WO2018116472A1 - Dispositif de soin - Google Patents

Dispositif de soin Download PDF

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Publication number
WO2018116472A1
WO2018116472A1 PCT/JP2016/088555 JP2016088555W WO2018116472A1 WO 2018116472 A1 WO2018116472 A1 WO 2018116472A1 JP 2016088555 W JP2016088555 W JP 2016088555W WO 2018116472 A1 WO2018116472 A1 WO 2018116472A1
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WO
WIPO (PCT)
Prior art keywords
support member
person
assisted
support
movement
Prior art date
Application number
PCT/JP2016/088555
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English (en)
Japanese (ja)
Inventor
立 高橋
丈二 五十棲
邦靖 中根
Original Assignee
株式会社Ｆｕｊｉ
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 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2018557502A priority Critical patent/JP6700426B2/ja
Priority to PCT/JP2016/088555 priority patent/WO2018116472A1/fr
Publication of WO2018116472A1 publication Critical patent/WO2018116472A1/fr

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    • 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
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids

Definitions

  • the present invention relates to an assistance device.
  • Patent Document 1 discloses an assistance device that assists a person being assisted in standing up.
  • the assisting device includes a lifting part that moves linearly in the vertical direction as a first driving part, and a table that is swingably provided on the upper part of the lifting part as a second driving part.
  • the assistance device rotates the table forward with the elbow of the person being assisted sitting on the table, and then lifts the table by the lifting unit. Assisting the standing person to put the person in a standing position.
  • Such an assistance device simplifies the configuration of a driving device composed of an elevating unit and a table as in Patent Document 1, thereby reducing the weight of the assistance device and reducing the production cost.
  • the assistance device is required to further reduce the burden on the person being assisted when assisting the standing-up operation in the limited operation range of the driving device.
  • This invention is made in view of such a situation, and it aims at providing the assistance apparatus which can reduce the burden of the care recipient at the time of assistance of standing motion.
  • the present specification includes a base, a support member that supports the upper body of the person being assisted, an elevating unit that moves linearly in the vertical direction with respect to the base, and a swivel around a central axis provided in the elevating unit.
  • the movement of the support member by coordinating the vertical movement of the elevating part and the turning movement of the rocking part in the swinging part for swinging the support member and the operation process for assisting the standing person's standing operation.
  • a control device that controls the movement of the support member is defined as movement of the support member, the movement of the support member being defined as movement of the support member.
  • the moving part is swung forward, and the lifting part is lowered more than the amount of upward movement of the support member relative to the central axis associated with the swinging part of the swinging part so that the support member moves downward while moving forward.
  • the supported member supported by the support member.
  • the upper body of the person being assisted is supported by the support member that descends while moving forward in an advancement process in which the person being assisted is in an intermediate posture in which the upper body leans forward from the initial sitting posture. Therefore, the person being assisted can gradually deposit the weight of the upper body in the support member during the period from the sitting position to the transition to the intermediate position.
  • lumbar part is attained, and the burden of the care recipient at the time of assistance of standing-up operation
  • the assistance device 1 assists a person M (see FIG. 2 and the like) in a standing motion from a sitting posture to a standing posture, and assists in a sitting motion from the standing posture to the sitting posture. Since the assistance device 1 supports the upper body of the person M who is in the standing posture, one assistance person can pull the assistance device 1 and move it to a movement target in an assistance facility, for example.
  • the “standing posture” means a posture in which the lower body of the caregiver M stands, and the posture of the upper body is not questioned. That is, the standing operation assistance is assistance for raising the heel portion Mt of the person being assisted. Further, the assisting of the sitting operation is an assisting operation for lowering the position of the buttocks Mt of the person being assisted.
  • the assistance device 1 includes a base 10, a driving device 20, a support member 50, and a control unit 70.
  • the base 10 includes a frame 11, a support column 12 (shown in FIG. 2), a fixed cover 13, a foot placing base 14, a crus rest 15, and six wheels 16-18.
  • the frame 11 is provided substantially horizontally near the floor surface F.
  • the support column 12 is fixed to the frame 11 in a state of extending upward from the center in the left-right direction near the front of the frame 11.
  • pillar 12 may be provided so that it may become perpendicular
  • An elevating drive unit 21 (to be described later) is housed inside the column 12.
  • the fixed cover 13 covers and protects the periphery of the lower portion of the support column 12 and a lifting body 31 described later.
  • the foot mounting table 14 is fixed to the rear of the upper surface of the frame 11 and is provided almost horizontally. On the upper surface of the foot placing table 14, a foot-shaped ground mark 141 for guiding a position where the person being assisted puts his / her foot is written.
  • the lower thigh pad 15 is fixed to the column 12 by a pair of left and right support arms 151 having an L shape.
  • the crus pad 15 is provided slightly above and in front of the ground mark 141.
  • the main body of the lower thigh pad portion 15 is a cushion material that is disposed over the upright portions of the left and right support arms 151 and extends in the left-right direction.
  • the lower leg pad 15 is a part where the lower leg of the person being assisted M contacts. The arrangement height of the lower leg pad 15 can be adjusted.
  • the lower side of the frame 11 is provided with three wheels 16 to 18 on the left and right.
  • Each of the wheels 16 to 18 has a steering function for changing the moving direction.
  • the foremost wheel 16 has a lock function for restricting movement.
  • the assisting device 1 can move not only in the front-rear direction and the direction change, but also in the lateral movement (moving to the side) and the super-revolution (in-situ turning) by the steering function of the six wheels 16 to 18. It has become.
  • the driving device 20 supports the support member 50 that supports the upper body of the person M to be supported so as to be movable in the vertical direction and the front-rear direction of the base 10.
  • the drive device 20 includes a lift drive unit 21, a swing drive unit 22, a lift unit 30, and a swing unit 40.
  • the drive device 20 is controlled by the control device 71 of the control unit 70 to operate the elevation drive unit 21 and the swing drive unit 22.
  • the drive device 20 is configured to move the support member 50 along a predetermined movement locus by coordinating the vertical movement of the elevating unit 30 and the turning movement of the swinging unit 40.
  • the elevating part 30 moves linearly in the vertical direction with respect to the base 10.
  • the elevating part 30 includes an elevating body 31, a swing support part 32, and an elevating cover 33 (see FIG. 1).
  • the elevating body 31 is formed in a long shape that is long in the vertical direction.
  • the elevating body 31 is guided by a guide (not shown) on the rear surface of the column 12.
  • the elevating body 31 moves up and down along the guides of the column 12 by driving the elevating drive unit 21 that is a linear motion device.
  • a swing drive unit 22 that turns the swing unit 40 is housed inside the elevating body 31.
  • the swing support portion 32 supports the swing portion 40 so as to be rotatable around the central axis A.
  • the elevating cover 33 covers and protects the elevating body 31 and the support 12 around and above.
  • the elevating cover 33 is coupled to the elevating body 31 and moves up and down together with the elevating body 31.
  • the lower part of the elevating cover 33 that moves up and down always overlaps the outer peripheral side of the fixed cover 13.
  • the assistance device 1 has one lifting unit 30 corresponding to one support column 12.
  • the assistance apparatus 1 is good also as a structure provided with two or more support
  • the swinging unit 40 swings around the central axis A provided in the lifting unit 30 and swings the support member 50.
  • the swing unit 40 includes a swing body 41, an arm 42, and a first handle 43.
  • the swing body 41 is an attachment portion to which the support member 50 is attached and detached.
  • the arm 42 is integrally fixed to the swing body 41.
  • One end of the arm 42 is rotatably supported around the central axis A of the swing support part 32 of the elevating part 30.
  • the arm 42 is rotated by the drive of the swing drive unit 22.
  • the assisting device 1 assists the standing operation
  • the arm 42 mainly turns forward from the state of extending rearward.
  • the assistance device 1 assists the seating operation
  • the arm 42 mainly pivots backward so as to extend rearward.
  • the first handle 43 is formed in a substantially rectangular frame shape.
  • the first handle 43 is formed so as to extend forward and upward from the swinging main body 41.
  • the side portion of the first handle 43 is gripped by both hands of the person being assisted. Furthermore, the side part and the front part of the first handle 43 are gripped in order to move the assistance device 1 by the assistant.
  • the swinging portion 40 pivots around a horizontal axis (center axis A) parallel to the left-right direction of the base 10 and is attached to the swinging body 41 on the distal end side of the arm 42.
  • the member 50 is swung.
  • the support member 50 is a member that supports the upper body of the person being assisted.
  • the support member 50 includes a body support portion 51, a pair of side support portions 52, a second handle 53, and the like.
  • drum support part 51 is formed in the surface shape close
  • the support surface of the torso support portion 51 supports the torso by making surface contact with the front surface of the torso of the upper half of the person being assisted.
  • drum support part 51 supports the range from the chest to the abdomen in the care receiver M from below. Further, the body support portion 51 is attached to the swinging main body 41.
  • the body support portion 51 is supported so as to be freely tiltable in the front-rear direction with respect to the swinging main body 41. Specifically, the body support portion 51 is configured to be able to tilt a predetermined angle range clockwise from the state shown in FIG.
  • the above-mentioned “free tilt” means not tilt driven by an actuator or the like but tilt capable of being moved manually.
  • the pair of side support parts 52 are supported by the body support part 51 and support the side of the person being assisted M. Specifically, the pair of side support parts 52 are provided on the left and right sides of the body support part 51.
  • the side support portion 52 is supported by the body support portion 51 so as to be swingable.
  • the side support portion 52 is formed in an L shape by a rod-shaped member.
  • the surface of the side support portion 52 is covered with a material that can be flexibly deformed.
  • the second handle 53 is integrally provided on the front surface of the body support portion 51.
  • the second handle 53 is formed in a horizontally long U shape.
  • the second handle 53 includes a base shaft portion that is fixed to the lower portion of the body support portion 51 and extends in the left-right direction, and a grip portion that extends from both ends of the base shaft portion toward the first handle 43 side.
  • the control unit 70 is provided on the upper right side of the frame 11.
  • the control unit 70 includes a control device 71 that controls the elevation drive unit 21 and the swing drive unit 22.
  • the control device 71 drives the elevating drive unit 21 and the swing drive unit 22 based on a command from the person being assisted M or the assistant in an operation process for assisting the standing person or the sitting operation of the person being assisted.
  • the movement of the support member 50 is controlled by coordinating the vertical movement of the elevating unit 30 and the turning movement of the swinging unit 40.
  • the control device 71 can be a computer device that operates with software.
  • the computer apparatus may include a remote controller (not shown) that receives a command from the person being assisted M or a person being assisted.
  • a remote controller (not shown) that receives a command from the person being assisted M or a person being assisted.
  • an auxiliary program for executing an operation process for assisting the standing-up operation and an operation process for assisting the sitting operation is stored.
  • a battery power source having a symbol that can be repeatedly charged and discharged is attached to the lower side of the control device 71.
  • a battery power source is also attached to the upper left side of the frame 11.
  • the battery power source is also shared by the lift drive unit 21 and the swing drive unit 22.
  • the operation process for assisting the standing-up operation by the assistance device 1 includes a forward process for moving the support member 50 forward and an ascending process for raising the support member 50.
  • the above-described advancement process may include an operation of raising the support member 50, and similarly, the above-described advancement process may include an operation of moving the support member 50 forward.
  • the forward process and the ascending process are actually executed in series, and when the support member 50 follows a smooth movement locus, it is not always possible to experience the switching of processes.
  • the step of tilting the support member 50 and moving it forward so that the mass of the upper body of the person being assisted M is largely deposited in the support member 50 is referred to as a forward step.
  • the person being assisted M is transferred from the sitting posture, which is the initial state shown in FIG. 2, to the intermediate posture in which the upper body shown in FIG.
  • the process of raising the support member 50 so as to raise the upper body of the person being assisted M is referred to as an ascending process.
  • the person being assisted M is shifted from the intermediate posture shown in FIG. 3 to the standing posture where both legs are extended, which is the end state shown in FIG.
  • the rocking support member 50 may have a part that moves forward and a part that moves backward with respect to the base 10. Similarly, there may be a part that rises and a part that descends with respect to the base 10. Therefore, in the following, the movement of the reference position Ps set to the position where the support member 50 moves integrally is defined as the movement of the support member 50.
  • the reference position Ps is set at the upper end of the portion of the body support portion 51 that contacts the body as shown in FIG.
  • the thick solid lines in FIGS. 2 to 4 and 6 indicate the movement locus Tu of the reference position Ps during the standing motion of the person being assisted. That is, the control device 71 coordinates the vertical movement of the elevating part 30 and the turning movement of the rocking part 40 so that the reference position Ps moves along the movement trajectory Tu shown in FIGS. The movement of the support member 50 is controlled.
  • the person being assisted in a seated state (a state of a sitting posture) in which the buttocks Mt are in contact with the seat surface 91 of the chair 90. .
  • the assistance device 1 is set to an initial state of an operation process for assisting a standing-up operation by an operation by the person being assisted M or the assistant.
  • the initial state of the assisting device 1 is a state in which the swinging portion 40 extends rearward so that the support member 50 is positioned most rearward in the operation process of the standing-up operation.
  • the foot of the person being assisted M is guided by the ground mark 141 and placed on the foot placing table 14. At this time, the lower leg of the person being assisted M contacts the rear surface of the lower leg pad 15.
  • the care recipient M or the caregiver performs an operation so that only the lifting unit 30 moves up and down according to the height of the upper body of the caregiver M in the sitting posture on the seat surface 91.
  • the control apparatus 71 moves the raising / lowering part 30 up and down, and the height of the support member 50 is adjusted.
  • the front surface of the trunk of the person being assisted M comes into surface contact with the trunk support portion 51.
  • the person being assisted M places the side on the side support portion 52 and holds the first handle 43.
  • the person being assisted M is in a posture in which the upper body leans forward to some extent as shown in FIG.
  • the control device 71 moves the lifting and lowering unit 30 up and down and the swinging unit 40 so that the support member 50 moves downward while moving forward.
  • a forward process is performed in which the front turn is coordinated. Specifically, in the advancement step, the swinging portion 40 is swung forward and moved up and down more than the upward movement amount Nu (see FIG. 5) of the support member 50 with respect to the central axis A accompanying the forward rotation of the swinging portion 40. The part 30 is lowered. Accordingly, the advancement process sets the person to be assisted M supported by the support member 50 to an intermediate posture in which the upper body leans forward from the initial sitting posture.
  • FIG. 5 shows each part of the assistance device 1 before and after the execution of the forward movement process, with the lifting unit 30 as a reference.
  • the reference position Ps moves forward as the swinging portion 40 moves forward because the swinging portion 40 is provided so as to be able to turn around the central axis A provided at the upper portion of the lifting / lowering portion 30.
  • Move upward by the amount Nu On the other hand, in the forward movement step, the elevating unit 30 is lowered so that the lowering amount Nd is larger than the upward movement amount Nu (Nu ⁇ Nd). As a result, the upward movement amount Nu is canceled out and the reference position Ps is further lowered as a whole by the difference (Nd ⁇ Nu).
  • the forward movement step is an intermediate posture (FIG. 6) in which the upper body leans forward from the initial sitting posture (shown by the dotted line in FIG. 6) of the person M supported by the support member 50. Indicated by a solid line).
  • the reference position Ps moves along the movement trajectory Tu from the position Ps1 to the position Ps2, as shown in FIG.
  • FIG. 7 shows, as a reference example, a movement trajectory Tr when the support member 50 is moved so that the shoulder of the person being assisted M moves substantially horizontally in the forward movement process by a one-dot chain line.
  • various values can be set as the amount of decrease (Nd ⁇ Nu) of the reference position Ps in the forward process.
  • the support member 50 in the advancement process, the support member 50 is moved so that the shoulder Ms and the chest Mb of the person being assisted M supported by the support member 50 descend while moving forward. That is, the lowering amount (Nd ⁇ Nu) of the reference position Ps in the advancement process is set to an amount such that the chest Mb located at a position lower than the shoulder Ms of the person being assisted M is also lowered.
  • the descending amount in the advancement process becomes smaller as it goes downward from the chest Mb.
  • the support member 50 is moved so that the lower end 511 of the body support portion 51 positioned below the reference position Ps moves upward from the initial height. Specifically, in response to the movement of the reference position Ps in the forward movement process (movement from the position Ps1 to the position Ps2), the lower end 511 of the body support portion 51 is moved from the lower end position Pw1 to the lower end position as shown in FIG. It rises to Pw2.
  • the upper body of the person being assisted M is in a state of being slightly inclined forward as shown in FIG. 6. In this state, the advancement process is executed, and the support member 50 descends while moving forward, so that the person being assisted M can gradually deposit the weight of the upper body on the support member 50.
  • the lower end 511 of the body support portion 51 has a smaller movement amount (distance between the lower end position Pw1 and the lower end position Pw2) than the movement amount (distance between the positions Ps1 and Ps2) of the reference position Ps, and is slightly retracted. To rise.
  • the person being assisted M gets into the support member 50 by the operation of bending the waist Mm in the forward movement process, and is shifted to the intermediate posture.
  • the operation of bending the waist Mm at one end in the initial stage of the standing motion is a natural motion that is close to the motion of a healthy person when standing.
  • the position of the center of gravity of the person being assisted in the intermediate posture is within the range in the front-back direction in which the foot of the person being assisted comes into contact with the footrest 14. Therefore, even if the person M who is in the intermediate posture cannot stand up by himself / herself, he / she is in a posture in which he / she can stably support himself / herself with his / her feet.
  • the ascending step in which the legs of the person being assisted M are extended is executed. Specifically, in the ascending step, the swinging unit 40 is turned forward and the elevating unit 30 is raised. As described above, the ascending process includes an operation of coordinating the ascending / descending portion 30 and the swinging portion 40 in the upward direction until the person being assisted M changes from the intermediate posture to the standing posture. In the ascending process, after the swinging part 40 reaches the front end of the movable range, only the elevating part 30 may be raised.
  • the reference position Ps moves along the movement trajectory Tu from the position Ps2 to the position Ps3 as shown in FIG. That is, the shoulder Ms of the person being assisted rises while moving forward from the intermediate posture. Further, the buttocks Mt of the person being assisted rise away from the seat surface 91. Note that the buttock Mt of the person being assisted M may be separated from the seating surface 91 before the ascending process is performed. For example, depending on the physique of the person being assisted M, the height of the seating surface 91, the degree of the weight of the upper body of the person being assisted by the support member 50, etc., the body is supported as the support member 50 swings in the forward movement process. The lower end 511 of the portion 51 rises, and the heel portion Mt of the person being assisted M can be separated from the seat surface 91.
  • the support surface of the body support portion 51 is further tilted forward by the forward turning of the swinging portion 40 in the ascending process. That is, the upper body of the person being assisted M is further tilted forward while rising. Therefore, in the ascending process, the state where the back muscle of the person being assisted M is stretched is maintained, and the upper body of the person being assisted M is stably supported by the support member 50. Further, the position Ps3 at which the reference position Ps reaches at the end of the ascending process can be appropriately changed on the movement trajectory Tu. For example, when the command to the assistance device 1 is not input, the control device 71 ends the operation process of the standing motion.
  • the person M who is in the standing posture maintains a state in which, for example, the knee of the lower leg is in contact with the lower leg pad 15 in addition to the posture shown in FIG. May be.
  • the forward process and the ascending process include an operation of turning the rocking part 40 forward and an operation of turning the rocking part 40 backward. Absent.
  • the movement locus Tu of the reference position Ps advances monotonously from the rear side to the front side.
  • the advancement process includes an operation of lowering the elevating unit 30 and does not include an operation of elevating the elevating unit 30.
  • the raising process includes an operation of raising the elevating unit 30 and does not include an operation of lowering the elevating unit 30.
  • FIG. 7 shows the angle ⁇ of the support member 50 according to the front-rear position of the support member 50.
  • the angle ⁇ of the support member 50 is an angle formed by the support surface of the body support portion 51 with respect to the vertical axis, as shown in FIGS.
  • the angle ⁇ of the support member 50 is the smallest in the initial state of the assisting device 1 (see FIG. 2), increases monotonously with the execution of the operation process of the standing motion, and the end state of the assisting device 1 (see FIG. 4). ).
  • the upward movement amount Nu of the support member 50 due to the forward turning of the swinging unit 40 that occurs due to the mechanical configuration of the lifting unit 30 and the swinging unit 40 is offset by the lowering of the lifting unit 30. Further, the support member 50 is lowered. Therefore, in order to appropriately execute the advancement process, it is necessary to ensure a stroke in which the elevating unit 30 can be lowered in the initial state of the assisting device 1. Therefore, in the present embodiment, the initial height H1 of the elevating unit 30 when executing the advancement step is relative to the upward movement amount Nu of the support member 50 with respect to the central axis A accompanying the forward turning of the swinging unit 40 in the advancement step. Thus, the stroke in which the elevating unit 30 can be lowered in the movable range of the elevating unit 30 is set to a height that increases.
  • the initial height H1 moves upward to the lower end Be of the movable range of the elevating unit 30 as shown in FIG. 6 because the upward movement amount Nu of the support member 50 with respect to the center axis A is known in the forward movement process.
  • the height is set to be equal to or higher than the amount Nu.
  • the initial height H1 is set to a height obtained by adding the descending amount Nd to the lower end Be of the movable range of the elevating unit 30.
  • the elevating unit 30 is moved up and down and adjusted so that the front surface of the body of the person being assisted M comes into contact with the body support unit 51. If the adjustment height H2 of the elevating unit 30 at this time is equal to or higher than the initial height H1, a stroke that allows the elevating unit 30 to descend is secured.
  • the assistance device 1 executes the operation process of the standing motion according to the start command for the auxiliary operation of the standing motion.
  • the adjustment height H2 of the elevating unit 30 is less than the initial height H1 in the initial state, guidance may be provided so that the elevating unit 30 is raised to the person being assisted M or the caregiver.
  • the assistance device 1 may be controlled so as to reduce the descending amount Nd of the elevating unit 30 in the forward process, or the elevating unit 30 is lowered below the initial height H1 in the adjustment stage for setting the initial state. You may be restricted from doing.
  • the assistance device 1 includes a base 10, a support member 50 that supports the upper body of the person M to be assisted, an elevating unit 30 that moves linearly in the vertical direction with respect to the base 10, and a central axis provided in the elevating unit 30.
  • the vertical movement of the elevating part 30 and the turning movement of the swinging part 40 are coordinated.
  • a control device 71 for controlling the movement of the support member 50 The movement of the reference position Ps set to the position where the support member 50 moves integrally is defined as the movement of the support member 50.
  • the swinging portion 40 In the operation process of the standing-up operation, the swinging portion 40 is swung forward, and the support member 50 is moved upward with respect to the central axis A as the swinging portion 40 moves downward so that the support member 50 moves downward.
  • the upper body of the person being assisted is supported by the support member 50 that descends while moving forward in the forward movement process in which the person being assisted is in an intermediate posture in which the upper body leans forward from the initial sitting posture. .
  • the person being assisted M can gradually deposit the weight of the upper body in the support member 50 during the period from the sitting posture to the transition to the intermediate posture.
  • lumbar part Mm is attained, and the burden of the care receiver M at the time of assistance of standing-up operation
  • the support member 50 is formed in a planar shape, and has a body support portion 51 that supports the body by making surface contact with the front surface of the body of the upper part of the person being assisted M.
  • the reference position Ps is set at the upper end of a portion of the body support portion 51 that contacts the body.
  • Assisted person M is supported by body support part 51 with the upper body in surface contact.
  • the vertical movement of the elevating part 30 and the swinging movement of the swinging part 40 are performed so that the reference position Ps set at the upper end of the part contacting the body of the body support part 51 moves downward while moving forward. Let them work together. Accordingly, the body of the person being assisted M descends while moving forward with the movement of the support member 50 in the advancement process. Therefore, the upper body of the person being assisted forward tilted is supported by a natural motion, and the burden on the person being assisted can be further reduced.
  • the support member 50 is moved so that the lower end 511 of the body support portion 51 moves upward from the initial height.
  • the advancement process is executed from the initial state, the upper body of the person being assisted M extends forward while leaning forward and the pelvis is standing by the above-described configuration.
  • the support member 50 descends while moving forward, so that the person being assisted M can gradually deposit the weight of the upper body on the support member 50 and can stably shift to the intermediate posture.
  • it can transfer to a standing posture stably by execution of a raising process.
  • the support member 50 is moved so that the shoulder Ms and the chest Mb of the person being supported M supported by the support member 50 descend while moving forward.
  • the support member 50 is lowered so that not only the part that holds the shoulder Ms of the person being assisted but also the part that holds the chest Mb of the person being assisted advances. Moved. Accordingly, for example, the lowering of the chest Mb is allowed and the upper body is more naturally compared to the movement of the support member 50 such that the shoulder Ms descends while moving forward while the chest Mb moves substantially horizontally or rises while moving forward. Can be tilted forward. Therefore, the burden on the person being assisted M can be further reduced.
  • the forward movement process and the ascending process include an operation of turning the rocking portion 40 forward, and an operation of turning the rocking portion 40 backward is not included.
  • the angle of the trunk of the person being assisted M changes only in the forward tilt direction. If it is a healthy person, the tilting direction of the trunk in the standing motion is reversed halfway.
  • the forward process and the ascending process are configured as described above, so that only the lower body of the person to be assisted M is raised and the motion process is performed to assist the standing motion from the sitting posture to the standing posture. The application of the present invention is particularly useful.
  • the ascending step includes an operation of coordinating the ascending / descending portion 30 and the swinging portion 40 in the period until the person being assisted M changes from the intermediate posture to the standing posture.
  • the support member 50 is tilted forward by further swinging the swinging portion 40 in the ascending process. Therefore, the upper body of the person M being supported by the support member 50 is further tilted forward in the ascending process. Accordingly, it is possible to cope with the motion processing for the purpose of assisting the standing motion from the sitting posture to the standing posture with only the lower body of the person being assisted, and the application of the present invention is particularly useful.
  • the initial height H1 of the elevating unit 30 when performing the advancement process is such that the elevating unit 30 is relative to the upward movement amount Nu of the support member 50 relative to the central axis A accompanying the forward turning of the swinging unit 40 in the advancement process. Is set to a height at which the descending stroke of the elevating unit 30 in the movable range becomes large.
  • the amount of the lowering amount Nd added to the upward movement amount Nu of the support member 50 with respect to the central axis A accompanying the forward turning of the swinging portion 40 The stroke needs to be secured in the movable range of the elevating unit 30. Therefore, the initial height H1 of the elevating unit 30 when executing the advancement process is set to the height of the elevating unit 30 when at least the above stroke is secured. Thereby, the shortage of the stroke of the elevating part 30 is prevented from occurring in the advancement process, and the support member 50 can be lowered by the lowering amount Nd while being reliably advanced.
  • the reference position Ps is set to the upper end of a part of the body support part 51 that contacts the body of the person being assisted M.
  • the reference position Ps only needs to be set to a position that moves integrally with the support member 50.
  • the reference position Ps may be configured to be set to a position beside the person being assisted M in the structure in which the support member 50 includes the side support portions 52 as illustrated in the embodiment.
  • the position of the person assisted by the person M with respect to the support member 50 is determined. Therefore, even if the physique of the person being assisted is different, the position of the person being assisted by the person being assisted is generally constant. Therefore, in the advancement step, as described above, the vertical movement and swinging of the elevating unit 30 is performed so that the reference position Ps set at the side position corresponding to the position of the side support portion 52 moves downward while moving forward. The turning movement of the unit 40 is coordinated. Thereby, in the advancement process, the side of the person being assisted M descends while moving forward with the movement of the support member 50. Therefore, the upper body of the person being assisted forward tilted is supported by a natural motion, and the burden on the person being assisted can be further reduced.
  • the reference position Ps is an intersection of a virtual plane including three or more contact points between the body of the person being supported M and the body support part 51 supported by the body support part 51 and a perpendicular extending from the central axis A to the virtual plane. It is good also as a structure set to.
  • the support member 50 is formed in a planar shape, and includes a body support portion 51 that supports the body by making surface contact with the front surface of the body of the upper half of the person M to be assisted. Therefore, even if the physique of the person being assisted is different, the angle of the trunk support part 51 can be regarded as the angle of the upper body of the assisted person M.
  • the vertical movement of the elevating unit 30 and the turning movement of the rocking unit 40 are coordinated so that the reference position Ps set as described above moves downward while moving forward. Accordingly, the body of the person being assisted M descends while moving forward with the movement of the support member 50 in the advancement process. Therefore, the upper body of the person being assisted forward tilted is supported by a natural motion, and the burden on the person being assisted can be further reduced.
  • the reference position Ps is a part of the body of the care recipient M, and may be set to, for example, the shoulder Ms or the chest Mb. Further, the reference position Ps may be on an extension line of the arm 42 extending from the central axis A, and may be an intersection of the extension line and the support surface of the body support portion 51. Even in such a configuration, the same effects as in the embodiment can be obtained.
  • the support member 50 in the advancement step, is moved so that the lower end 511 of the body support portion 51 located below the reference position Ps moves upward from the initial height.
  • the lower end 511 of the body support part 51 maintains the initial height, that is, the lower end 511 moves the support member 50 without moving upward from the initial height.
  • a configuration may be adopted. Even in such a configuration, the same effects as in the embodiment can be obtained.
  • each of the forward step and the ascending step includes an operation of turning the swinging portion 40 forward and does not include an operation of turning the swinging portion 40 backward. It was.
  • the ascending / descending operation is performed so that at least one of the steps includes the rear turning of the swinging unit 40.
  • the movement of the support member 50 may be controlled by coordinating the vertical movement of the part 30 and the turning movement of the swinging part 40.
  • the operation process of the standing motion is configured by two steps of a forward step and a rising step that are executed in series.
  • another process may be appropriately included in the operation process of the standing-up operation.
  • the operation process may include a preparation process for changing the assisting device 1 from the current state to the initial state, a recovery process in a case where each process that has been executed once is stopped, and then restarted.
  • the control device 71 moves the support member 50 by coordinating the vertical movement of the elevating unit 30 and the turning motion of the rocking unit 40 by combining various processes based on the state of the assistance device 1 and the input command. It is good also as a structure which controls.
  • the advancement process included in the operation process of the standing-up operation is a process of tilting and supporting the support member 50 as described above.
  • the starting point of the forward movement process is the initial state of the assistance device 1.
  • the end point of the forward process and the start point of the ascending process can be set to the state when the elevating unit 30 is most lowered when the operation process is executed in series.
  • the end point of a raise process is a state when the raising / lowering part 30 reaches
  • the advancement process and the ascending process are defined as described above.
  • the height of the elevating unit 30, the angle of the swinging unit 40, the position and angle of the support member 50 on the movement locus Tu, and the posture of the person being assisted M You may divide a process by etc.
  • the lowering of the elevating unit 30 is coordinated with the forward swing of the swinging unit 40 so that the support member 50 is lowered while moving forward, thereby assisting The burden on the person M can be reduced.

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  • Health & Medical Sciences (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)

Abstract

La présente invention concerne un dispositif de soin pouvant réduire davantage la charge sur un bénéficiaire de soins lorsqu'un mouvement de verticalisation est assisté. Le traitement de mouvement pour le mouvement de verticalisation par un dispositif de soin (1) comprend : une étape de déplacement vers l'avant pour tourner une partie pivotante (40) vers l'avant, la réduction d'une partie de levage/abaissement (30) supérieure à une quantité de mouvement vers le haut (Nu) d'un élément formant support (50) par rapport à une tige centrale (A), la quantité de mouvement vers le haut étant associée au pivotement vers l'avant de la partie pivotante (40), de sorte que l'élément formant support (50) soit décalé vers le bas tout en se déplaçant vers l'avant, et le changement de la posture d'un bénéficiaire de soins (M) porté par l'élément formant support (50) depuis une posture d'assise initiale vers une posture intermédiaire obtenue par le corps supérieur qui s'incline vers l'avant ; et une étape de levage pour lever la partie de levage/abaissement (30) et de changement de la posture du bénéficiaire de soins (M) depuis la posture intermédiaire vers une posture debout.
PCT/JP2016/088555 2016-12-22 2016-12-22 Dispositif de soin WO2018116472A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018557502A JP6700426B2 (ja) 2016-12-22 2016-12-22 介助装置
PCT/JP2016/088555 WO2018116472A1 (fr) 2016-12-22 2016-12-22 Dispositif de soin

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/088555 WO2018116472A1 (fr) 2016-12-22 2016-12-22 Dispositif de soin

Publications (1)

Publication Number Publication Date
WO2018116472A1 true WO2018116472A1 (fr) 2018-06-28

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PCT/JP2016/088555 WO2018116472A1 (fr) 2016-12-22 2016-12-22 Dispositif de soin

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JP (1) JP6700426B2 (fr)
WO (1) WO2018116472A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112545829A (zh) * 2020-11-09 2021-03-26 中国人民解放军陆军军医大学第二附属医院 一种脑瘫患儿坐立切换训练装置
DE112019007196T5 (de) 2019-04-12 2021-12-23 Fuji Corporation Pflegevorrichtung
KR20220143095A (ko) 2020-09-07 2022-10-24 가부시키가이샤 후지 시중 장치
TWI783436B (zh) * 2020-04-14 2022-11-11 日商富士股份有限公司 介助裝置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012200409A (ja) * 2011-03-25 2012-10-22 Fuji Mach Mfg Co Ltd 立ち上がり動作アシストロボット
WO2014122752A1 (fr) * 2013-02-07 2014-08-14 富士機械製造株式会社 Robot de soins de patient
JP2016140435A (ja) * 2015-01-30 2016-08-08 大和ハウス工業株式会社 移乗支援装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012200409A (ja) * 2011-03-25 2012-10-22 Fuji Mach Mfg Co Ltd 立ち上がり動作アシストロボット
WO2014122752A1 (fr) * 2013-02-07 2014-08-14 富士機械製造株式会社 Robot de soins de patient
JP2016140435A (ja) * 2015-01-30 2016-08-08 大和ハウス工業株式会社 移乗支援装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112019007196T5 (de) 2019-04-12 2021-12-23 Fuji Corporation Pflegevorrichtung
TWI783436B (zh) * 2020-04-14 2022-11-11 日商富士股份有限公司 介助裝置
KR20220143095A (ko) 2020-09-07 2022-10-24 가부시키가이샤 후지 시중 장치
TWI784552B (zh) * 2020-09-07 2022-11-21 日商富士股份有限公司 輔助裝置
CN112545829A (zh) * 2020-11-09 2021-03-26 中国人民解放军陆军军医大学第二附属医院 一种脑瘫患儿坐立切换训练装置
CN112545829B (zh) * 2020-11-09 2022-09-30 中国人民解放军陆军军医大学第二附属医院 一种脑瘫患儿坐立切换训练装置

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JPWO2018116472A1 (ja) 2019-10-24

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