

The second link member 62 is fixed to the base plate 43 of the support portion 4 . As a result, the support portion 4 and the second link member 62 integrally swing around the support portion mounting seat 33 . The regulating member 63 is fixed to a front structural member of the arm upper portion 35 . The restricting protrusion 614 of the first link member 61 can come into contact with the restricting member 63 .

In the initial state shown in FIG. 5, the movable part 52 of the actuator 5 is in the retracted position. Also, the first link member 61 is in a state of being rocked clockwise, and the second link member is in a state of being rocked counterclockwise. There is a gap between the restricting protrusion 614 of the first link member 61 and the restricting member 63 . The movable portion 52 that has started the first motion extends as indicated by the arrow A1. Then, the forearm portion 612 of the first link member 61 is pushed through the connecting pin 613 . As a result, the first link member 61 swings counterclockwise as indicated by arrow A2.

As the first link member 61 swings counterclockwise, the engaging pin 617 of the rear arm portion 616 swings the second link member 62 . The second link member 62 swings clockwise as indicated by arrow A3, and the support portion 4 also swings forward as indicated by arrow A4. That is, the link mechanism 6 transmits the first motion in which the movable portion 52 extends from the shortened position to the predetermined intermediate position to swing the support portion 4 forward. This operation is continued until the movable portion 52 extends to a predetermined intermediate position, resulting in the state shown in FIG.

In the intermediate state shown in FIG. 6 , the restricting protrusion 614 of the first link member 61 just contacts the restricting member 63 . Further swinging of the first link member 61 is thereby restricted. Thereafter, the movable portion 52, which has started the second motion, extends as indicated by an arrow A5. Then, the forearm portion 612 of the first link member 61 directly transmits the second motion of the movable portion 52 to the arm 3 . As a result, the arm 3 swings forward about the arm support seat 27 as indicated by an arrow A6. As the arm 3 swings, the actuator 5 tilts forward as indicated by an arrow A7. In other words, the link mechanism 6 transmits the second motion in which the movable portion 52 extends from the intermediate position to the extended position to swing the arm 3 forward.

The arm restricting mechanism 7 is composed of a restricting guide member 71, a biasing member 75, and the like. FIG. 7 is a partially enlarged view for explaining the configuration of the arm restricting mechanism 7, which corresponds to the initial state of the assistance device 1. FIG. 8 is a partially enlarged view for explaining the configuration and operation of the arm restricting mechanism 7, which corresponds to a state in which the assisting device 1 is in progress.

The regulation guide member 71 is a member having a support point 72 at one end on the front upper side and a biasing point 73 on the other end on the rear lower side. The regulation guide member 71 further has a long hole 74 extending obliquely between the support point 72 and the biasing point 73 . The support point 72 is arranged at a predetermined position 3A near the upper portion of the arm front portion 34, and is swingably supported by a structural member. The long hole 74 movably accommodates the connecting pin 613 , in other words, movably accommodates the tip of the movable portion 52 .

A coil spring, for example, can be used as the biasing member 75 . One end 751 on the rear upper side of the biasing member 75 is locked to the upper position 3B of the arm 3 . The upper position 3B of the arm 3 is located on the rear upper side of the predetermined position 3A. The other end 752 on the front lower side of the biasing member 75 is engaged with the biasing point 73 of the regulation guide member 71 . The urging member 75 urges the upper position 3B of the arm 3 in a direction to approach the regulation guide member 71 as indicated by an arrow F1. In other words, the biasing member 75 biases the upper position 3B of the arm 3 in the direction of approaching the movable portion 52 .

In the initial state shown in FIG. 7, the movable part 52 of the actuator 5 is in the retracted position. At this time, the connecting pin 613 is positioned at the rear lower end of the long hole 74 . Here, when the movable portion 52 starts the first motion, the connecting pin 613 moves forward and upward in the elongated hole 74 in parallel with the swinging of the first link member 61 . Furthermore, the regulation guide member 71 swings clockwise around the support point 72 . In the configuration of this embodiment, the first movement of the movable portion 52 swings the regulation guide member 71 by 24°. This operation continues until the movable portion 52 extends to a predetermined intermediate position and the restricting projection 614 comes into contact with the restricting member 63, resulting in the state shown in FIG.

In the intermediate state shown in FIG. 8 , the connecting pin 613 is positioned at the front upper end of the long hole 74 . After that, when the movable portion 52 starts the second motion, the arm 3 swings, but the relative positional relationship between the arm 3 and the arm regulating mechanism 7 does not change. The biasing member 75 biases the upper position 3B of the arm 3 in the direction to approach the movable part 52 from the initial state to the final state of the assisting device 1 .

The control unit (not shown) is composed of an operation unit, a control main unit, and the like. The operating device has an up button and a down button that operate the actuator 5, and is operated by the caregiver. The control main unit is configured using a computer device that has a CPU and operates with software. The control main unit controls the direction of the current flowing through the motor 53 of the actuator 5 according to the operation information acquired from the operation device.

2. Operation, Action, and Effect of Assistance Device 1 of Embodiment Next, the operation, action, and effect of the assistance device 1 of the embodiment will be described. Hereinafter, the control and operation of the lift mode for assisting the assisted person M's transfer operation will be described. In the lift mode, the assistive device 1 operates from the initial state shown in FIG. 2, through the intermediate state shown in FIG. 3, to the final state shown in FIG. When assisting the person being assisted M in sitting down, the assistance device 1 operates in the reverse direction of the transfer operation, generally in the reverse order.

First, the caregiver returns the movable portion 52 of the actuator 5 to the retracted position shown in FIG. Subsequently, the caregiver grasps the handle 42 to move the assistance device 1 and bring it closer to the person being assisted M who is in the sitting posture. The person being assisted M moves the lower half of the body into the area below the support portion 4 and places both feet on the footrest 21 . The person being assisted M can obtain a stable posture by contacting part of the lower leg with the lower leg support portion 25 .

Subsequently, the person being assisted M tilts the trunk forward to make surface contact with the trunk support portion 41 and leans against the side support portions 45 on both sides. At this time, since the trunk support portion 41 is swung in the upright direction, the forward tilting angle of the trunk can be small. Further, since the armpit support portions 45 are substantially horizontal or slightly downward, the person being assisted M can easily lean against the armpit support portions 45 . The posture of the person being assisted M at this time is the initial posture. The series of actions of the person being assisted M described above may be assisted by a caregiver. In the initial posture, the buttocks of the person being assisted M are on the seat surface. Therefore, the person being assisted M assumes a comfortable posture because the load caused by the body weight is supported by the buttocks.

Subsequently, the caregiver starts control in ascending mode. As a result, the movable portion 52 of the actuator 5 starts the first operation and extends, and the first link member 61 swings counterclockwise in FIG. Also, the arm 3 maintains its initial rear position. As the first link member 61 swings, the support portion 4 swings forward in conjunction with the second link member 62 . At this time, since the armpit support portions 45 are lowered forward, the person being assisted M is restricted from moving backward and does not fall off the support portions 4 .

Due to the rocking motion of the supporting portion 4, the upper body of the person being assisted M gradually leans forward. Then, when the movable portion 52 extends to a predetermined intermediate position, the state shown in FIG. 3 is reached. In the state shown in FIG. 3, the restricting protrusion 614 comes into contact with the restricting member 63 and the first link member 61 stops swinging. Therefore, the swinging motion of the support portion 4 is also terminated. Then, the buttocks of the person being assisted M are in a state at the moment when they are separated from the seat surface.

Further, when the movable portion 52 starts the second motion, the arm 3 is driven by the movable portion 52 to swing clockwise in FIG. At the same time, the actuator 5 tilts forward. Also, the support portion 4 maintains a constant posture with respect to the arm 3 . This movement continues until the final state of FIG. 4, in which the movable portion 52 is extended to the extended position and the arm 3 reaches the front position. As a result, the person being assisted M further leans forward while moving the upper half of the body forward and obliquely upward. As a result, as shown in FIG. 4, the assisted person M assumes a transfer posture in which the buttocks are largely lifted from the seat surface and the legs are extended.

According to the assisting device 1 of the embodiment, one actuator 5 can be used to drive the forward swinging of the support portion 4 and the forward swinging of the arm 3 . As a result, the person being assisted M can move smoothly, and the use comfort is improved. Also, the cost is low compared to the prior art using two actuators.

Furthermore, in the assistance device 1 of the embodiment, the second link member 62 is allowed to be disengaged from the first link member 61 . That is, the second link member 62 is separated from the engaging pin 617 of the first link member 61 and can swing clockwise (see FIG. 10). As a result, the support portion 4 freely swings forward. Therefore, it is possible to expand the area below the support portion 4, and the person being assisted M can easily enter the lower half of the body. In addition, the thighs of the person being assisted M are not pinched by a strong force.

Moreover, FIG. 9 is a perspective view of the upper part of the arm 3 as seen obliquely from above. As shown, the movable first link member 61 and second link member 62 are covered by the upper cover member 38 . As a result, the safety is improved, and the appearance is simplified and the appearance is also improved. Further, the arm 3 is formed by connecting an arm front portion 34 and an arm upper portion 35 , and the actuator 5 is arranged close to the arm front portion 34 . Therefore, a wide space area is secured below the supporting portion 4, and the person being assisted M does not feel cramped.

3. Action and Effect of Arm Regulating Mechanism 7 Next, the action and effect of the arm regulating mechanism 7 will be described. In the assistance device 1 of the embodiment, the base 2, the arm 3, the actuator 5, and the first link member 61 form a four-bar link, which leaves freedom of movement. In other words, the shape of the four-bar link described above can change when an external force is applied. The arm regulating mechanism 7 eliminates the degree of freedom of the four-bar link and regulates the unexpected forward swinging of the arm 3 . FIG. 10 is a side cross-sectional view for explaining an unexpected rocking motion of the arm 3, showing a state in which the movable portion 52 is at an intermediate position.

As shown in FIG. 10, it is assumed that the arm restricting mechanism 7 is not provided and a forward external force is applied to the support portion 4 . In this case, first, the support portion 4 freely swings forward. Even so, if the external force has a surplus, the arm 3 swings forward. That is, the arm 3 swings without the movable portion 52 operating. As can be seen by comparing FIG. 3 and FIG. 10, the arm 3 swings by an angle α in an unexpected motion. This phenomenon occurs, for example, when the person being assisted M leans on the support portion 4 with force. At this time, the person being assisted M feels uneasy about the unexpected rocking movement of the arm 3, and the use comfort is lowered.

The arm regulating mechanism 7 indicated by broken lines in FIG. 10 regulates unexpected swinging motion of the arm 3 by always accommodating the position of the connecting pin 613 inside the elongated hole 74 . According to this embodiment, even if the link mechanism 6 has some degree of freedom, the arm restriction mechanism 7 eliminates the degree of freedom of the link mechanism 6 to restrict unexpected movements of the arm 3 . Therefore, according to the assistance device 1 of the embodiment, it is possible to ensure comfort of the person being assisted M by regulating the unexpected movement of the arm 3 .

Furthermore, the arm regulating mechanism 7 does not interfere with the driving by the actuator 5 . If simply restricting the forward swinging of the arm 3, it is sufficient to simply urge the arm 3 rearward using an urging member. However, in this case, the rearward biasing force hinders the driving by the actuator 5 . On the other hand, according to the present embodiment, the unexpected movement of the arm 3 can be restricted without increasing the output of the actuator 5 or the like.

4. Modifications and Applications of the Embodiment It should be noted that the present embodiment can be modified and applied in various ways, including changes in the shape and size of the constituent members.

1: Assistance Device 2: Base 22: Actuator Support 27: Arm Support Seat 3: Arm 31: Rod-shaped Member 33: Support Section Mounting Seat 38: Upper Cover Member 3A: Predetermined Position 3B: Upper Position 4: Support Section 5: Actuator 51 : Main body 52 : Movable part 53 : Motor 6 : Link mechanism 61 : First link member 611 : Support point 612 : Forearm 613 : Connecting pin 614 : Control projection 616 : Rear arm 617 : Engaging pin 62 : Second link member 63: Regulating member 7: Arm regulating mechanism 71: Regulating guide member 74: Long hole 75: Biasing member M: Assisted person

Claims (2)

An assistance device for assisting a person being assisted in transferring motion,
a base;
an arm provided on the base so as to be swingable in the front-rear direction;
a support part that supports a part of the body of the person being assisted and is provided on the arm so as to be swingable in the front-rear direction;
a side support portion provided in the support portion for supporting the side of the person being assisted;
an actuator having a main body provided on the base so as to be tiltable in the front-rear direction, and a movable part extending and contracting from the main body, and for swinging the arm and the support;
By swinging the support section forward with respect to the arm by the first movement in which the movable section extends from the retracted position to a predetermined midway position, the armpit support section is lowered forward and rearward of the person being assisted. a link mechanism that regulates movement to
An assistive device comprising: The actuator swings the arm forward by a second operation in which the movable portion extends from the intermediate position to the extended position, thereby moving the support portion upward with respect to the base. 2. The assistance device according to claim 1, wherein the assisted person being supported is placed in a transfer posture.

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