WO2017060964A1 - 介助ロボット - Google Patents

介助ロボット Download PDF

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Publication number
WO2017060964A1
WO2017060964A1 PCT/JP2015/078274 JP2015078274W WO2017060964A1 WO 2017060964 A1 WO2017060964 A1 WO 2017060964A1 JP 2015078274 W JP2015078274 W JP 2015078274W WO 2017060964 A1 WO2017060964 A1 WO 2017060964A1
Authority
WO
WIPO (PCT)
Prior art keywords
person
assisted
arm
posture
assistance robot
Prior art date
Application number
PCT/JP2015/078274
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
伸幸 中根
丈二 五十棲
英明 野村
Original Assignee
富士機械製造株式会社
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 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2015/078274 priority Critical patent/WO2017060964A1/ja
Priority to JP2017544094A priority patent/JP6737796B2/ja
Priority to AU2015411108A priority patent/AU2015411108B2/en
Priority to SG11201802315SA priority patent/SG11201802315SA/en
Priority to EP15905784.3A priority patent/EP3360524B1/de
Priority to SG11201802366QA priority patent/SG11201802366QA/en
Priority to AU2016336279A priority patent/AU2016336279B2/en
Priority to JP2017544380A priority patent/JP6745810B2/ja
Priority to PCT/JP2016/064651 priority patent/WO2017061136A1/ja
Priority to EP16853292.7A priority patent/EP3360525B1/de
Priority to DK16853292.7T priority patent/DK3360525T3/da
Priority to JP2017544389A priority patent/JP7007912B2/ja
Priority to PCT/JP2016/069400 priority patent/WO2017061151A1/ja
Priority to AU2016336284A priority patent/AU2016336284B2/en
Priority to SG11201802365WA priority patent/SG11201802365WA/en
Priority to EP16853306.5A priority patent/EP3360526B1/de
Publication of WO2017060964A1 publication Critical patent/WO2017060964A1/ja
Priority to JP2020132358A priority patent/JP6896920B2/ja

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Classifications

    • 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
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to an assistance robot.
  • Patent Document 1 discloses an assistance robot for assisting a person being standing up.
  • the assisting robot includes two drive shafts, a shaft portion that linearly moves up and down as one of the drive members, and a table that is swingably provided at the upper end of the shaft portion as another drive member. Is provided.
  • the assistance robot swings the table (turns forward) and moves it to the ascending preparation position with the elbow of the person who is in the sitting position resting on the table, and then lifts the table. Get your helper up.
  • the assistance robot first turns the table forward with the elbow of the person being assisted in the sitting position placed on the table. Since the table is raised by the front turn of the table, the upper body of the person being assisted is lifted with the start of the front turn of the table.
  • the center of gravity of the person being assisted is usually separated backward from the ground contact position of the person being assisted. From this state, when the upper body of the person being assisted is lifted by turning the table forward, a force is generated that causes the upper body of the person being assisted to move away from the table of the assistance robot. Therefore, a force for preventing the person being assisted from leaving the table acts on the person being assisted, and the person being assisted is uncomfortable.
  • This invention aims at providing the assistance robot which can suppress giving a discomfort to a care receiver in the case of standing-up assistance operation
  • An assistance robot includes a base, an elevating part that moves linearly in the vertical direction with respect to the base, and an arm that is provided on the elevating part so as to be swingable about a predetermined swing axis.
  • a holding portion that is provided at the tip of the arm and holds the upper body of the person being assisted, and the vertical movement of the lifting and lowering part and swinging of the arm to control the person being assisted from a sitting posture.
  • the control device the at least part section from the time when the person being assisted in the initial sitting position to the time of a predetermined intermediate position, a first operation for coordinating the lowering of the lifting unit and the forward turning of the arm, In a section from the predetermined intermediate posture to the standing posture, a second operation for raising the elevating unit is executed.
  • the first operation is an operation in which the lowering of the elevating unit and the forward turning of the arm are performed in cooperation.
  • the upper body of the person being assisted is tilted forward by turning the arm forward.
  • the holding unit is raised with respect to the elevating unit by turning the arm forward, but the elevating unit is lowered with respect to the base by lowering the elevating unit. Therefore, in the first operation, at least a part of the ascending operation of the holding unit with respect to the elevating unit due to the forward turning of the arm is offset by the descending operation of the elevating unit.
  • FIG. 1 It is a back perspective view of the appearance of the assistance robot of this embodiment. It is the figure seen from the right side which shows the structure of an assistance robot, and shows the time of a person being assisted in an initial sitting posture. It is the figure seen from the right side which shows the structure of an assistance robot, and shows the time of a person being assisted in an initial sitting posture. It is the figure seen from the right side which shows the structure of an assistance robot, and shows the time of a person being assisted in an initial sitting posture. It is a figure which shows angle
  • the time change of the angle ⁇ of the trunk receiving portion from the start of assistance to the end of assistance is shown.
  • a comparative example it is a figure which shows the locus
  • the trunk angle ⁇ a from the start to the end of the motion is shown.
  • the assistance robot 1 performs standing assistance from the sitting posture to the standing posture and sitting assistance from the standing posture to the sitting posture with respect to the person M (shown in FIG. 2).
  • the assistance robot 1 according to the present embodiment is mainly intended for a person who is difficult to stand by himself / herself.
  • support / removal support for the bottoms (clothes worn on the lower body) of the person being assisted, and the person being assisted M It is used effectively for excretion assistance.
  • the assistance robot 1 supports the upper body of the person being assisted in the standing posture, one person who is assisted can perform the above-described treatment of the person being assisted. That is, the standing posture in the present embodiment means a state where at least the lower body of the person being assisted is standing, and does not mean a state where the upper body and the lower body are standing.
  • the assistance robot 1 of the present embodiment is described for the purpose of assisting the standing posture in which only the lower half of the person being assisted stands, the assistance robot 1 is in a standing posture in which the lower and upper bodies of the assistance person M are standing. It can also be used for assistance.
  • the assistance robot 1 includes a base 10, wheels 20, an elevating unit 30, an arm 40, a holding unit 50, a grip 60, a crus pad unit 70, and a control device 80.
  • the front, rear, left, right, up and down are the front, back, left, right, up and down as viewed from the person being assisted as shown in FIG.
  • the base 10 includes a frame 11, a support 12, a foot placing base 13, and a fixed cover 14.
  • the frame 11 is provided at a position slightly separated from the ground contact surface 2 (floor surface, ground surface) and substantially horizontally with respect to the ground contact surface 2.
  • the support column 12 is fixed to the frame 11 and is erected upward from the front upper surface of the frame 11.
  • the column 12 is disposed at the center in the left-right direction in front of the frame 11.
  • the assistance robot 1 has the one support
  • the foot mounting table 13 is fixed to the rear of the upper surface of the frame 11.
  • a grounding mark 13 a for the foot of the person being assisted M is written on the upper surface of the foot placing table 13. That is, the ground mark 13a has a role of guiding the position of the foot to the person being assisted.
  • the fixed cover 14 is fixed to the frame 11 or the support column 12 and surrounds the lower portion of the lifting body 31 of the lifting unit 30 described later.
  • the wheel 20 is arrange
  • the wheel 20 has a lock function that restricts rotation.
  • the wheel 20 is provided so as to be freely rotatable, but may be provided so as to be driven by a driving device.
  • the elevating part 30 includes an elevating body 31, a swing support part 32, and an elevating cover 33.
  • the elevating body 31 is formed in an elongated shape in the vertical direction, and is provided on the front surface of the support column 12 so as to be linearly movable in the vertical direction.
  • the elevating body 31 is guided by a guide (not shown) on the front surface of the column 12 and is driven by a linear motion device (not shown).
  • the elevating body 31 is surrounded by the fixed cover 14.
  • the swing support portion 32 is provided on the upper end side of the elevating body 31 and has a swing axis 32a parallel to the left-right direction. Specifically, the swing support portion 32 is formed to protrude rearward from the upper end of the elevating body 31. That is, the swing axis 32 a is located behind the support column 12 and located behind the lifting body 31.
  • the elevating cover 33 is fixed to the elevating unit 30 and surrounds the elevating unit 30. Further, the elevating cover 33 surrounds the support column 12 and the fixed cover 14. The elevating cover 33 overlaps with the fixed cover 14 even at the position where the elevating unit 30 is raised.
  • the assisting robot 1 has one elevating unit 30 because it has one strut 12, but if it has two or more struts 12, the number of struts 12 There will be a corresponding number of lifts 30.
  • the arm 40 is provided so as to be swingable about the swing axis 32a of the swing support portion 32 of the elevating unit 30 as a central axis.
  • the arm 40 is swung by an arm driving device (not shown).
  • the arm 40 swings at a higher position than the swing support portion 32. That is, the swing range of the arm 40 is such that the tip end of the arm 40 extends rearward of the swing support portion 32 (shown in FIG. 2) and the tip end of the arm 40 is near the upper portion of the swing support portion 32 or the lifting body 31.
  • the state shown in FIG. 4
  • the arm 40 turns forward from the state of extending backward, and when the assisting robot 1 assists in sitting, the arm 40 extends in the rearward direction. Turn back.
  • the holding unit 50 is provided at the tip of the arm 40 and holds the upper body of the person M being assisted.
  • the holding unit 50 includes a trunk receiving part 51 that contacts the trunk of the person being assisted M and a side receiving part 52 that holds both sides of the person being assisted M.
  • the holding unit 50 may include only one of the body receiving unit 51 and the side receiving unit 52.
  • the trunk receiving part 51 supports the trunk of the person being assisted M from below.
  • drum receiving part 51 is formed in planar shape, and is formed with a cushioning material.
  • the torso receiving part 51 is formed in an initial shape corresponding to the body of a standard person being assisted M, and is flexibly deformed according to the body of each person being assisted. In the present embodiment, the torso receiving portion 51 is in contact with the person being assisted from the chest to the abdomen.
  • the side receiving portions 52 are formed in an arc shape and are arranged on the left and right sides of the body receiving portion 51 so that the arc opening faces upward.
  • the side support part 52 supports the upper half of the person being assisted M by supporting the side of the person being assisted from below. Furthermore, the side receiving part 52 regulates the back-and-forth movement of the person being assisted M by sandwiching both sides of the person being assisted from the front-rear direction. Therefore, the trunk receiving part 51 and the side receiving part 52 can regulate the position P of the shoulder of the person being assisted M held by the holding part 50.
  • the center line in the left-right direction of the body receiving part 51 swings within a range of 20 ° to 110 ° with respect to the vertical line.
  • the trunk receiver 51 is directed upward and rearward.
  • the trunk receiver 51 is directed upward and forward.
  • the grip 60 is formed in a U shape, and both ends of the U shape of the grip 60 are fixed to the lower surface of the body receiving portion 51.
  • the center part of the grip 60 is positioned in front of the body receiving part 51 and is gripped by the person being assisted M held by the holding part 50.
  • the lower leg pad 70 determines the position and posture of the lower body of the person being assisted in the sitting position by bringing the front part of the lower leg (shin or knee) of the person being assisted in the sitting position. In particular, the position of the foot is determined to some extent.
  • the lower thigh pad portion 70 is fixed to the column 12 of the base 10.
  • the crus pad part 70 includes two support members 71 and a crus pad main body 72.
  • the support member 71 is formed in an L shape. One end of the L-shaped support member 71 is fixed to the support column 12, and the other L-shaped end of the support member 71 is positioned behind the support column 12.
  • the lower thigh pad main body 72 is fixed to the other end side of the support member 71, and is located behind the lifting cover 33 and below the swing support portion 32.
  • the crus pad main body 72 is a part that contacts the front part of the crus of the person being assisted M, is formed in a planar shape, and is formed of a cushion material.
  • the control device 80 is fixed to the horizontal base 11 of the base 10 and is erected upward from the front upper surface of the horizontal base 11.
  • the control device 80 is disposed beside the support column 12.
  • the control device 80 controls the vertical movement of the elevating unit 30 and the swing of the arm 40 to perform standing assistance and seating assistance for the person being assisted.
  • the control device 80 controls only the vertical movement of the elevating unit 30 and does not swing the arm 40 at this time when the operation of adjusting the standing start height is executed by the operator (the person being assisted M or the person being assisted). That is, the control device 80 adjusts the standing start height according to the extension of the person being assisted.
  • control device 80 stores in advance a stand-up assist program for performing a stand-up assist operation.
  • the control device 80 executes the standing assistance program and controls the vertical movement of the elevating unit 30 and the swinging of the arm 40.
  • the control device 80 stores a seating assistance program for performing a seating assistance operation in advance.
  • a seating assistance operation is executed by an operator (a person being assisted M or a helper)
  • the control device 80 executes a seating assistance program and controls the vertical movement of the elevating unit 30 and the swinging of the arm 40. Further, the control device 80 corrects the standing assistance program and the seating assistance program according to the standing start height.
  • the standing assistance operation is an operation from the initial state shown in FIG. 2 to the intermediate state shown in FIG. 3 and the final state shown in FIG. That is, the assistance person M shifts from the initial sitting posture shown in FIG. 2 to the intermediate posture shown in FIG. 3 and takes the standing posture shown in FIG. That is, the control device 80 performs the vertical movement of the elevating unit 30 and the forward turning of the arm 40 so that the shoulder position P moves along the locus shown in FIGS.
  • the person being assisted in a state of sitting on the seat surface 3 (a sitting posture state).
  • the assistance robot 1 is set to the initial state of the standing assistance operation by the operation of the person being assisted M or the assistant.
  • the initial state of the assisting robot 1 is a state in which the holding unit 50 is located most rearward in the standing assistance program. That is, the initial state of the assisting robot 1 is a state in which the arm 40 extends rearward.
  • the lower half of the person being assisted M is disposed in a lower space of the holding unit 50.
  • the foot of the person being assisted M is positioned on the ground mark 13a.
  • the lower leg of the person being assisted M comes into contact with the rear surface of the lower leg pad main body 72.
  • the care recipient M or the caregiver performs a vertical movement operation of only the lifting unit 30 according to the height of the upper body of the caregiver M in the sitting posture on the seat surface 3.
  • the front surface of the body of the person being assisted M comes into contact with the body holding surface of the body receiving portion 51.
  • the person being assisted M places the side on the side support part 52, and the person assisted M grips the grip 60.
  • the upper body of the person being assisted M is slightly tilted forward.
  • the front-rear direction position of the center of gravity G1 of the person being assisted M in the initial state is located behind the front-rear direction range F of the leg of the person being assisted.
  • the control device 80 coordinates the lowering of the elevating unit 30 and the forward turning of the arm 40 according to the standing assistance program.
  • the operation from the initial sitting posture of the person being assisted to the intermediate posture is referred to as a first operation. That is, the first operation is an operation in which the lowering of the elevating unit 30 and the forward turning of the arm 40 are performed in at least a partial section from the initial sitting posture to the intermediate posture.
  • the cooperative operation of the lowering of the elevating unit 30 and the forward turning of the arm 40 is performed in all sections from the initial sitting posture to the intermediate posture.
  • the cooperative operation may be executed only in a partial section.
  • the arm 40 is only turned forward and does not turn backward, and the elevating unit 30 is only lowered and does not rise.
  • the shoulder position P of the person being assisted M moves forward substantially horizontally by the first operation.
  • the holding unit 50 rises with respect to the lifting unit 30 by the forward turning of the arm 40.
  • the shoulder position P can be moved substantially horizontally.
  • substantially horizontal includes a state of being slightly inclined up and down from the horizontal when it is horizontal.
  • the trunk holding surface of the trunk receiver 51 is tilted forward and moved forward by the forward turning of the arm 40. Therefore, by the first operation to be coordinated, the position P of the shoulder of the person being assisted M moves forward, and the rear end of the body receiver 51 rises. Accordingly, the upper body of the person being assisted M tilts forward and the abdomen of the person being assisted is lifted.
  • the holding unit 50 can stably support the person being assisted M in such a posture.
  • the front-rear direction position of the center of gravity G ⁇ b> 2 of the person being assisted M enters the front-rear direction range F of the ground contact surface of the person being assisted. Accordingly, the person being assisted cannot stand up by himself, but the person being assisted is in a posture in which the person being assisted is stably supported by his / her feet during the intermediate posture.
  • the above-described determination can be made by measuring the mass applied to the holding unit 50 and determining whether or not a predetermined ratio with respect to the mass of the upper body of the person being assisted is reached. Further, the above determination can also be made based on whether or not the rear load received by the holding unit 50 from the person being assisted M has reached a predetermined value or less. Further, the above determination can be made based on whether or not the inclination of the upper body of the person being assisted M has reached a predetermined value or more.
  • the control device 80 switches the operation of the elevating unit 30 from descending to ascending.
  • the control device 80 coordinates the raising of the elevating unit 30 and the forward turning of the arm 40 in accordance with the standing assistance program.
  • the operation from the middle posture of the person being assisted to the standing posture is referred to as a second motion. That is, the second operation is an operation in which the coordination of the raising of the elevating unit 30 and the forward turning of the arm 40 is performed in at least a partial section from the intermediate posture to the standing posture.
  • the cooperative operation of the raising of the elevating unit 30 and the forward turning of the arm 40 is performed in all the sections from the intermediate posture to the standing posture.
  • the cooperative operation may be executed only in a partial section.
  • the arm 40 is only turned forward and does not turn backward, and the elevating unit 30 is only raised and not lowered.
  • the shoulder position P of the person being assisted rises almost upward while slightly moving forward from the intermediate posture.
  • the holding unit 50 is moved forward mainly by the lifting of the elevating unit 30 while moving forward slightly by the forward turning of the arm 40.
  • the buttocks of the person being assisted rise away from the seat surface 3.
  • the trunk holding surface of the trunk receiver 51 is further tilted forward by the forward turning of the arm 40.
  • the upper body of the person being assisted M is further tilted forward while rising. Therefore, when the upper body of the person being assisted rises by the second action, the state where the back muscle of the person being assisted is extended is maintained. Therefore, in the second operation, the holding unit 50 can stably support the person being assisted M.
  • the front-rear direction position (G2 to G3) of the center of gravity G of the person being assisted M is located in the front-rear direction range F of the ground contact surface of the person being assisted. Therefore, when the upper body of the person being assisted rises, the person being assisted can obtain a sense of security.
  • the center in the left-right direction of the body receiving portion 51 contacts the center in the left-right direction on the front surface of the body of the person being assisted.
  • a distance L (shown in FIGS. 2 and 4) between a line passing through the shoulder position P and parallel to the body holding surface of the person being assisted by the body receiving portion 51 of the holding portion 50 and the swing axis 32a of the arm 40. ) Is 230 to 290 mm.
  • the distance L is preferably 250 to 270 mm.
  • the swing axis 32a is located in front of the front-rear direction range F of the ground contact surface of the person being assisted M.
  • the swing axis 32a is positioned 250 to 450 mm ahead of the ground contact position of the heel of the person being assisted M.
  • the distance between the swing axis 32a and the ground contact position is preferably 300 to 400 mm.
  • the swing axis 32a is within the height range of the upper body of the person being assisted, that is, within the range from the lower surface (seat surface 3) of the buttocks of the person being assisted to the upper end of the head. , Descend.
  • the swing axis 32a is lowered within the height range of the trunk (chest and abdomen) of the person being assisted M during the first movement.
  • the swing axis 32a is positioned in front of the head of the person being assisted in the initial sitting posture. Further, as shown in FIG. 4, the swing axis 32 a is located behind the head of the person being assisted in the standing posture of the person being assisted by the holding unit 50.
  • T1, T2, and T3 represent times
  • P1 (T1) means the shoulder position P1 at time T1
  • P2 (T2) and P3 (T3) are the same.
  • Ta1, Ta2, Ta3, and Ta4 represent time
  • Pa1 (Ta1) means the shoulder position Pa1 at time Ta1, and Pa2 (Ta2), Pa3 (Ta3), and Pa4 (Ta4). Is the same.
  • the trajectory of the shoulder position P of the person being assisted and the trajectory of the angle ⁇ of the torso receiving portion 51, the trajectory of the shoulder position Pa of the healthy person, and the trajectory of the torso angle ⁇ a are examples, and Depending on the sitting height, the crotch length, etc., the numerical values are appropriately different.
  • the position P of the shoulder of the person being assisted M is located at P1 when the person M is in the initial sitting position, and is located at P2 when at the intermediate position T2. At time T3, it is located at P3.
  • the shoulder position P advances substantially horizontally from P1 to P2. Thereafter, the shoulder position P rises and reaches P3 while moving forward from P2. The shoulder position P rises while moving forward from P1 to P3.
  • P1 is the lowest position and P3 is the highest position.
  • the angle ⁇ of the trunk receiving portion 51 (corresponding to the trunk angle of the assistant M) is 35 ° at T1 when the assistant M is in the initial sitting posture. It is 64 ° at the posture T2 and 95 ° at the time T3 in the standing posture. As shown in FIG. 5B, the angle ⁇ continues to increase.
  • the position Pa of the healthy person's shoulder is located at Pa1 when the healthy person is in the initial sitting posture, the upper body is tilted forward, and the buttocks rise away from the seating surface 3. At the time of posture Ta2, it is located at Pa2, the lowest position. Thereafter, the position Pa of the healthy person's shoulder rises and is located at Pa4 when Ta4 is in the standing posture.
  • the angle ⁇ a of the trunk of the healthy person is 5 ° when Ta1 is in the initial sitting posture, and gradually tilts forward so that when the buttocks separate from the seating surface 3, the angle ⁇ a becomes 44 °.
  • the trunk angle ⁇ a becomes maximum, and then the trunk angle ⁇ a increases while decreasing.
  • the trunk angle ⁇ a is 3 ° when Ta4 is in the standing posture.
  • the shoulder position P of the person being assisted M is a locus approximated from the vicinity of Pa2 to the middle of Pa3 and Pa4 at the position Pa of the healthy person's shoulder. Therefore, since the person being assisted M stands up after sliding the upper body forward like a normal person, the person being assisted M can stand up comfortably with the center of gravity G on the soles of the feet. However, in the case of a healthy person, the angle ⁇ a of the trunk is decreased after increasing, whereas in the case of the person being assisted M, the angle ⁇ of the trunk receiving portion 51 continues to increase. The reason for this difference is that the final standing posture is different.
  • the assistance robot 1 described above is provided so as to be swingable about a base 10, a lifting / lowering part 30 that moves linearly in the vertical direction with respect to the base 10, and a predetermined swinging axis 32 a as a central axis.
  • the arm 40, the holding portion 50 provided at the tip of the arm 40 and holding the upper body of the person being assisted, the vertical movement of the elevating part 30 and the swing of the arm 40 are controlled to the person being assisted
  • the control device 80 operates from the time when the person M shown in FIG. 2 is in the initial sitting position (T1 in FIGS. 5A and 5B) to the time in the intermediate position shown in FIG. 3 (T2 in FIGS. 5A and 5B).
  • the first operation for coordinating the lowering of the elevating unit 30 and the forward turning of the arm 40 is executed.
  • the control device 80 moves the lifting unit 30 in the section from the intermediate posture shown in FIG. 3 (T2 in FIGS. 5A and 5B) to the standing posture shown in FIG. 4 (T3 in FIGS. 5A and 5B).
  • the second action to raise the is executed.
  • the first operation by the control device 80 is an operation in which the lowering of the elevating unit 30 and the forward turning of the arm 40 are performed in cooperation.
  • the upper body of the person being assisted M tilts forward by turning the arm 40 forward.
  • the holding unit 50 is raised with respect to the lifting unit 30 by the forward turning of the arm 40, but the lifting unit 30 is lowered with respect to the base 10 by the lowering of the lifting unit 30. Therefore, in the first operation, at least a part of the lifting operation of the holding unit 50 with respect to the lifting unit 30 due to the forward turning of the arm 40 is offset by the lowering operation of the lifting unit 30.
  • the arm is merely turned forward as in the prior art. Compared to the case, the amount of increase in the upper body of the person being assisted M is suppressed. Therefore, in the initial stage from the sitting posture to the standing posture, the amount by which the upper body of the person being assisted is lifted is reduced, and discomfort to the person being assisted is suppressed.
  • the holding unit 50 includes a trunk receiving unit 51 that contacts the trunk of the person being assisted M.
  • the first operation is an operation for raising the rear end of the trunk receiving part 51 by cooperation of the lowering of the elevating part 30 and the forward turning of the arm 40.
  • the holding unit 50 can stably support the person being assisted M in such a posture.
  • the assistance robot 1 can stably shift the person being assisted M to the standing posture. That is, a sense of security can be given to the person being assisted.
  • the position P of the shoulder of the person M who is being held by the holding unit 50 is substantially horizontal by the cooperation of the lowering of the elevating unit 30 and the forward turning of the arm 40. It is an operation to move forward. By doing so, it is possible to prepare for standing up without any burden on the person being assisted from the time T1 in the initial sitting posture to the time T2 in the intermediate posture.
  • the first operation and the second operation by the control device 80 include an operation for turning the arm 40 forward, and do not include an operation for turning the arm 40 backward. That is, the angle of the trunk of the person being assisted M changes only in one direction. As shown in FIG. 6A and FIG. 6B, if the subject is a healthy person, the trunk is reversed in the middle. By performing the first operation and the second operation as described above, it is effective when the purpose is to assist in a standing posture in which only the lower half of the person being assisted M stands.
  • the second operation is an operation in which the raising of the elevating unit 30 and the forward turning of the arm 40 are coordinated in at least a partial section from the intermediate posture T2 to the standing posture T3. That is, the person being assisted M further shifts to the forward tilt posture in the second operation. Therefore, it is particularly effective for the purpose of assisting the standing posture in which only the lower body of the person being assisted is stood.
  • the swing axis 32a of the arm 40 descends within the height range of the upper half of the person being assisted M during the first movement. Furthermore, the swing axis 32a of the arm 40 is located in front of the head of the person being assisted in the initial sitting position and is located behind the head of the person being assisted in the standing position. By setting the swing axis 32a of the arm 40 to the position as described above, the assistance robot 1 can perform standing-up assistance without causing discomfort to the person being assisted.
  • the intermediate posture T2 of the person being assisted M may be any of the following.
  • the intermediate posture T2 corresponds to all of the following, but may correspond to at least one of the following.
  • the intermediate posture T2 of the first person being assisted M is when the buttocks of the person being assisted M starts to rise from the seat surface 3.
  • the intermediate posture T2 of the second person being assisted M is when the position of the center of gravity G of the person being assisted is entering the front-rear direction range F of the ground contact surface of the person being assisted.
  • the intermediate posture T2 of the third person being assisted M is a time when the holding unit 50 has reached a state in which a mass of a predetermined ratio or more with respect to the mass of the upper body of the person being assisted is supported.
  • the intermediate posture T2 of the fourth person being assisted M is when the backward load received by the assisted robot 1 from the person being assisted M has reached a predetermined value or less.
  • the middle posture T2 of the fifth person being assisted M is when the inclination of the upper body of the person being assisted M has reached a predetermined value or more.

Landscapes

  • Health & Medical Sciences (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Rehabilitation Tools (AREA)
PCT/JP2015/078274 2015-10-06 2015-10-06 介助ロボット WO2017060964A1 (ja)

Priority Applications (17)

Application Number Priority Date Filing Date Title
PCT/JP2015/078274 WO2017060964A1 (ja) 2015-10-06 2015-10-06 介助ロボット
JP2017544094A JP6737796B2 (ja) 2015-10-06 2015-10-06 介助ロボット
AU2015411108A AU2015411108B2 (en) 2015-10-06 2015-10-06 Assistance robot
SG11201802315SA SG11201802315SA (en) 2015-10-06 2015-10-06 Assisting robot
EP15905784.3A EP3360524B1 (de) 2015-10-06 2015-10-06 Hilfsroboter
JP2017544380A JP6745810B2 (ja) 2015-10-06 2016-05-17 介助装置
AU2016336279A AU2016336279B2 (en) 2015-10-06 2016-05-17 Assistance device
SG11201802366QA SG11201802366QA (en) 2015-10-06 2016-05-17 Assisting apparatus
PCT/JP2016/064651 WO2017061136A1 (ja) 2015-10-06 2016-05-17 介助装置
EP16853292.7A EP3360525B1 (de) 2015-10-06 2016-05-17 Assistenzvorrichtung
DK16853292.7T DK3360525T3 (da) 2015-10-06 2016-05-17 Assistanceindretning
JP2017544389A JP7007912B2 (ja) 2015-10-06 2016-06-30 介助装置
PCT/JP2016/069400 WO2017061151A1 (ja) 2015-10-06 2016-06-30 介助装置
AU2016336284A AU2016336284B2 (en) 2015-10-06 2016-06-30 Assistance device
SG11201802365WA SG11201802365WA (en) 2015-10-06 2016-06-30 Assisting apparatus
EP16853306.5A EP3360526B1 (de) 2015-10-06 2016-06-30 Assistenzvorrichtung
JP2020132358A JP6896920B2 (ja) 2015-10-06 2020-08-04 介助装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/078274 WO2017060964A1 (ja) 2015-10-06 2015-10-06 介助ロボット

Publications (1)

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JP (1) JP6737796B2 (de)
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WO (1) WO2017060964A1 (de)

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WO2018168112A1 (ja) 2017-03-14 2018-09-20 株式会社Ｆｕｊｉ 介助装置
WO2019026144A1 (ja) * 2017-07-31 2019-02-07 株式会社Ｆｕｊｉ 介助システム
CN109481194A (zh) * 2018-12-20 2019-03-19 辽宁福之卉科技发展有限公司 一种全向智能移位机
CN109512612A (zh) * 2019-01-07 2019-03-26 中国科学院沈阳自动化研究所 一种适用于狭窄空间的伤员抢运机器人腰部起重关节
WO2019111514A1 (ja) 2017-12-06 2019-06-13 株式会社Ｆｕｊｉ 介助装置
CN110522574A (zh) * 2019-09-05 2019-12-03 张铸 智能辅助站立装置及控制方法
KR20210041083A (ko) * 2019-04-11 2021-04-14 가부시키가이샤 후지 시중 장치
US20220175598A1 (en) * 2019-03-05 2022-06-09 Fuji Corporation Assistance information management system
CN115462980A (zh) * 2022-09-26 2022-12-13 和也健康科技有限公司 一种辅助站立康养机器人
CN110522574B (zh) * 2019-09-05 2024-05-31 张铸 智能辅助站立装置及控制方法

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FR3127392B1 (fr) * 2021-09-24 2023-12-15 Alter Eco Sante Appareil médical pour aider un patient à se mettre debout, unité de commande et procédé de commande associé
CN114027614B (zh) * 2021-11-13 2023-04-07 安徽淘云科技股份有限公司 智能书桌高度微调方法、装置和设备

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WO2018168112A1 (ja) 2017-03-14 2018-09-20 株式会社Ｆｕｊｉ 介助装置
JPWO2019026144A1 (ja) * 2017-07-31 2020-03-26 株式会社Ｆｕｊｉ 介助システム
WO2019026144A1 (ja) * 2017-07-31 2019-02-07 株式会社Ｆｕｊｉ 介助システム
JP7263237B2 (ja) 2017-07-31 2023-04-24 株式会社Fuji 介助システム
KR20200043478A (ko) 2017-12-06 2020-04-27 가부시키가이샤 후지 시중 장치
KR102359173B1 (ko) 2017-12-06 2022-02-08 가부시키가이샤 후지 시중 장치
WO2019111514A1 (ja) 2017-12-06 2019-06-13 株式会社Ｆｕｊｉ 介助装置
WO2019111356A1 (ja) 2017-12-06 2019-06-13 株式会社Ｆｕｊｉ 介助装置
KR20200043477A (ko) 2017-12-06 2020-04-27 가부시키가이샤 후지 시중 장치
KR102359172B1 (ko) 2017-12-06 2022-02-08 가부시키가이샤 후지 시중 장치
CN109481194A (zh) * 2018-12-20 2019-03-19 辽宁福之卉科技发展有限公司 一种全向智能移位机
CN109512612A (zh) * 2019-01-07 2019-03-26 中国科学院沈阳自动化研究所 一种适用于狭窄空间的伤员抢运机器人腰部起重关节
CN109512612B (zh) * 2019-01-07 2023-10-27 中国科学院沈阳自动化研究所 一种适用于狭窄空间的伤员抢运机器人腰部起重关节
US20220175598A1 (en) * 2019-03-05 2022-06-09 Fuji Corporation Assistance information management system
KR20210041083A (ko) * 2019-04-11 2021-04-14 가부시키가이샤 후지 시중 장치
KR102520828B1 (ko) 2019-04-11 2023-04-11 가부시키가이샤 후지 시중 장치
CN110522574A (zh) * 2019-09-05 2019-12-03 张铸 智能辅助站立装置及控制方法
CN110522574B (zh) * 2019-09-05 2024-05-31 张铸 智能辅助站立装置及控制方法
CN115462980A (zh) * 2022-09-26 2022-12-13 和也健康科技有限公司 一种辅助站立康养机器人

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AU2015411108B2 (en) 2019-11-21
JP6737796B2 (ja) 2020-08-12
EP3360524B1 (de) 2023-03-22
AU2015411108A1 (en) 2018-04-12
EP3360524A1 (de) 2018-08-15
EP3360524A4 (de) 2018-10-24
JPWO2017060964A1 (ja) 2018-07-26
SG11201802315SA (en) 2018-04-27

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