WO2017141336A1 - Robot d'assistance - Google Patents

Robot d'assistance Download PDF

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Publication number
WO2017141336A1
WO2017141336A1 PCT/JP2016/054343 JP2016054343W WO2017141336A1 WO 2017141336 A1 WO2017141336 A1 WO 2017141336A1 JP 2016054343 W JP2016054343 W JP 2016054343W WO 2017141336 A1 WO2017141336 A1 WO 2017141336A1
Authority
WO
WIPO (PCT)
Prior art keywords
holding member
trajectory
standing
locus
seating
Prior art date
Application number
PCT/JP2016/054343
Other languages
English (en)
Japanese (ja)
Inventor
丈弘 平岡
伸幸 中根
英明 野村
一成 大野
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 AU2016393481A priority Critical patent/AU2016393481B2/en
Priority to EP16890479.5A priority patent/EP3417842B1/fr
Priority to PCT/JP2016/054343 priority patent/WO2017141336A1/fr
Priority to SG11201806237XA priority patent/SG11201806237XA/en
Priority to JP2017567847A priority patent/JP6586474B2/ja
Priority to AU2016336279A priority patent/AU2016336279B2/en
Priority to JP2017544380A priority patent/JP6745810B2/ja
Priority to PCT/JP2016/064651 priority patent/WO2017061136A1/fr
Priority to EP16853292.7A priority patent/EP3360525B1/fr
Priority to DK16853292.7T priority patent/DK3360525T3/da
Priority to SG11201802366QA priority patent/SG11201802366QA/en
Priority to SG11201802365WA priority patent/SG11201802365WA/en
Priority to JP2017544389A priority patent/JP7007912B2/ja
Priority to EP16853306.5A priority patent/EP3360526B1/fr
Priority to AU2016336284A priority patent/AU2016336284B2/en
Priority to PCT/JP2016/069400 priority patent/WO2017061151A1/fr
Publication of WO2017141336A1 publication Critical patent/WO2017141336A1/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
    • 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
    • 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

Definitions

  • the present invention relates to an assistance robot.
  • Patent Document 1 discloses an assistance robot that appropriately moves a holding member that holds a person being assisted to assist the person being assisted in standing and sitting. In such an assistance robot, it is desirable to appropriately control the position of the holding member so as not to give a sense of discomfort to the person being assisted.
  • the assistance robot of Patent Literature 1 includes different movement trajectories corresponding to the standing motion and the sitting motion, respectively. As a result, when the standing motion or the seating motion is input as the requested motion, the assistance robot controls the position of the holding member based on the movement trajectory corresponding to the requested motion.
  • the assistance robot moves the holding member along an appropriate movement locus according to the use state.
  • the present invention has been made in view of such circumstances, and provides an assistance robot that can support a standing person's standing operation and sitting operation by moving a holding member along a movement locus according to a use state.
  • the purpose is to do.
  • the assistance robot controls a base, a holding member that holds the upper body of the person being assisted, a driving device that moves the holding member in the vertical direction and the front-back direction of the base, and the operation of the driving device. And a control device.
  • the control device stores a standing locus that is a movement locus of the holding member corresponding to the standing motion of the person being assisted and a seating locus that is a movement locus of the holding member corresponding to the seating motion of the person being assisted
  • a standing motion or a seating motion is input as a requested motion
  • a movement trajectory corresponding to the requested motion from the standing trajectory and the seating trajectory based on the current state including the current position of the holding member, or a movement not corresponding to the requested motion
  • a trajectory setting unit that selects any one of the trajectories and sets the movement trajectory as a reference trajectory, and a drive control unit that moves the holding member based on the set reference trajectory.
  • the reference locus is switched based on the current state of the holding member.
  • a movement trajectory that does not correspond to the requested action may be set in addition to the movement locus that corresponds to the requested action.
  • the holding member that is moved based on the reference trajectory is moved based on the seating trajectory instead of the standing trajectory although the standing motion is requested, or the seating motion is requested. Nevertheless, there are cases where the movement is based on the standing locus, not the sitting locus.
  • the assistance robot 1 supports a person M (shown in FIGS. 2 and 3) to support a standing operation from a sitting posture to a standing posture and to support a sitting operation from a standing posture to a sitting posture. Since the assistance robot 1 supports the upper body of the person M who is in the standing posture, one assistance person can pull the assistance robot 1 and move it to a moving target in an assistance facility, for example.
  • the “standing posture” means a state where at least the lower body of the person M is standing, and does not mean a state where the upper body is standing.
  • the assistance robot 1 includes a base 10, a support device 20, a controller 50, and a control device 60.
  • 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 is configured such that the person being assisted M can board the vehicle, and is configured to be movable in the front-rear direction and the left-right direction while the person assisted by the person M is riding.
  • the base 10 includes a frame 11, a support 12, a footrest 13, a fixed cover 14, and a plurality of wheels 15.
  • the frame 11 of the base 10 is provided at a position slightly separated from the floor surface 2 (grounding surface, ground) and substantially horizontally with respect to the floor surface 2.
  • the support column 12 is fixed to the frame 11 and is provided in a state of standing 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 placement table 13 is fixed to the rear of the upper surface of the frame 11 and places the foot of the person being assisted on board. On the upper surface of the foot placing table 13, a grounding mark 13 a for the foot of the person being assisted M is written. 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 column 12. The fixed cover 14 covers the periphery of the lower portion of the elevating body 31 of the elevating unit 30 in the driving device 23 described later, and protects the inside of the driving device 23.
  • the plurality of wheels 15 are provided on the base 10 and support the base 10 so as to be movable with respect to the floor surface 2.
  • the support device 20 is provided on the base 10 and configured to be able to support the person being assisted in a standing posture (see FIG. 3).
  • the support device 20 includes a holding member 21, a crus contact portion 22, and a drive device 23.
  • the holding member 21 holds the upper body of the person being assisted.
  • the holding member 21 includes a trunk receiving portion 21 a that contacts the trunk of the person being assisted M, and a side receiving portion 21 b that holds both sides of the person being assisted M. Note that the holding member 21 may include only one of the body receiving portion 21a and the side receiving portion 21b.
  • the trunk receiving portion 21a supports the trunk of the person being assisted M from below.
  • drum receiving part 21a is formed in planar shape, and is formed with a cushioning material.
  • the torso receiving portion 21a is formed in an initial shape corresponding to the body of the standard person being assisted M, and is flexibly deformed according to the body of each person being assisted.
  • drum receiving part 21a contacts ranging from the chest of the care recipient M to the abdomen.
  • the side receiving portions 21b are formed in an arc shape and are arranged on the left and right sides of the body receiving portion 21a so that the arc opening faces upward.
  • the side support part 21b supports the upper body of the person being assisted M by supporting the side of the person being assisted from below. Further, the armpit receiving portion 21b regulates the back-and-forth movement of the person being assisted by sandwiching both sides of the person being assisted from the front-rear direction. Accordingly, the body receiving portion 21 a and the side receiving portion 21 b can regulate the position of the shoulder of the person being assisted M held by the holding member 21.
  • the lower leg support 22 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 22 is fixed to the column 12 of the base 10.
  • the crus pad part 22 includes two support members 22a and a crus pad body 22b.
  • the support member 22a is formed in an L shape. One end of the L-shaped support member 22 a is fixed to the support column 12, and the other L-shaped end of the support member 22 a is positioned behind the support column 12.
  • the crus pad main body 22b is fixed to the other end side of the support member 22a, and is located behind the lifting cover 33 and below the swinging support portion 32.
  • the lower thigh pad main body 22b is a part that contacts the front part of the lower leg of the person being assisted M, is formed in a planar shape, and is formed of a cushion material.
  • the driving device 23 is a device that supports the holding member 21 so as to be movable in the vertical direction and the front-rear direction of the base 10 and moves the holding member 21 along a plurality of different movement trajectories.
  • the drive device 23 includes an elevating unit 30 and a swinging unit 40.
  • the elevating unit 30 moves in the vertical direction with respect to the base 10.
  • the elevating unit 30 includes an elevating body 31, a swing support unit 32, and an elevating cover 33.
  • the elevating body 31 is formed in an elongated shape in the up-down direction.
  • the elevating body 31 is provided on the rear 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 rear 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 part 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.
  • the elevating cover 33 is fixed to the elevating part 30 and surrounds the elevating body 31 and the swing support part 32. Further, the elevating cover 33 surrounds the support column 12 and the fixed cover 14.
  • the assisting robot 1 has one lifting unit 30 corresponding to one support column 12.
  • the assistance robot 1 may have a configuration having the number of lifting units 30 corresponding to the number of columns 12.
  • the swinging unit 40 moves the holding member 21 in the front-rear direction of the base 10 with respect to the lifting unit 30 and rotates the holding member 21 around an axis parallel to the left-right direction of the base 10.
  • the swing unit 40 includes a swing main body 41, an arm 42, and a grip 43.
  • the swing body 41 is detachably attached to the body receiving portion 21a of the holding member 21.
  • the arm 42 is rotatably provided with the swing axis 32a of the swing support part 32 of the elevating part 30 as a central axis.
  • the arm 42 is rotated by an arm driving device (not shown).
  • the assistance robot 1 assists in standing up, the arm 42 turns to the front side from the state extending backward.
  • the assistance robot 1 assists in seating, the arm 42 turns to the rear side so as to extend rearward.
  • the grip 43 is formed in a U shape when viewed in the front-rear direction, and both U-shaped ends of the grip 43 are fixed to the swinging body 41.
  • the central portion of the grip 43 is positioned in front of the body receiving portion 21 a and the swinging main body 41 and is gripped by the person being assisted M held by the holding member 21.
  • the grip 43 is also used when an assistant pulls the assistant robot 1.
  • the swinging unit 40 moves the holding member 21 attached to the swinging body 41 on the distal end side of the arm 42 around an axis (swinging shaft center 32 a) parallel to the left-right direction of the base 10. Rotate.
  • the oscillating portion 40 oscillates the holding member 21 so that the holding member 21 has an angle defined with respect to the position in the front-rear direction of the holding member 21 by rotating the holding member 21.
  • the controller 50 is an input device that receives an operation by an operator (an assistant or an attendant M).
  • the controller 50 includes an upright switch 51, a seating switch 52, an up switch 53, and a down switch 54, as shown in FIG.
  • the standing switch 51 accepts an operation for requesting execution of a standing motion in which the person being assisted M is in a standing posture from the current state including the current position and the current angle of the holding member 21.
  • the seating switch 52 accepts an operation for requesting execution of a seating operation in which the person being assisted M is in a sitting posture from the current state of the holding member 21.
  • the ascending switch 53 accepts an operation for requesting the ascending operation to raise the holding member 21 from the current state.
  • the lowering switch 54 receives an operation for requesting execution of a lowering operation for lowering the holding member 21 from the current state.
  • the controller 50 is communicably connected to the control device 60, and when only one of the switches is pressed, an operation corresponding to the pressed switch is transmitted to the control device 60 as an input requested operation. Send.
  • the control device 60 controls the operation of the driving device 23 so as to move the holding member 21 up and down in accordance with the requested operation transmitted from the controller 50.
  • the control device 60 is fixed to the frame 11 of the base 10 on the side of the column 12.
  • the control device 60 includes a storage unit 61, a trajectory setting unit 62, and a drive control unit 63.
  • the storage unit 61 stores standing motion data 71 and sitting motion data 72.
  • the standing motion data 71 is two-dimensional coordinate data indicating a standing trajectory 81 (see FIG. 5) that is a moving trajectory of the holding member 21 corresponding to the standing motion of the person being assisted.
  • the seating motion data 72 is two-dimensional coordinate data indicating a seating locus 82 (see FIG. 5) that is a movement locus of the holding member 21 corresponding to the sitting motion of the person being assisted M.
  • the origin of the two-dimensional coordinate data may be an arbitrary reference point in the movable range of the holding member 21 or the center of gravity of the assisting robot 1.
  • the standing trajectory 81 and the seating trajectory 82 of the holding member 21 are trajectories in which the reference point on the holding member 21 is moved by the operation of the driving device 23, for example.
  • the standing locus 81 is a curved locus from the first position P1 to the second position P2, as shown in the upper part of FIG.
  • the seating locus 82 is a locus composed of a curved locus from the second position P2 to the third position P3 and a linear locus from the third position P3 to the first position P1.
  • the trajectory setting unit 62 uses either the standing trajectory 81 or the seating trajectory 82 as a reference trajectory based on the current state including the current position of the holding member 21 when the standing motion or the seating motion is input as the required motion.
  • the drive control unit 63 moves the holding member 21 based on the set reference trajectory. Specifically, the drive control unit 63 controls the operation of the drive device 23 so that the holding member 21 moves along the reference locus by synchronizing the operations of the elevating unit 30 and the swinging unit 40.
  • the control device 60 controls the movement of the holding member 21 along the seating locus 82 when the seating switch 52 of the controller 50 is pressed.
  • the movement of the member 21 may be controlled.
  • the operation process of the holding member 21 is executed based on the movement locus that does not correspond to the requested action so that the holding member 21 is moved along the movement locus according to the use state of the assistance robot 1.
  • the purpose is to optimize the reference trajectory.
  • the trajectory setting unit 62 receives at least the current position and the current angle of the holding member 21 included in the current state of the holding member 21 when the upright switch 51 or the seating switch 52 is pressed and a requested action is input. Based on one, a reference trajectory for the requested action is set. In the present embodiment, the trajectory setting unit 62 sets a reference trajectory for the requested action based on the area information 73 stored in the storage unit 61 and the current position of the holding member 21.
  • the area information 73 is information indicating a plurality of areas partitioned at at least one specified position in the vertical direction or the front-rear direction of the holding member 21 with respect to the base 10.
  • the specified position Pr is a position in the front-rear direction of the holding member 21 with respect to the base 10 and is set based on the angle of the holding member 21 as shown in FIG.
  • the drive device 23 in the present embodiment is configured such that the holding member 21 moves in the front-rear direction and rotates around the oscillation axis 32a as the arm 42 of the oscillation unit 40 rotates. That is, as shown in the lower part of FIG. 5, the swinging unit 40 swings the holding member 21 so as to have an angle ⁇ defined with respect to the position of the holding member 21 in the front-rear direction. As shown in FIGS. 2 and 3, the angle ⁇ of the holding member 21 is an angle formed with respect to the vertical axis, and monotonously increases as the holding member 21 moves forward.
  • the holding member 21 when the holding member 21 is rotated to some extent, the person being assisted M held by the holding member 21 lifts the buttocks Mb of the person being assisted from the seating surface of the chair 90 and deposits weight on the support device 20. It becomes.
  • the position in the front-rear direction of the holding member 21 corresponding to the predetermined angle ⁇ t of the holding member 21 that is in the above state is set as the specified position Pr.
  • the plurality of areas indicated by the area information 73 include a standing priority area Ar generated by dividing the movable range Rn in the front-rear direction of the holding member 21 by the specified position Pr, and a seating priority area As.
  • the standing priority area Ar is an area in which the trajectory setting unit 62 prioritizes the standing trajectory 81 and sets it as a reference trajectory when the holding member 21 is located in the area.
  • the seating priority area As is an area where the trajectory setting unit 62 prioritizes the seating trajectory 82 and sets it as a reference trajectory when the holding member 21 is located in the area.
  • the standing priority area Ar is located behind the seating priority area As.
  • the reference locus setting process by the locus setting unit 62 of the control device 60 will be described with reference to FIGS.
  • the reference locus setting process is executed when, for example, the standing switch 51 or the seating switch 52 of the controller 50 is pressed and a standing motion or a seating motion is input as a requested motion. Note that when the ascending switch 53 or the descending switch 54 of the controller 50 is pressed, the operation of the elevating unit 30 is controlled without being based on the reference locus, so the reference locus setting process is not executed.
  • the trajectory setting unit 62 of the control device 60 first determines whether or not the previous operation in which the holding member 21 has been moved to the current position is equal to the requested operation (Step 11 (hereinafter, “ Step ”is expressed as“ S ”)). For this reason, the trajectory setting unit 62 acquires information indicating the previous operation temporarily stored in the storage unit 61. This information includes a standing motion, a seating motion, an ascending motion, and a descending motion as previous motions. If no information indicating the previous operation is stored, the trajectory setting unit 62 recognizes that the previous operation was power-on, assuming that a power switch (not shown) was turned on immediately before.
  • the locus setting unit 62 sets the movement locus of the holding member 21 corresponding to the requested action as the reference locus regardless of the current state of the holding member 21. (S15). Thereafter, the same operation as the previous operation is resumed under the control of the drive control unit 63. As such an operation, for example, a case where the operator releases the erection switch 51 and presses the erection switch 51 again during the erection operation is assumed (patterns N11 and N12 in FIG. 7).
  • the trajectory setting unit 62 determines whether the previous operation is an ascending operation, a descending operation, or power-on based on information indicating the previous operation. It is determined whether or not there is (S12).
  • the trajectory setting unit 62 moves the trajectory of the holding member 21 corresponding to the requested operation regardless of the current state of the holding member 21. Is set as a reference trajectory (S15). Thereafter, the holding member 21 is moved from the current position and current angle along the movement locus corresponding to the requested operation under the control of the drive control unit 63 (patterns N15 and N16 in FIG. 7 and pattern N25 in FIG. 8). N26).
  • the trajectory setting unit 62 determines that when the previous operation is neither an ascending operation, a descending operation, or power-on (S12: No), that is, the requested operation is an upright operation and the previous operation is a seating operation or a requested operation. If it is a seating operation and the previous operation is a standing operation, the current state of the holding member 21 is acquired (S13). In the present embodiment, the trajectory setting unit 62 acquires the current position Pc of the holding member 21 as the current state.
  • the trajectory setting unit 62 selects either the standing trajectory 81 or the seating trajectory 82 based on the area information 73 and the current position of the holding member 21, and sets a reference trajectory for the requested action (S14). .
  • the standing locus 81 is set as the movement locus of the requested action.
  • the seating locus 82 is set as the movement locus of the requested action.
  • the standing locus 81 is set as the reference locus (pattern N13 in FIG. 7).
  • the reference trajectory for the requested motion is set to the movement trajectory (stand-up trajectory 81) corresponding to the requested motion, similar to S15.
  • the seating locus 82 is set as the reference locus (pattern N14 in FIG. 7).
  • the reference trajectory of the requested motion is set to a movement trajectory (sitting trajectory 82) that does not correspond to the requested motion (standing motion).
  • the requested operation is a seating operation and the previous operation is a standing operation
  • the seating locus 82 is set as the reference locus (pattern N22 in FIG. 8).
  • the reference trajectory of the requested action is set to the movement trajectory (sitting locus 82) corresponding to the requested action as in S15.
  • the standing locus 81 is set as the reference locus (pattern N21 in FIG. 8).
  • the reference trajectory of the requested motion is set to a movement trajectory (standing trajectory 81) that does not correspond to the requested motion (sitting motion).
  • the trajectory setting unit 62 selects a movement trajectory that does not correspond to the requested action depending on the current state of the holding member 21, and sets the movement trajectory as a reference trajectory (pattern N14 in FIG. 7, FIG. 8). Pattern N21).
  • the holding member 21 is moved so as to go back along a movement locus not corresponding to the requested operation (that is, a movement locus corresponding to the previous operation) instead of the movement locus corresponding to the requested operation.
  • Such control is to perform an operation expected by the operator while considering safety based on the weight of the person being assisted by the holding member 21 and the like.
  • the holding member 21 is moved along the reference locus from the current position and current angle under the control of the drive control unit 63.
  • the assistance robot 1 supports the standing person's standing operation and the sitting operation by moving the holding member 21 along the movement locus corresponding to various usage states.
  • the assistance robot 1 includes a base 10, a holding member 21 that holds the upper body of the person M to be assisted, a driving device 23 that moves the holding member 21 in the vertical direction and the front-rear direction of the base 10, and the operation of the driving device 23. And a control device 60 for controlling.
  • the control device 60 includes a standing trajectory 81 that is a movement trajectory of the holding member 21 corresponding to the standing motion of the person being assisted M, and a seating trajectory 82 that is a movement trajectory of the holding member 21 corresponding to the seating motion of the person being assisted M.
  • the standing motion 81 and the seating trajectory 82 are changed to the requested motion based on the current state including the current position Pc of the holding member 21 .
  • a locus setting unit 62 that sets the movement locus as a reference locus, and the holding member 21 is moved based on the set reference locus.
  • a drive control unit 63 to be operated.
  • the reference trajectory is switched based on the current state of the holding member 21. Accordingly, it is possible to set a movement locus according to the current state of the holding member 21, that is, the usage state of the assistance robot 1, as compared with the configuration in which the movement locus corresponding to the requested operation is always selected. Thereby, it becomes possible to support the standing person's standing operation and the sitting operation without giving a sense of incongruity to the operator who operates the person being assisted M and the assistance robot 1.
  • the trajectory setting unit 62 responds to the requested operation regardless of the current state of the holding member 21 when the requested operation is equal to the previous operation in which the holding member 21 has been moved to the current position Pc (S11: Yes).
  • the movement locus of the holding member 21 is set as a reference locus (S15). If the previous operation and the requested operation are the same (S11: Yes), for example, it is considered that the requested operation is requested to be executed intermittently. Therefore, in such a case, it is not necessary to switch the reference locus based on the current state of the holding member 21, and the movement locus corresponding to the requested operation (the standing locus 81 if the requested operation is a standing operation, the seating operation is seated). If it is an operation, the seating locus 82) is set as the reference locus (S15). As a result, it is possible to reduce the processing load of the control, and it is possible to perform control that responds quickly to the operator's request.
  • the storage unit 61 further stores area information 73 indicating a plurality of areas defined at at least one specified position Pr in the vertical direction or the front-rear direction of the holding member 21 with respect to the base 10.
  • the plurality of areas include a standing priority area Ar having the rising locus 81 as a reference locus and a seating priority area As having the sitting locus 82 as a reference locus.
  • the trajectory setting unit 62 sets a reference trajectory for the requested action based on the area information 73 and the current position Pc of the holding member 21. According to such a configuration, by using the area information 73 for setting the reference trajectory of the requested action, it is possible to reduce the processing load of the control, and it is possible to perform control that responds promptly to the operator's request.
  • the driving device 23 moves the elevating unit 30 that moves in the vertical direction with respect to the base 10 and the holding member 21 in the front-rear direction of the base 10 with respect to the elevating unit 30, and the holding member 21 is And a rocking portion 40 that rocks the holding member 21 so that the holding member 21 is rotated at an angle defined with respect to the position in the front-rear direction of the holding member 21.
  • the specified position Pr is a position in the front-rear direction of the holding member 21 with respect to the base 10 and is set based on the angle of the holding member 21.
  • the buttocks Mb of the person being assisted rises from the seat surface 91. Therefore, by setting the specified position Pr for dividing the area based on the angle of the holding member 21 as described above, the area can be appropriately divided, and the assisted person M and the operator can be assisted without feeling uncomfortable. It is possible to support the standing motion and the sitting motion of the person M.
  • the standing priority area Ar is located behind the seating priority area As. According to such a configuration, the area can be appropriately divided, and the standing operation and the sitting operation of the person being assisted can be supported without giving a sense of incongruity to the person being assisted and the operator.
  • the trajectory setting unit 62 selects one of the standing trajectory 81 and the seating trajectory 82 based on the area information 73 and the current position Pc of the holding member 21 and sets a reference trajectory for the requested action ( S14).
  • the trajectory setting unit 62 may be configured to set a reference trajectory for the requested action based on the angle included in the current state of the holding member 21.
  • the current state of the holding member 21 includes the current angle of the holding member 21.
  • the trajectory setting unit 62 sets a reference trajectory for the requested action based on at least one of the current position Pc and the angle of the holding member 21 included in the current state when the requested action is input.
  • the angle of the holding member 21 may be acquired based on a detection result by an angle detector in an arm driving device that drives the arm 42, for example.
  • the trajectory setting unit 62 switches the reference trajectory depending on the current angle of the holding member 21.
  • the movement locus in a mode in which the movement locus is set by the angle of the holding member 21 in addition to the current position Pc of the holding member 21, more detailed setting can be performed.
  • the movement locus in a mode in which the movement locus is set by the angle of the holding member 21 instead of the current position Pc, the movement locus can be set according to the posture of the person being assisted.
  • the specified position Pr that divides the movable range Rn of the holding member 21 is set based on the angle of the holding member 21 (predetermined angle ⁇ t).
  • the specified position Pr may be set in addition to the angle of the holding member 21 or in place of the angle of the holding member 21. Accordingly, the standing priority area Ar and the seating priority area As can be partitioned such that the boundary line is inclined with respect to the vertical axis, for example.
  • a plurality of specified positions Pr1, Pr2 may be set in the front-rear direction of the holding member 21, and divided into three areas.
  • the plurality of areas include an intermediate area Am located between the standing priority area Ar and the seating priority area
  • the prescribed positions Pr1 and Pr2 are positions in the front-rear direction of the holding member 21 corresponding to, for example, the first angle ⁇ t1 and the second angle ⁇ t2 of the holding member 21, as shown in the lower part of FIG.
  • the intermediate area Am may be an area in which, when the holding member 21 is located in the area, the locus setting unit 62 preferentially sets the movement locus of the holding member 21 corresponding to the previous operation as a reference locus.
  • the locus setting unit 62 preferentially sets the movement locus of the holding member 21 corresponding to the previous operation as a reference locus.
  • the driving device 23 is configured to include the elevating unit 30 that moves in the vertical direction with respect to the base 10 and the swinging unit 40 that swings the holding member 21.
  • the drive device 23 supports the holding member 21 so as to be movable in the vertical direction and the front-rear direction of the base, and can move the holding member 21 along a plurality of different movement trajectories. If so, various modes can be adopted.
  • the swinging unit 40 rotates the arm 42 to move the swinging main body 41 in the front-rear direction and rotates the swinging main body 41 around the axis.
  • the swinging main body 41 may be supported by a rail inclined to the right. According to such a structure, when the rocking
  • the driving device 23 includes a rotating member that is provided on the base 10 and rotates around an axis parallel to the left-right direction, and an extendable arm that is provided on the rotating member and can be expanded and contracted in the radial direction of the rotating member. It is good also as a structure.
  • the driving device 23 is a first rotation member that rotates around an axis parallel to the left-right direction, and a second rotation that is provided on the first rotation member and rotates around an axis parallel to the rotation axis of the first rotation member. It is good also as a structure provided with a member.
  • the holding member 21 can move in the vertical direction and the front-rear direction of the base 10, and follows a plurality of movement trajectories. It is possible to move.
  • the same effect as that of the embodiment can be obtained by setting a reference trajectory for the requested action based on the current state of the holding member 21.

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)
  • Manipulator (AREA)

Abstract

La présente invention vise à fournir un robot d'assistance capable : de déplacer un élément de maintien le long d'une trajectoire de déplacement en fonction d'un état d'utilisation ; et de soutenir l'action de se lever et l'action de s'asseoir d'une personne recevant une assistance. Un dispositif de commande pour le robot d'assistance comprend une unité de réglage de trajectoire qui : sélectionne une trajectoire de déplacement correspondant à une action demandée ou une trajectoire de déplacement qui ne correspond pas à l'action demandée, à partir d'une trajectoire de levée ou d'une trajectoire d'assise, sur la base d'un état actuel comprenant la position actuelle de l'élément de maintien, si une action de levée ou une action d'assise a été entrée comme l'action demandée ; et définit ladite trajectoire de déplacement comme trajectoire de référence.
PCT/JP2016/054343 2015-10-06 2016-02-15 Robot d'assistance WO2017141336A1 (fr)

Priority Applications (17)

Application Number Priority Date Filing Date Title
AU2016393481A AU2016393481B2 (en) 2016-02-15 2016-02-15 Assistance robot
EP16890479.5A EP3417842B1 (fr) 2016-02-15 2016-02-15 Robot d'assistance
PCT/JP2016/054343 WO2017141336A1 (fr) 2016-02-15 2016-02-15 Robot d'assistance
SG11201806237XA SG11201806237XA (en) 2016-02-15 2016-02-15 Assistance robot
JP2017567847A JP6586474B2 (ja) 2016-02-15 2016-02-15 介助ロボット
PCT/JP2016/064651 WO2017061136A1 (fr) 2015-10-06 2016-05-17 Dispositif d'assistance
JP2017544380A JP6745810B2 (ja) 2015-10-06 2016-05-17 介助装置
AU2016336279A AU2016336279B2 (en) 2015-10-06 2016-05-17 Assistance device
EP16853292.7A EP3360525B1 (fr) 2015-10-06 2016-05-17 Dispositif d'assistance
DK16853292.7T DK3360525T3 (da) 2015-10-06 2016-05-17 Assistanceindretning
SG11201802366QA SG11201802366QA (en) 2015-10-06 2016-05-17 Assisting apparatus
SG11201802365WA SG11201802365WA (en) 2015-10-06 2016-06-30 Assisting apparatus
JP2017544389A JP7007912B2 (ja) 2015-10-06 2016-06-30 介助装置
EP16853306.5A EP3360526B1 (fr) 2015-10-06 2016-06-30 Dispositif d'assistance
AU2016336284A AU2016336284B2 (en) 2015-10-06 2016-06-30 Assistance device
PCT/JP2016/069400 WO2017061151A1 (fr) 2015-10-06 2016-06-30 Dispositif d'assistance
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/JP2016/054343 WO2017141336A1 (fr) 2016-02-15 2016-02-15 Robot d'assistance

Publications (1)

Publication Number Publication Date
WO2017141336A1 true WO2017141336A1 (fr) 2017-08-24

Family

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PCT/JP2016/054343 WO2017141336A1 (fr) 2015-10-06 2016-02-15 Robot d'assistance

Country Status (5)

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EP (1) EP3417842B1 (fr)
JP (1) JP6586474B2 (fr)
AU (1) AU2016393481B2 (fr)
SG (1) SG11201806237XA (fr)
WO (1) WO2017141336A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210330528A1 (en) * 2018-08-01 2021-10-28 Fuji Corporation Assistance system

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JP2010142562A (ja) * 2008-12-22 2010-07-01 Toyota Motor Corp 移乗支援装置、移乗支援装置の制御方法
JP2013158386A (ja) * 2012-02-02 2013-08-19 Fuji Mach Mfg Co Ltd 起立動作支援ロボット
WO2014122752A1 (fr) * 2013-02-07 2014-08-14 富士機械製造株式会社 Robot de soins de patient

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Publication number Priority date Publication date Assignee Title
EP3025693B1 (fr) * 2013-07-26 2018-07-04 Fuji Machine Mfg. Co., Ltd. Robot d'assistance

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JP2010142562A (ja) * 2008-12-22 2010-07-01 Toyota Motor Corp 移乗支援装置、移乗支援装置の制御方法
JP2013158386A (ja) * 2012-02-02 2013-08-19 Fuji Mach Mfg Co Ltd 起立動作支援ロボット
WO2014122752A1 (fr) * 2013-02-07 2014-08-14 富士機械製造株式会社 Robot de soins de patient

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210330528A1 (en) * 2018-08-01 2021-10-28 Fuji Corporation Assistance system

Also Published As

Publication number Publication date
EP3417842B1 (fr) 2021-06-16
AU2016393481B2 (en) 2019-05-02
JP6586474B2 (ja) 2019-10-02
EP3417842A1 (fr) 2018-12-26
AU2016393481A1 (en) 2018-08-09
JPWO2017141336A1 (ja) 2018-12-06
EP3417842A4 (fr) 2019-06-26
SG11201806237XA (en) 2018-08-30

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