JPH0871114A - Motor-driven stand-up training device - Google Patents

Motor-driven stand-up training device

Info

Publication number
JPH0871114A
JPH0871114A JP6208782A JP20878294A JPH0871114A JP H0871114 A JPH0871114 A JP H0871114A JP 6208782 A JP6208782 A JP 6208782A JP 20878294 A JP20878294 A JP 20878294A JP H0871114 A JPH0871114 A JP H0871114A
Authority
JP
Japan
Prior art keywords
user
upper body
body holding
holding means
movable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP6208782A
Other languages
Japanese (ja)
Other versions
JP2541784B2 (en
Inventor
Jun Takahashi
潤 高橋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Paramount Bed Co Ltd
Original Assignee
Paramount Bed Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Paramount Bed Co Ltd filed Critical Paramount Bed Co Ltd
Priority to JP6208782A priority Critical patent/JP2541784B2/en
Publication of JPH0871114A publication Critical patent/JPH0871114A/en
Application granted granted Critical
Publication of JP2541784B2 publication Critical patent/JP2541784B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PURPOSE: To provide the motor-driven stand-up training device by which a user can train standing up and walking by himself. CONSTITUTION: This device is provided with a carriage 3, support 4 erected on the carriage 3, and movable support 5 fitted to the apex of the support 4 so as to be turned. A motor-driven actuator 6 for moving the movable support 5 up and down is interposed between this movable support 5 and the base end side of the support 4, and an upper half body holding means 7 for supporting the upper half body of the user is provided at the top end of the movable support 5. The upper half body holding means 7 is provided with a front part and side members surrounding the upper half body of the user and provided upper body holding frames 15 bend-formed on the top end sides of the side members. A hook member is provided at a bent part 18 on which the elbow of the upper body holding frame 15 is abutted, and a lift sheet 20 is hung on these hook members. Thus, the independence of the user can be called and there is a remarkable effect for recovering and keeping functions.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、使用者自らが、立上り
の訓練、歩行の訓練ができるようにした、電動立上り訓
練器に関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric start-up exerciser which enables a user to perform start-up training and walking training.

【0002】[0002]

【従来の技術】老人や、重い傷病患者等、歩行が困難な
者にとっては、歩行機能維持のために、あるいは歩行機
能の回復のために、立上り、歩行訓練は不可欠のもので
ある。そのために、多くは介助者の手を借りて行ってお
り、さもなければ、ベッドのサイドフレームに設けた介
助部材等を用いて行うようにしている。
2. Description of the Related Art Standing up and walking training are indispensable for maintaining the walking function or for recovering the walking function for persons who have difficulty walking such as elderly people and patients with serious injuries. For this reason, most of the work is performed with the help of a caregiver, and otherwise, it is carried out using a helper member or the like provided on the side frame of the bed.

【0003】[0003]

【発明が解決しようとする課題】しかしながら、介助者
の手を借りなければならないのでは、介助者が忙しいと
きは、訓練を行うことができず、また、いつまでも介助
者をあてにしていたのでは、訓練が進まず、このような
依頼心が機能回復の遅れとなる場合もある。さらに、サ
イドフレームに設けた介助部材では、ベッドへの乗り降
りの際の手掛かりとしての機能を有しているものである
から、必ずしも、機能回復訓練を行うための機能が充分
とはいえない。本発明はこのような背景から、提案され
たもので、いつでも、自身で立上り訓練ができる他、歩
行訓練ができるようにした電動立上り訓練器を提供する
ことを目的とする。
However, because the helper must be assisted, when the helper is busy, the training cannot be performed, and the caregiver could not rely on him forever. However, training may not progress and such a request may delay the recovery of function. Further, since the assisting member provided on the side frame has a function as a clue when getting on and off the bed, it cannot always be said that the function for performing the function recovery training is sufficient. The present invention has been proposed in view of such a background, and an object of the present invention is to provide an electric stand-up trainer capable of self-starting training and walking training at any time.

【0004】[0004]

【課題を解決するための手段】前記した課題を解決する
ために、本発明は、台車と、この台車に立設した支柱
と、この支柱頂部に、台車の後部側に指向すると共に回
動可能に取り付けた可動支柱とを有し、この可動支柱と
前記支柱の基端側との間に、可動支柱を起伏作動するた
めの電動アクチュエータを介在し、前記可動支柱先端
に、使用者の上半身を支えるための上半身保持手段を設
け、この上半身保持手段は、使用者の上半身周りを囲む
ように前部と脇部材とを有すると共に、脇部材先端側
に、脇部材を介して両上肢を支えるための上肢保持枠を
有し、この上肢保持枠は、肘に対応する屈曲部を有し、
この屈曲部に吊り下げ手段を介して、使用者の臀部を乗
せるためのリフトシートを吊り下げる構成としたことを
特徴とする。
SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is directed to a bogie, a pillar standing on the bogie, and a top of the pillar, which is directed toward the rear side of the bogie and is rotatable. A movable strut attached to the movable strut, and an electric actuator for undulating the movable strut is interposed between the movable strut and the base end side of the strut, and the user's upper body is attached to the movable strut tip. An upper body holding means for supporting is provided, and this upper body holding means has a front part and a side member so as to surround the upper body of the user, and supports both upper limbs via the side member on the side of the side member tip. It has an upper limb holding frame, and this upper limb holding frame has a bending portion corresponding to the elbow,
A feature is that the lift seat for suspending a user's buttocks is suspended via the suspending means on the bent portion.

【0005】[0005]

【作用】使用者は、ベッドサイド側に移動して床面に足
を投げ出してボトム上に座る。このとき、リフトシート
を使用者の臀部の下に敷いておくとよい。介助者は、電
動立上り訓練器の台車をベッドの横からボトム下方に差
し入れていき、使用者の上半身を上半身保持手段の前部
および脇部材によって囲むようにする。使用者は、上肢
を脇部材を介して、上肢保持枠の屈曲部に肘を当てた状
態で、上肢保持枠に上肢を乗せることができる。次い
で、使用者の臀部の下に敷いておいたリフトシートを上
肢保持枠の屈曲部の吊り下げ手段に掛けることにより、
訓練の準備が完了する。使用者は、電動アクチュエータ
を起動して、可動支柱を持ち上げることで、上半身保持
手段を上昇させ、臀部をリフトシートに乗せた状態でボ
トム上方に持ち上げ、立上りの姿勢をとることができ
る。再び、ボトム上に腰を落とすときは、電動アクチュ
エータを逆に作動させ、可動支柱を倒す方向に動かす。
かかる動作は、使用者自ら電動アクチュエータを操作し
て行うことができるので、使用者の自立心を喚起し、機
能回復の増進が可能である。前記動作を繰り返すことに
よって、立上り訓練を進めることができる。そして、立
上り訓練が進むと、その立ち上がった状態から、上半身
保持手段によって上半身を支えながら、歩行訓練を行う
ことができる。
[Function] The user moves to the bedside, throws his foot to the floor, and sits on the bottom. At this time, it is advisable to lay the lift seat under the user's buttocks. The caregiver inserts the trolley of the electric rising exerciser from the side of the bed to the bottom of the bottom so that the upper body of the user is surrounded by the front part of the upper body holding means and the side member. The user can place the upper limb on the upper limb holding frame with the upper limb via the armpit member with the elbow on the bent portion of the upper limb holding frame. Then, by hanging the lift sheet laid under the buttocks of the user on the hanging means of the bent portion of the upper limb holding frame,
The preparation for training is complete. The user can activate the electric actuator and lift the movable column to raise the upper body holding means, and lift the upper part of the body above the bottom while the buttocks are placed on the lift seat to take a standing posture. When the hips are dropped on the bottom again, the electric actuator is operated in reverse, and the movable support column is moved in the direction of falling.
Since such an operation can be performed by the user himself / herself by operating the electric actuator, the user's independence can be evoked and the recovery of the function can be promoted. By repeating the above operation, the stand-up training can be advanced. Then, when the standing-up training progresses, the walking training can be carried out from the standing-up state while supporting the upper body by the upper body holding means.

【0006】[0006]

【実施例】次に、本発明にかかる電動立上り訓練器につ
いて、一実施例を挙げ、添付の図面を参照しながら以下
説明する。図1に、本発明にかかる電動立上り訓練器1
を示す。この電動立上り訓練器1は、特に在宅用ベッド
2向けに適した構成のもので、台車3と、台車3に立設
した支柱4と、この支柱4頂部に、台車3の後部側に指
向すると共に回動可能に取り付けた可動支柱5とを有
し、この可動支柱5と前記支柱4の基端側との間に、可
動支柱5を起伏作動するための電動アクチュエータ6を
介在し、前記可動支柱5先端に、使用者の上半身を支え
て支えるための上半身保持手段7を設ける構成としたも
のである。
DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an electric start-up exerciser according to the present invention will be described below with reference to the accompanying drawings with reference to an embodiment. FIG. 1 shows an electric start-up trainer 1 according to the present invention.
Indicates. This electric start-up training device 1 has a structure particularly suitable for a home bed 2, and is oriented toward the rear side of the bogie 3 by the bogie 3, the pillar 4 standing on the bogie 3, the top of the pillar 4, and the top of the pillar 4. And a movable support column 5 rotatably attached to the movable support column 5, and an electric actuator 6 for raising and lowering the movable support column 5 is interposed between the movable support column 5 and the base end side of the support column 4. The upper body holding means 7 for supporting and supporting the upper body of the user is provided at the tip of the column 5.

【0007】前記台車3は前部側に横枠8を有し、後部
側が開放されたコ形形状のものであり、横枠8の中央部
に前記支柱4を固設している。また、台車3前部、台車
3後部に、それぞれ前輪9並びに後輪10を配設してい
る。前輪9は、後輪10に比較して大きな径を有してい
る。
The carriage 3 has a U-shape having a horizontal frame 8 on the front side and an open rear side, and the column 4 is fixed to the center of the horizontal frame 8. A front wheel 9 and a rear wheel 10 are provided on the front part of the truck 3 and the rear part of the truck 3, respectively. The front wheel 9 has a larger diameter than the rear wheel 10.

【0008】前記電動アクチュエータ6は、モータおよ
び減速機構等(図示せず)を内蔵する筐体11と、モー
タの起動により伸縮する作動杆12とから構成されるも
ので、筐体11を前記支柱4の基端側に取り付け、作動
杆12の先端側に可動支柱5を取り付けている。
The electric actuator 6 is composed of a housing 11 containing a motor and a speed reduction mechanism (not shown), and an operating rod 12 which expands and contracts when the motor is activated. 4 is attached to the base end side, and the movable rod 5 is attached to the tip end side of the operating rod 12.

【0009】次に、前記上半身保持手段7は、図2に示
すように使用者の上半身周りを囲むようにした前部13
と、上半身を両側からおさえるようにした脇部材14
a、14bとを有する。また、脇部材14a、14b先
端側に、屈曲形成した上肢保持枠15を有する。これら
前部13と脇部材14a、14bと上肢保持枠15と
は、一体的に構成されたもので、前部13と脇部材14
a、14bとの内側面は、使用者の上半身の胸周りの箇
所が違和感なく接触するように段差のない曲面状に形成
されている。前記前部13には握り部16が設けられ、
握り部16の近傍には、前記電動アクチュエータ6を操
作するための操作スイッチ17が設けられている。前記
上肢保持枠15は、V字状に屈曲したもので、脇部材1
4a、14bの外側側面に沿って延在している。前記脇
部材14a、14bを介して上肢を上肢保持枠15に乗
せ、肘部分が屈曲部18に位置するようになっている。
そして、前記上肢保持枠15の肘が当たる屈曲部18に
は、フック部材19が設けられ、これらフック部材19
に使用者の臀部を乗せるためのリフトシート20を吊り
下げるように構成している。前記リフトシート20は、
中央部分を幅広に形成した、皮革製、または合成樹脂製
または布製の帯状体のもので、両端に上肢保持枠15の
屈曲部18に設けたフック部材19に掛けることができ
るように穴21が設けられている。
Next, as shown in FIG. 2, the upper half body holding means 7 surrounds the front half of the user's upper half body.
And the side member 14 that holds the upper body from both sides.
a and 14b. In addition, a bent upper limb holding frame 15 is provided on the tip side of the side members 14a and 14b. The front portion 13, the armpit members 14a and 14b, and the upper limb holding frame 15 are integrally configured.
The inner side surfaces of a and 14b are formed into a curved surface having no steps so that the parts around the chest of the upper half of the user's upper body contact without any discomfort. The front portion 13 is provided with a grip portion 16,
An operation switch 17 for operating the electric actuator 6 is provided near the grip 16. The upper limb holding frame 15 is bent in a V shape, and the armpit member 1
It extends along the outer side surfaces of 4a and 14b. The upper limb is placed on the upper limb holding frame 15 via the side members 14a and 14b, and the elbow portion is located at the bent portion 18.
A hook member 19 is provided on the bent portion 18 of the upper limb holding frame 15 on which the elbow abuts.
A lift seat 20 for suspending a user's buttocks is suspended. The lift seat 20 is
A belt-shaped body made of leather, synthetic resin, or cloth having a wide center portion, and has holes 21 at both ends so that the hook members 19 provided in the bent portions 18 of the upper limb holding frame 15 can be hooked. It is provided.

【0010】本発明にかかる電動立上り訓練器1は以上
のように構成されるものであり、次に、電動立上り訓練
器1の操作および作用を説明する。使用者は、ベッド2
のベッドサイド側に移動して床面に足を投げ出してボト
ムB上に座る。このとき、リフトシート20を使用者の
臀部の下に敷いておくとよい。次に、電動立上り訓練器
1の台車3をベッド2の横からボトムB下方に差し入れ
ていき、使用者の上半身を、上半身保持手段7の前部1
3および脇部材14a、14bの内側面にあてるように
する。そして、上肢を脇部材14a、14bを越えて上
肢保持枠15上にもたらせ、屈曲部18に肘を当てた状
態で、上肢保持枠15に上肢を乗せながら、上半身保持
手段7の前部13の握り部16を掴むことで、上半身を
上半身保持手段7により支えることができる。
The electric start-up exerciser 1 according to the present invention is constructed as described above. Next, the operation and action of the electric start-up exerciser 1 will be described. User is in bed 2
To the bedside side, throw your feet to the floor, and sit on the bottom B. At this time, the lift sheet 20 may be laid under the user's buttocks. Next, the trolley 3 of the electric start-up trainer 1 is inserted from the side of the bed 2 to the lower side of the bottom B, and the user's upper body is fixed to the front part 1 of the upper body holding means 7.
3 and side members 14a and 14b. Then, the upper limbs are brought over the side members 14a and 14b onto the upper limb holding frame 15, and the upper limbs are placed on the upper limb holding frame 15 in a state where the elbow is placed on the bending portion 18, and the front part of the upper body holding means 7 is held. By grasping the grip portion 16 of 13, the upper body can be supported by the upper body holding means 7.

【0011】次いで、使用者の臀部の下に敷いておいた
リフトシート20の両端の穴21に上肢保持枠15の屈
曲部18にあるフック部材19を掛け入れることによ
り、いつでも立上り訓練を始めることができる状態とな
る(図1参照)。使用者は、自ら操作スイッチ17によ
り電動アクチュエータ6を起動し、可動支柱5を起こし
て上半身保持手段7を持ち上げることができ、使用者
は、臀部をリフトシート20に乗せた状態で、立上りの
姿勢をとることができる。再び、ボトムB上に腰を落と
すときは、電動アクチュエータ6を逆に作動させ、可動
支柱5を元に戻して上半身保持手段7を下げるようにす
る。以上のように、使用者自ら電動アクチュエータ6を
操作して行うことができるので、使用者の自立心を促進
させることができ、機能回復へ寄与することができる。
かかる動作を繰り返すことによって、立上り訓練を進め
ることができる(図3参照)。そして、立上り訓練が進
むと、その立ち上がった状態から、上半身保持手段7に
よって上半身を支えながら、歩行訓練を行うことができ
る(図4参照)。
Then, the hook members 19 in the bent portions 18 of the upper limb holding frame 15 are hooked into the holes 21 at both ends of the lift seat 20 laid under the buttocks of the user to start standing training at any time. (See Fig. 1). The user can activate the electric actuator 6 by himself / herself with the operation switch 17 to raise the movable support column 5 to lift the upper body holding means 7, and the user can stand upright with the buttocks on the lift seat 20. Can be taken. When the hip is to be dropped on the bottom B again, the electric actuator 6 is operated in reverse, the movable support column 5 is returned to the original position, and the upper body holding means 7 is lowered. As described above, since the user can operate the electric actuator 6 by himself / herself, it is possible to promote the user's independence and contribute to the recovery of the function.
By repeating such an operation, the start-up training can be advanced (see FIG. 3). Then, when the stand-up training progresses, it is possible to carry out the walk training from the stand-up state while supporting the upper body by the upper body holding means 7 (see FIG. 4).

【0012】[0012]

【発明の効果】以上の通り、本発明によれば、使用者自
らが、すすんで立上り、歩行訓練を行うことができるの
で、使用者の自立心を喚起することができ、機能回復、
維持に大きな効果がある。
As described above, according to the present invention, the user himself is able to stand up and perform walking training, so that the user's independence can be aroused and functional recovery,
It has a great effect on maintenance.

【0013】[0013]

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明にかかる電動立上り訓練器の使用状態を
示す外観斜視説明図である。
FIG. 1 is an external perspective explanatory view showing a usage state of an electric start-up exerciser according to the present invention.

【図2】図1に示す電動立上り訓練器における上半身保
持手段の拡大斜視説明図である。
FIG. 2 is an enlarged perspective explanatory view of upper body holding means in the electric start-up exerciser shown in FIG.

【図3】本発明にかかる電動立上り訓練器の作用を説明
するに供する側面図である。
FIG. 3 is a side view for explaining the operation of the electric start-up exerciser according to the present invention.

【図4】本発明にかかる電動立上り訓練器によって、歩
行訓練を行うところを示す外観斜視説明図である。
FIG. 4 is an external perspective view showing a place where walking training is performed by the electric start-up exerciser according to the present invention.

【符号の説明】[Explanation of symbols]

1 電動立上り訓練器 2 ベッド 3 台車 4 支柱 5 可動支柱 6 電動アクチュエータ 7 上半身保持手段 8 横枠 9 前輪 10 後輪 11 筐体 12 作動杆 13 前部 14a、14b 脇部材 15 上肢保持枠 16 握り部 17 操作スイッチ 18 屈曲部 19 フック部材 20 リフトシート 21 穴 DESCRIPTION OF SYMBOLS 1 Electric riser 2 Beds 3 Bogies 4 Supports 5 Movable supports 6 Electric actuators 7 Upper body holding means 8 Side frames 9 Front wheels 10 Rear wheels 11 Housing 12 Actuating rods 13 Front parts 14a, 14b Side members 15 Upper limb holding frames 16 Grips 17 Operation Switch 18 Bent Part 19 Hook Member 20 Lift Seat 21 Hole

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 台車と、この台車に立設した支柱と、
この支柱頂部に、台車の後部側に指向すると共に回動可
能に取り付けた可動支柱とを有し、この可動支柱と前記
支柱の基端側との間に、可動支柱を起伏作動するための
電動アクチュエータを介在し、前記可動支柱先端に、使
用者の上半身を支えるための上半身保持手段を設け、こ
の上半身保持手段は、使用者の上半身周りを囲むように
前部と脇部材とを有すると共に、脇部材先端側に、脇部
材を介して両上肢を支えるための上肢保持枠を有し、こ
の上肢保持枠は、肘に対応する屈曲部を有し、この屈曲
部に吊り下げ手段を介して、使用者の臀部を乗せるため
のリフトシートを吊り下げる構成としたことを特徴とす
る電動立上り訓練器。
1. A dolly, and a support erected on the dolly,
At the top of the pillar, there is a movable pillar that is rotatably attached while being directed toward the rear side of the cart, and an electric motor for undulating the movable pillar between the movable pillar and the base end side of the pillar. With an actuator interposed, at the tip of the movable column, upper body holding means for supporting the upper body of the user is provided, and this upper body holding means has a front part and a side member so as to surround the upper body of the user, and On the tip side of the armpit member, there is an upper limb holding frame for supporting both upper limbs via the armpit member, and this upper limb holding frame has a bending portion corresponding to the elbow, and this bending portion is hung through suspending means. An electric rising training machine characterized in that a lift seat for suspending a user's buttocks is suspended.
JP6208782A 1994-09-01 1994-09-01 Electric start-up trainer Expired - Fee Related JP2541784B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP6208782A JP2541784B2 (en) 1994-09-01 1994-09-01 Electric start-up trainer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP6208782A JP2541784B2 (en) 1994-09-01 1994-09-01 Electric start-up trainer

Publications (2)

Publication Number Publication Date
JPH0871114A true JPH0871114A (en) 1996-03-19
JP2541784B2 JP2541784B2 (en) 1996-10-09

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1147207A (en) * 1997-08-08 1999-02-23 Sakai Medical Co Ltd Walk supporting apparatus
JPH1147206A (en) * 1997-08-08 1999-02-23 Sakai Medical Co Ltd Walk supporting apparatus
KR100456723B1 (en) * 2001-12-03 2004-11-10 이은 Standing apparatus for physical therapy
JP2006158918A (en) * 2004-12-07 2006-06-22 Eiichi Takeda Movement assisting walker
EP1772132A1 (en) * 2005-10-10 2007-04-11 Ingenium Universal ApS Device for assisting disabled persons
JP2008148672A (en) * 2006-12-13 2008-07-03 Shigetoshi Hashiguchi Suspension creeper for farm work
DE102004043394B4 (en) * 2003-09-05 2008-08-28 Bahattin Kocakafa Training device for disabled persons
JP2008307121A (en) * 2007-06-12 2008-12-25 Paramount Bed Co Ltd Movement assisting apparatus
JP2009066194A (en) * 2007-09-13 2009-04-02 Kintetsu Smile Supply Inc Unaided walk trainer
JP2009172413A (en) * 2003-01-23 2009-08-06 Senoo Yoshiko Assist device for standing up or sitting down
JP2010142292A (en) * 2008-12-16 2010-07-01 Toyota Motor Corp Transfer apparatus and method of transfer thereof
JP2010227178A (en) * 2009-03-26 2010-10-14 Toyota Motor Corp Transfer device and method
JP2010233895A (en) * 2009-03-31 2010-10-21 National Institute Of Advanced Industrial Science & Technology Weight support tool and care device
CN102727356A (en) * 2011-04-11 2012-10-17 富士机械制造株式会社 Standing-up motion auxiliary robot
WO2014172700A1 (en) * 2013-04-19 2014-10-23 The Research Foundation For The State University Of New York Four bar apparatus and method for lifting, lowering, exercise and self-propelled transit
JP2015112255A (en) * 2013-12-11 2015-06-22 住友理工株式会社 Caretaker assisting apparatus
CN104814841A (en) * 2015-05-11 2015-08-05 许征文 Full-automatic shifting machine
CN107811737A (en) * 2016-09-12 2018-03-20 安徽三联机器人科技有限公司 The control system and method for a kind of standing assist device
JP2018134430A (en) * 2018-03-15 2018-08-30 株式会社Fuji Assistance robot
GB2570930A (en) * 2018-02-12 2019-08-14 Apex Health Care Mfg Inc Handbarrow for carrying patients
CN110279562A (en) * 2019-05-22 2019-09-27 上海邦邦机器人有限公司 A kind of aiding upright device and aiding upright mechanism

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1147207A (en) * 1997-08-08 1999-02-23 Sakai Medical Co Ltd Walk supporting apparatus
JPH1147206A (en) * 1997-08-08 1999-02-23 Sakai Medical Co Ltd Walk supporting apparatus
KR100456723B1 (en) * 2001-12-03 2004-11-10 이은 Standing apparatus for physical therapy
JP2009172413A (en) * 2003-01-23 2009-08-06 Senoo Yoshiko Assist device for standing up or sitting down
DE102004043394B4 (en) * 2003-09-05 2008-08-28 Bahattin Kocakafa Training device for disabled persons
JP2006158918A (en) * 2004-12-07 2006-06-22 Eiichi Takeda Movement assisting walker
EP1772132A1 (en) * 2005-10-10 2007-04-11 Ingenium Universal ApS Device for assisting disabled persons
JP2008148672A (en) * 2006-12-13 2008-07-03 Shigetoshi Hashiguchi Suspension creeper for farm work
JP2008307121A (en) * 2007-06-12 2008-12-25 Paramount Bed Co Ltd Movement assisting apparatus
JP2009066194A (en) * 2007-09-13 2009-04-02 Kintetsu Smile Supply Inc Unaided walk trainer
JP2010142292A (en) * 2008-12-16 2010-07-01 Toyota Motor Corp Transfer apparatus and method of transfer thereof
JP2010227178A (en) * 2009-03-26 2010-10-14 Toyota Motor Corp Transfer device and method
JP2010233895A (en) * 2009-03-31 2010-10-21 National Institute Of Advanced Industrial Science & Technology Weight support tool and care device
CN102727356A (en) * 2011-04-11 2012-10-17 富士机械制造株式会社 Standing-up motion auxiliary robot
JP2012217686A (en) * 2011-04-11 2012-11-12 Fuji Mach Mfg Co Ltd Assist robot for standing-up action
WO2014172700A1 (en) * 2013-04-19 2014-10-23 The Research Foundation For The State University Of New York Four bar apparatus and method for lifting, lowering, exercise and self-propelled transit
US10130535B2 (en) 2013-04-19 2018-11-20 The Research Foundation For The State University Of New York Four bar apparatus and method for lifting, lowering, exercise and self-propelled transit
JP2015112255A (en) * 2013-12-11 2015-06-22 住友理工株式会社 Caretaker assisting apparatus
CN104814841A (en) * 2015-05-11 2015-08-05 许征文 Full-automatic shifting machine
CN107811737A (en) * 2016-09-12 2018-03-20 安徽三联机器人科技有限公司 The control system and method for a kind of standing assist device
CN107811737B (en) * 2016-09-12 2023-09-19 安徽三联机器人科技有限公司 Control system and method of standing assisting device
GB2570930A (en) * 2018-02-12 2019-08-14 Apex Health Care Mfg Inc Handbarrow for carrying patients
JP2018134430A (en) * 2018-03-15 2018-08-30 株式会社Fuji Assistance robot
CN110279562A (en) * 2019-05-22 2019-09-27 上海邦邦机器人有限公司 A kind of aiding upright device and aiding upright mechanism
CN110279562B (en) * 2019-05-22 2021-12-28 上海邦邦机器人有限公司 Auxiliary standing device and auxiliary standing mechanism

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