WO2017094128A1 - Dispositif de soins - Google Patents

Dispositif de soins Download PDF

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Publication number
WO2017094128A1
WO2017094128A1 PCT/JP2015/083821 JP2015083821W WO2017094128A1 WO 2017094128 A1 WO2017094128 A1 WO 2017094128A1 JP 2015083821 W JP2015083821 W JP 2015083821W WO 2017094128 A1 WO2017094128 A1 WO 2017094128A1
Authority
WO
WIPO (PCT)
Prior art keywords
load
standing
seating
assisted
person
Prior art date
Application number
PCT/JP2015/083821
Other languages
English (en)
Japanese (ja)
Inventor
剛裕 野口
丈二 五十棲
伸幸 中根
聡志 清水
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/JP2015/083821 priority Critical patent/WO2017094128A1/fr
Priority to AU2015416473A priority patent/AU2015416473B2/en
Priority to JP2017553543A priority patent/JP6637994B2/ja
Priority to EP15909758.3A priority patent/EP3384889B1/fr
Priority to SG11201803863PA priority patent/SG11201803863PA/en
Priority to JP2017544380A priority patent/JP6745810B2/ja
Priority to AU2016336279A priority patent/AU2016336279B2/en
Priority to DK16853292.7T priority patent/DK3360525T3/da
Priority to EP16853292.7A priority patent/EP3360525B1/fr
Priority to SG11201802366QA priority patent/SG11201802366QA/en
Priority to PCT/JP2016/064651 priority patent/WO2017061136A1/fr
Priority to AU2016336284A priority patent/AU2016336284B2/en
Priority to SG11201802365WA priority patent/SG11201802365WA/en
Priority to EP16853306.5A priority patent/EP3360526B1/fr
Priority to PCT/JP2016/069400 priority patent/WO2017061151A1/fr
Priority to JP2017544389A priority patent/JP7007912B2/ja
Publication of WO2017094128A1 publication Critical patent/WO2017094128A1/fr
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
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1096—Knee, upper or lower leg
    • 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
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
    • 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
    • A61G7/1063—Safety means
    • A61G7/1065—Safety means with electronic monitoring
    • 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
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1086—Upper body
    • 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
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1092—Rests specially adapted for the arms
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/32—General characteristics of devices characterised by sensor means for force
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A61G2203/726—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention for automatic deactivation, e.g. deactivation of actuators or motors

Definitions

  • the present invention relates to an assistance device that assists the person being assisted in standing or sitting.
  • the assistance device includes a holding unit that can move while holding the upper body of the person being assisted, a load detection device that is provided in the holding unit and detects a load received by the person being assisted by the holding unit, and an operation of the holding unit.
  • a device including a control unit for controlling has been proposed (see, for example, Patent Document 1).
  • this assistance device when the person being assisted stands up, the position of the center of gravity is derived based on the detection result of the load detection device. Then, by controlling the moving speed and inclination of the holding unit so that the position of the center of gravity falls within a predetermined range, the person being assisted can be erected without causing the person being assisted to feel uncomfortable.
  • the present invention adopts the following means in order to solve the above-described problems.
  • the assistance device of the present invention comprises: An assistance device for assisting a person being assisted in standing or sitting, The base, A support device that is movably provided on the base and supports the person being assisted; A moving device that performs a standing operation or a sitting operation by moving the support device with respect to a base; A first load detection device that is provided in the support device and detects a load that the support device receives from a person being assisted; A control device for controlling the moving device, The control device stops the standing operation or the seating operation during operation based on the load value detected by the first load detection device.
  • This assistance device assists the standing or sitting of the person being assisted by moving the support device that supports the person being assisted. Then, the assistance device detects the load received by the support device from the person being assisted by the first load detection device, and stops the standing operation or the seating operation during the operation based on the detected load value. For this reason, the assistance device can stop the standing operation or the seating operation during the operation based on the state of the load that the support device receives from the person being assisted.
  • the control device determines that the load balance in the front-rear direction of the load received by the support device from the person being assisted is biased based on the load value detected by the first load detection device. In some cases, the standing operation or the seating operation during operation may be stopped. In this assistance device, when the load balance in the front-rear direction of the load received from the person being assisted by the support device is biased, the standing operation or the seating operation during the operation can be stopped, and the practicality is improved.
  • the control device determines that the load balance in the left-right direction of the load received by the support device from the person being assisted is biased based on at least the load value detected by the first load detection device. When it does, you may make it stop the said standing operation or said seating operation in operation.
  • the load balance in the left-right direction of the load received from the person being assisted by the support device is biased, the standing operation or the seating operation during the operation can be stopped, and the practicality is improved.
  • the first load detection device can measure load values at a plurality of locations of the support device, and the control device can detect a difference value between the load values at the plurality of locations exceeding a predetermined value. In such a case, it may be determined that the load balance is uneven.
  • the assistance device further includes an input device that receives a standing motion instruction or a seating motion command from an operator, and the control device is based on a load value detected by the first load detection device.
  • the standing motion or the seating motion may be stopped even if the standing motion command or the seating motion command is input to the input device. .
  • control device may resume the standing motion or the seating motion based on the load value detected by the first load detection device when the standing motion or the seating motion of the moving device is stopped.
  • the standing motion or the sitting motion may be resumed on condition that the standing motion command or the sitting motion command from the operator is input to the input device.
  • control device when the standing motion instruction or the seating motion command to the input device is continuously input before the standing motion or the seating motion is stopped, the standing motion command or the seating operation.
  • the operation instruction may be ignored.
  • the base includes a footrest on which the foot of the person being assisted is placed, the footrest is provided with a second load detection device, and the control device includes: Based on the load values detected by the first load detection device and the second load detection device, the standing operation or the seating operation during operation may be stopped.
  • the assistance device 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 device 1 according to the present embodiment is directed to, for example, a person who is difficult to stand by himself, and assists in attaching and detaching the bottoms (clothes to be worn on the lower body) of the person being assisted, and excretion assistance for the person being assisted by M. It is used effectively.
  • the standing posture in the present embodiment means a state where at least the butt of the person being assisted is separated from the seat surface 3 such as a chair. It means that the lower half of the person being assisted M is standing to such an extent that the person can be performed.
  • the left-right direction, the front-rear direction, and the up-down direction are as shown in FIG.
  • the assistance device 1 includes a base 10, a wheel 20, an elevating unit 30, an arm 40, a support device 50, a grip 55, a crus pad 70, a control device 80, and an input device 90 ( FIG. 5).
  • the base 10 includes a frame 11, a support 12, a footrest 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 apparatus 1 has the one support
  • the footrest 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 footrest 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 support column 12 and driven by an elevating drive motor 35 (FIG. 4).
  • the elevating body 31 is surrounded by the fixed cover 14.
  • the assistance apparatus 1 since it has one support
  • 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 arm 40 is provided so as to be able to swing with the base end side as the center axis of the swing axis 32a of the swing support part 32 of the lift part 30.
  • the arm 40 is driven to swing by an arm drive motor 41 (FIG. 4).
  • 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. Between the two positions (shown in FIG. 3).
  • the arm 40 turns forward from the state extending backward, and when the assisting device 1 performs the seating assist, the arm 40 extends backward. Turn back.
  • the support device 50 is provided at the tip of the arm 40 and supports the upper half of the person being assisted.
  • the support device 50 is moved up and down and rocked with respect to the base 10 by a moving device 57 including the lifting unit 30, the lifting drive motor 35, the arm 40, and the arm drive motor 41.
  • the support device 50 includes a body receiving portion 51 that contacts the body of the person being assisted M, a side receiving portion 52 that holds both sides of the person being assisted M, a base plate 53, and a load detection device 60. Is provided.
  • the body receiving part 51 and the side receiving part 52 are fixed to the base plate 53, and the base plate 53 is fixed to the arm 40.
  • the support device 50 may include only one of the trunk receiving part 51 and the side receiving part 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.
  • the grip 55 is formed in a U shape, and both ends of the U shape of the grip 55 are fixed to the lower surface of the body receiving portion 51.
  • the central portion of the grip 55 is positioned in front of the body receiving portion 51 and is gripped by the person being assisted M supported by the support device 50.
  • the load detection device 60 is provided between the base plate 53 and the body receiving portion 51. As shown in FIG. 4, the load detection device 60 includes four load sensors, that is, a front load sensor 60a, a rear load sensor 60b, a right load sensor 60c, and a left load sensor 60d in the present embodiment.
  • the front load sensor 60a is disposed at a position approximately in the center in the front-rear direction and in the center in the left-right direction of the base plate 53.
  • the rear load sensor 60b is disposed at the rear portion of the base plate 53 and at the center in the left-right direction.
  • the right load sensor 60c is disposed at the rear portion and the right end position of the base plate 53.
  • the left load sensor 60d is disposed at the rear and left end position of the base plate 53.
  • the load detection device 60 detects the load that the support device 50 receives from the person being assisted M by the four load sensors 60a, 60b, 60c, and 60d.
  • 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 input device 90 is an input means for inputting a standing motion instruction or a seating motion instruction from the attendant M who is an operator or a caregiver. As shown in FIG. 5, the input device 90 includes a standing button 91 for instructing a standing operation and a seating button 92 for instructing a sitting operation. Furthermore, the input device 90 includes a display unit 93 that displays various types of information. The input device 90 of the present embodiment continues to output a standing motion instruction to the control device 80 while the standing button 91 is pressed by the operator, and controls while the seating button 92 is pressed by the operator. Continue to output the seating operation instruction to the device 80.
  • 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 load detection device 60, the lift drive motor 35, the arm drive motor 41, and the input device 90 are connected to the control device 80.
  • the control device 80 stores in advance a standing assistance program for performing standing assistance operations.
  • the control device 80 executes the stand-up assist program, and controls the operation of the moving device 57, that is, the vertical movement of the elevating unit 30 and the swing of the arm 40.
  • the control device 80 stores a seating assistance program for performing a seating assistance operation in advance.
  • the control device 80 executes the seating assistance program, and controls the operation of the moving device 57, that is, the vertical movement of the elevating unit 30 and the swing of the arm 40. Further, the control device 80 corrects the standing assistance program and the sitting assistance program according to the standing start height and the standing completion height.
  • the control device 80 acquires a load value from the load detection device 60 (step S110). The control device 80 determines whether or not to start the standing motion based on the acquired load value.
  • step S120 the control device 80 detects the load that the support device 50 receives from the person being assisted M in the front-rear direction based on the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b. It is determined whether there is a bias in the load balance. In the present embodiment, the control device 80 calculates a difference value between the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b, and when this difference value is larger than a predetermined threshold value. Judge that there is a bias in the load balance in the front-rear direction. In the present embodiment, the same threshold value is used even if the weight of the person being assisted M is different.
  • step S130 the control device 80 determines the right and left of the load that the support device 50 receives from the person being assisted M based on the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d. It is determined whether or not there is a bias in the load balance in the direction.
  • the control device 80 calculates a difference value between the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d. If this difference value is larger than a predetermined threshold value, the control device 80 is biased toward the load balance in the left-right direction. Judge that there is. Note that the threshold value at this time may be the same as or different from the threshold value for determining the balance in the front-rear direction.
  • the control device 80 displays a message to that effect on the display unit 93 and ends the process (step S140).
  • the control device 80 controls the moving device 57 to start the standing operation (step S150).
  • the control device 80 confirms whether or not the standing button 91 is input (step S160). If there is no input of the standing button 91 in step S160, the operator has instructed to stop the standing operation, so the control device 80 stops the movement of the support device 50 (step S170). On the other hand, when the input of the standing button 91 is confirmed in step S160, the load value is acquired from the load detection device 60 (step S180). The controller 80 determines whether or not to stop the standing motion based on the acquired load value.
  • step S190 the control device 80 detects the load that the support device 50 receives from the person being assisted M in the front-rear direction based on the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b. It is determined whether there is a bias in the load balance. In the present embodiment, the control device 80 calculates a difference value between the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b, and when this difference value is larger than a predetermined threshold value. Judge that there is a bias in the load balance in the front-rear direction.
  • step S200 the control device 80 is biased toward the load balance in the left-right direction of the load that the support device 50 receives from the person being assisted M based on the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d. Determine whether there is.
  • the control device 80 calculates a difference value between the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d, and if this difference value is greater than a predetermined threshold value, Judge that there is a bias in the load balance in the direction.
  • step S190 or step S200 If it is determined in step S190 or step S200 that there is a bias in the load balance in the front-rear direction or the left-right direction, the controller 80 instructs the stand-up operation instruction even if the stand-up operation instruction is input by the input of the stand-up button 91. Is disregarded and the standing operation during operation is stopped, and since the load balance is biased, a message indicating that the operation has been stopped is displayed on the display unit 93, and the process is terminated (step S210).
  • step S190 or step S200 determines the current position of the support device 50 as the encoder position information of the arm drive motor 41 and the lift drive motor 35. Is calculated from the encoder position information (step S220).
  • step S230 the control device 80 determines whether or not the calculated current position has reached the completion position of the standing up motion. If the current position has not reached the completion position of the standing-up operation, the control device 80 continues the standing-up operation, and repeats the processing after step S160 until the current position reaches the completion position of the standing-up operation.
  • step S230 if the current position has reached the completion position of the standing up motion, control device 80 stops the standing up motion and ends the standing up motion (step S170).
  • the assistance device 1 is provided on the base 10, the support device 50 is movably provided on the base 10, and moves the support device 50 relative to the base 10. Accordingly, the moving device 57 that performs the standing operation or the seating operation, the load detecting device 60 that is provided in the support device 50 and detects the load received by the support device 50 from the person being assisted M, and the control device 80 that controls the moving device 57. And comprising. Then, the control device 80 stops the standing operation or the seating operation during the operation based on the load value detected by the load detection device 60. For this reason, the assistance device 1 can stop the standing operation or the seating operation during the operation based on the state of the load that the support device 50 receives from the person being assisted M.
  • the load that the support device 50 receives from the person being assisted M varies depending on the state of the person being assisted. Therefore, for example, when the supported state of the person being assisted M is not appropriate, the standing operation or the seating operation of the support device 50 can be stopped. Then, if the caregiver M is used with a relatively low level of care, the caregiver M himself / herself should improve the supported state by using the body so that the standing motion or sitting motion is not interrupted. So you can expect a rehabilitation effect. Further, if a caregiver M having a relatively high degree of care is used, it can be understood that the supported state of the caregiver M is not appropriate by stopping the standing motion or the seating motion. The caregiver can correct the supported state of the person being assisted M and resume the standing operation or the seating operation in a state where the supported state is appropriate.
  • control device 80 is biased toward the load balance in the front-rear direction of the load that the support device 50 receives from the person being assisted M based on the load values detected by the front load sensor 60a and the rear load sensor 60b of the load detection device 60. When it is determined that there is, the standing motion or seating motion during operation is stopped. Similarly, the control device 80 is biased toward the left-right load balance of the load that the support device 50 receives from the person being assisted M based on the load values detected by the right load sensor 60c and the left load sensor 60d of the load detection device 60. When it is determined that there is, the standing motion or seating motion during operation is stopped.
  • the assisting device 1 can stop the standing operation or the seating operation during the operation when the load balance in the front-rear direction or the left-right direction of the load received by the support device 50 from the person being assisted is generated, The practicality of the assistance device 1 is improved.
  • the load detection device 60 can measure the load values at a plurality of locations of the support device 50 by the load sensors 60a, 60b, 60c, 60d. Then, the control device 80 determines whether the difference value between the front load value detected by the front load sensor 60a and the rear load value detected by the rear load sensor 60b exceeds a predetermined threshold, or the right load sensor 60c. When the difference value between the right load value detected by the left load value and the left load value detected by the left load sensor 60d exceeds a predetermined value, it is determined that the load balance is biased. Thus, by determining the load balance based on the difference value of the load value, whether the load balance is good or not can be determined without resetting the threshold even if the weight of the person being assisted M changes.
  • the assistance device 1 includes an input device 90 that receives a standing motion instruction or a seating motion command from an operator.
  • the control device 80 determines that the standing operation or seating operation during the operation should be stopped based on the load value detected by the load detection device 60, the control device 80 inputs the standing operation command or the seating operation command to the input device 90. Even if it is done, the standing motion or seating motion is stopped. Thereby, even if the operator continues to issue the standing motion instruction or the seating motion instruction, the standing motion or the sitting motion during the operation is stopped when the load balance is biased, so that the practicality of the assistance device 1 is improved. .
  • the control device 80 ends the process when the standing motion of the moving device 57 is stopped in step S210, but when the controlling device 80 stops the standing motion or the sitting motion of the moving device 57,
  • the standing motion command or the seating motion command from the operator is input to the input device 90.
  • the stand-up operation or the seating operation may be resumed on the condition. Then, even if the standing operation or the seating operation is stopped once, the standing operation or the seating operation is resumed if the load balance is eliminated. Therefore, since the person being assisted tries to improve the supported state using the body, a rehabilitation effect can be expected.
  • the control device 80 causes the standing motion instruction or the seating motion command to be input. May be ignored. In this way, it is possible to further prevent an operation unintended by the operator from being performed.
  • the load detection device (first load detection device) 60 is provided only on the support device 50, but the load stand (second load detection device) is also provided on the footrest 13. May be.
  • the control device 80 may stop the standing operation or the seating operation during operation based on the load values detected by the first load detection device and the second load detection device.
  • the assistance device 1 stops the standing operation or the seating operation during the operation based on the state of the load that the support device 50 receives from the person being assisted M and the state of the load that the footrest 13 receives from the person assisted M. be able to.
  • the threshold for determining whether or not there is a bias in the load balance in steps S120, S130, S190, and S200 is constant regardless of the weight of the person being assisted.
  • the threshold value can be changed according to the load value detected by the second load detection device.
  • the load detection device 60 is composed of a plurality of load sensors, but may be composed of a single load sensor.
  • the control apparatus 80 determined the imbalance of the load balance by the difference value of two load sensors, you may calculate a difference value from the load value of three or more load sensors. Or you may make it determine by the load value of one load sensor. For example, only the rear load sensor 60b is provided, and when the load value of the rear load sensor 60b exceeds a predetermined threshold, it is determined that the load balance is biased and the standing operation or the seating operation is stopped. Also good. Further, the standing operation or the seating operation may be stopped based on the load value at a specific location of the support device 50 without considering the load balance. Further, although the load detection device 60 is provided between the base plate 53 and the body receiving portion 51, it may be provided in the side receiving portion 52.
  • the moving device 57 is configured by a combination of the lifting operation and the swinging operation.
  • the moving device 57 may be configured only by the lifting operation or may be configured only by the swinging operation.
  • it may be configured by a combination of a lifting operation and a front-rear operation, or may be another type.
  • the drive device which comprises the moving apparatus 57 may be one, and may be comprised by two or more drive shafts.
  • the support device 50 supports the trunk and side portions of the person being assisted M, but the support device 50 may support other parts of the person being assisted.
  • the support device 50 may support at least part of the body of the person being assisted M, and preferably supports at least part of the upper body of the person being assisted.
  • the assistance device 1 of the above-described embodiment stands only the lower body of the person being assisted M when the standing motion is completed, the assisting device 1 stands the lower body and upper body of the assisted person M when the standing motion is completed. May be.
  • the present invention has been described as the assistance device 1.
  • a control method of the assistance device 1 may be used.

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  • 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)
  • Chair Legs, Seat Parts, And Backrests (AREA)

Abstract

Ce dispositif de soins (1) comprend : une base (10); un dispositif de support (50) destiné à soutenir une personne recevant des soins M, le dispositif de support étant monté de manière amovible sur la base; un dispositif de déplacement (57) qui déplace le support (50) par rapport à la base (10) pour effectuer une action debout et une action assise; un dispositif de détection de charge (60) qui est monté sur le dispositif de support (50) et détecte une charge appliquée au dispositif de support (50) par la personne recevant des soins M; et un dispositif de commande (80) pour commander le dispositif de déplacement (57. Le dispositif de commande (80) interrompt l'action debout ou l'action assise exécutée sur la base de la charge détectée par le dispositif de détection de charge.
PCT/JP2015/083821 2015-10-06 2015-12-01 Dispositif de soins WO2017094128A1 (fr)

Priority Applications (17)

Application Number Priority Date Filing Date Title
PCT/JP2015/083821 WO2017094128A1 (fr) 2015-12-01 2015-12-01 Dispositif de soins
AU2015416473A AU2015416473B2 (en) 2015-12-01 2015-12-01 Care device
JP2017553543A JP6637994B2 (ja) 2015-12-01 2015-12-01 介助装置
EP15909758.3A EP3384889B1 (fr) 2015-12-01 2015-12-01 Dispositif de soins
SG11201803863PA SG11201803863PA (en) 2015-12-01 2015-12-01 Care device
DK16853292.7T DK3360525T3 (da) 2015-10-06 2016-05-17 Assistanceindretning
AU2016336279A AU2016336279B2 (en) 2015-10-06 2016-05-17 Assistance device
JP2017544380A JP6745810B2 (ja) 2015-10-06 2016-05-17 介助装置
EP16853292.7A EP3360525B1 (fr) 2015-10-06 2016-05-17 Dispositif d'assistance
SG11201802366QA SG11201802366QA (en) 2015-10-06 2016-05-17 Assisting apparatus
PCT/JP2016/064651 WO2017061136A1 (fr) 2015-10-06 2016-05-17 Dispositif d'assistance
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 (fr) 2015-10-06 2016-06-30 Dispositif d'assistance
PCT/JP2016/069400 WO2017061151A1 (fr) 2015-10-06 2016-06-30 Dispositif d'assistance
JP2017544389A JP7007912B2 (ja) 2015-10-06 2016-06-30 介助装置
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/JP2015/083821 WO2017094128A1 (fr) 2015-12-01 2015-12-01 Dispositif de soins

Publications (1)

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WO2017094128A1 true WO2017094128A1 (fr) 2017-06-08

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PCT/JP2015/083821 WO2017094128A1 (fr) 2015-10-06 2015-12-01 Dispositif de soins

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EP (1) EP3384889B1 (fr)
JP (1) JP6637994B2 (fr)
AU (1) AU2015416473B2 (fr)
SG (1) SG11201803863PA (fr)
WO (1) WO2017094128A1 (fr)

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CN115397380A (zh) * 2020-04-28 2022-11-25 株式会社富士 辅助装置

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JP5773696B2 (ja) * 2011-03-25 2015-09-02 富士機械製造株式会社 立ち上がり動作アシストロボット
JP5601364B2 (ja) * 2012-11-29 2014-10-08 トヨタ自動車株式会社 移乗支援装置及び移乗支援装置の制御方法
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JP2013078601A (ja) * 2012-12-07 2013-05-02 Fuji Mach Mfg Co Ltd 動作支援装置
WO2015145756A1 (fr) 2014-03-28 2015-10-01 富士機械製造株式会社 Robot d'assistance et dispositif de transport d'objet

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JP2019180677A (ja) * 2018-04-06 2019-10-24 株式会社Ｆｕｊｉ 介助装置
JP7108448B2 (ja) 2018-04-06 2022-07-28 株式会社Fuji 介助装置
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Also Published As

Publication number Publication date
JPWO2017094128A1 (ja) 2018-09-20
EP3384889A1 (fr) 2018-10-10
EP3384889A4 (fr) 2019-06-26
JP6637994B2 (ja) 2020-01-29
AU2015416473B2 (en) 2019-05-16
EP3384889B1 (fr) 2020-08-05
AU2015416473A1 (en) 2018-06-07
SG11201803863PA (en) 2018-06-28

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