JPWO2015011837A1 - 介助ロボット - Google Patents
介助ロボット Download PDFInfo
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- 210000003127 knee Anatomy 0.000 claims description 61
- 238000001514 detection method Methods 0.000 claims description 18
- 210000002683 foot Anatomy 0.000 description 98
- 210000002414 leg Anatomy 0.000 description 8
- 210000003423 ankle Anatomy 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 6
- 238000013459 approach Methods 0.000 description 3
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- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
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Abstract
Description
介助ロボット20は、被介助者M1の体の一部(例えば、上半身特に胸部)を支えて起立および着座を補助するための介助ロボットである。この介助ロボット20は、図1および図2に示すように、基台21、ロボットアーム部22、保持部23、ハンドル24、操作装置25、記憶装置26(記憶部)および制御装置27を含んで構成されている。
なお、左右駆動輪21e,21fおよび左右駆動輪用モータ21g,21hから走行用駆動部ACが構成されている。また、基台21に設けた前記駆動源を省略して構成して、被介助者M1により押されて移動するようにしてもよい。
第2回転用モータ22b3が駆動すると、フレーム22c2すなわち第3アーム22cが第2回転軸22b2回りに上方向または下方向に回転する。
表示部25aは、液晶ディスプレイで構成されており、介助ロボット20の動作モードの選択画面などを表示する。動作モードとしては、被介助者M1の起立動作を補助する起立動作補助モードや、被介助者M1の着座動作を補助する着座動作補助モードなどが設定されている。
着座軌跡を図8(右側)に示す。この着座軌跡は、着座軌跡用基準データに基づいている軌跡である。なお、前述した起立軌跡および着座軌跡は、シミュレーションで作成するようにしてもよい。
なお、上述した各補正量は、マップとして記憶されているが、演算式として記憶されていてもよい。
基準データ取得部27aは、操作装置25によって選択された動作モード(起立動作補助モード、着座動作補助モード、一連動作補助モードのいずれか)を取得して、その取得したモードに応じた基準データを記憶装置26から取得する。起立動作補助モードのときは、起立軌跡用基準データを取得し、着座動作補助モードのときは、着座軌跡用基準データを取得し、一連動作補助モードのときは、起立軌跡用基準データおよび着座軌跡用基準データを取得する。
また、足が基準位置より手前側にある場合(図12の中央に示す)、上述したように膝位置はXg1であり、足位置はXh1(>Xg1)であり、足の前後方向位置ΔXは−(Xg1−Xh1)であり、負の値となる。
さらに、足が基準位置より奥側にある場合(図12の右側に示す)、上述したように膝位置はXg2であり、足位置はXh2(<Xg2)であり、足の前後方向位置ΔXは+(Xg2−Xh2)であり、正の値となる。
例えば、補正部27eは、前記起立軌跡用基準データの起立動作最終点が、被介助者M1が着座部に着座しているときにおける被介助者M1の足位置の上方(直上)の所定範囲となるように補正する。
これによれば、着座している被介助者M1の床面の足位置が膝位置の直下位置より前方(奥側)または後方(手前側)にある場合であっても、起立動作の最終点は被介助者M1の足位置の上方の所定範囲A内にあるため、着座位置から起立位置に移行された被介助者の起立状態は、後傾および前傾とならずに、確実に正常な(自然な)起立状態とすることができる。
これによれば、着座位置から起立位置に移行する途中であって、特に被介助者M1の腰が着座部から離れた時点以降の後半部分において、被介助者M1に違和感を与えることなく起立させることができる。
これによれば、被介助者M1の膝位置(基準部位位置)に対する足の前後方向位置ΔXを正確に導出することができ、ひいては、起立軌跡用基準データを正確に補正することができる。
これによれば、既存の膝検出センサを使用することで、被介助者M1の基準部位位置に対する足の前後方向位置をより正確に導出し、かつ低コストに導出することができる。
Claims (6)
- 基台と、
前記基台に設けられ駆動部によって互いに相対移動が可能である複数のアームを備えたロボットアーム部と、
前記ロボットアーム部の一部に設けられ前記被介助者の体の一部を支えて起立および着座を補助する保持部と、
前記保持部に支えられて着座部に着座している前記被介助者を起立させる場合において、前記被介助者の移動制御部位が通過する起立軌跡を示す起立軌跡用基準データを記憶した記憶部と、
前記着座部に着座しているときにおける前記被介助者の足位置に基づいて前記起立軌跡用基準データを補正する補正部と、
前記駆動部を駆動させて、前記ロボットアーム部を、前記補正部によって補正された前記起立軌跡用基準データに基づいて駆動する駆動制御部と、
を備えたことを特徴とする介助ロボット。 - 前記補正部は、前記起立軌跡用基準データの起立動作最終点に相当する前記移動制御部位が、前記被介助者が前記着座部に着座しているときにおける前記被介助者の前記足位置の上方の所定範囲となるように補正することを特徴とする請求項1記載の介助ロボット。
- 前記起立軌跡用基準データは、前記保持部に支えられて着座部に着座している前記被介助者を起立させる場合において、前記基台の停止位置の基準点となる前記被介助者の基準部位が前記被介助者の足位置と所定位置関係にある場合に、前記被介助者の移動制御部位が通過する起立軌跡を示し、
前記補正部は、前記被介助者の腰が前記着座部から離れる直前時点における前記被介助者の基準部位位置に対する足の前後方向位置に基づいて前記起立軌跡用基準データを補正することを特徴とする請求項1記載の介助ロボット。 - 前記補正部は、前記保持部に支えられて前記着座部に着座している前記被介助者を起立させる場合であって、前記被介助者の腰が前記着座部から離れた時点以降の後半部分において、前記被介助者の腰が前記着座部から離れる直前時点における前記被介助者の基準部位位置に対する足の前後方向位置に基づいて前記起立軌跡用基準データを補正することを特徴とする請求項3記載の介助ロボット。
- 前記被介助者の基準部位までの距離を検出する第1距離検出センサと、
前記被介助者の足までの距離を検出する第2距離検出センサと、
前記第1距離検出センサによって検出された前記被介助者の基準部位までの距離と、前記第2距離検出センサによって検出された前記被介助者の足までの距離と、から前記被介助者の基準部位位置に対する足の前後方向位置を導出する足前後方向位置導出部と、をさらに備えたことを特徴とする請求項3または請求項4記載の介助ロボット。 - 前記被介助者の基準部位は前記着座部に着座している前記被介助者の膝であり、
前記所定位置関係は、前記被介助者の膝の鉛直直下に前記被介助者の足が位置する関係であることを特徴とする請求項5記載の介助ロボット。
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US9844481B2 (en) * | 2015-07-13 | 2017-12-19 | Panasonic Intellectual Property Management Co., Ltd. | Standing/sitting motion assist system, standing/sitting motion assist method, standing/sitting motion assist robot, and non-transitory computer-readable recording medium |
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