WO2019207769A1 - Dispositif de soin - Google Patents

Dispositif de soin Download PDF

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Publication number
WO2019207769A1
WO2019207769A1 PCT/JP2018/017217 JP2018017217W WO2019207769A1 WO 2019207769 A1 WO2019207769 A1 WO 2019207769A1 JP 2018017217 W JP2018017217 W JP 2018017217W WO 2019207769 A1 WO2019207769 A1 WO 2019207769A1
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WO
WIPO (PCT)
Prior art keywords
stop position
unit
assistance device
support
actuator
Prior art date
Application number
PCT/JP2018/017217
Other languages
English (en)
Japanese (ja)
Inventor
立 高橋
丈弘 平岡
聡志 清水
有城 神谷
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 PCT/JP2018/017217 priority Critical patent/WO2019207769A1/fr
Priority to JP2020515434A priority patent/JP6998457B2/ja
Publication of WO2019207769A1 publication Critical patent/WO2019207769A1/fr

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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
    • 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

  • This specification relates to assistance devices.
  • assistance devices for assisting the transfer of the person being assisted.
  • One type of assistance device supports the upper body of the person being assisted and assists the person being assisted from the sitting posture to the posture at the time of transfer with the buttocks raised from the seating surface. At this time, the assistant is required to operate the assistance device so as not to give pain to the person being assisted.
  • Patent Document 1 discloses a technique for operating a care robot suitably for a caregiver by calculating an optimum operating environment of the care recipient based on a care history of the care robot. Further, in Patent Document 2, in a robot that supports the standing motion of a cared person from a sitting position to a standing position, an appropriate middle waist position for the cared person is obtained by slowing the operation speed when approaching the middle waist position. A technique for notifying caregivers is disclosed.
  • the assistant is required to adjust the stop position of the assistance device according to the scene where the assistance device is used.
  • This specification aims to provide an assistance device that can reduce the burden on the caregiver and the person being assisted.
  • the present specification supports a base, a part of the body of the person being assisted, and a support that can move at least up and down relative to the base, and at least moves the support up and down relative to the base.
  • An actuator an information acquisition unit that acquires scene information about the usage scene of the assistance device, and a stop history of the drive stop position of the actuator according to the stop position of the support unit when the operation of the support unit is stopped.
  • a history storage unit that stores information in association with the scene information, and a stop that sets an automatic stop position at which the operation of the support unit automatically stops according to the use scene, based on the scene information and the stop history information.
  • Assistance device sets the automatic stop position where the operation of the support part automatically stops according to the usage scene. Then, the drive control unit stops the driving of the actuator when it is determined that the supporting unit that moves up and down has reached the automatic stop position. In this case, since the assistant only needs to drive the actuator until it automatically stops regardless of the usage scene of the assistance device, the assistance device can reduce the burden on the assistant. Further, since the automatic stop position is determined based on the stop history information stored in association with the scene information, the assistance device can automatically stop the support portion at a position suitable for the use scene. Therefore, the assistance device can reduce the burden on the person being assisted.
  • the assistance device 1 assists the transfer of the person M to be assisted.
  • the assistance apparatus 1 is used for assistance of transfer between two different places, such as transfer between a bed and a wheelchair and transfer between a wheelchair and a toilet seat.
  • the assistance device 1 is also applied to a case where two places to be transferred are located far away, such as transfer between a living room and a bathroom, a rehabilitation room, and a toilet. You can also move to.
  • the assistance device 1 supports a part of the body of the person being assisted M, for example, the upper body, and assists the person M in the movement from the sitting position to the moving position or from the moving position to the sitting position.
  • the posture at the time of transfer is a posture in a state where the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the transfer posture includes a state in which the upper body stands up and a state of leaning forward.
  • the configuration of the assistance device 1 will be described with reference to FIGS. 1 and 2.
  • the assistance device 1 performs an assistance operation by vertically moving the support portion 60 that supports a part of the upper body of the person being assisted M and swinging it in the front-rear direction.
  • the assistance device 1 includes a base 10.
  • the base 10 is a member located at the lowest part in the assistance device 1.
  • the base 10 includes a frame 11, a foot placing base 12, six wheels 16 to 18, and the like.
  • the frame 11 is provided substantially horizontally near the floor surface F.
  • the footrest 12 is fixed to the rear of the upper surface of the frame 11 and is provided almost horizontally.
  • 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 perform lateral movement and super-reciprocal turning as well as rectilinear movement and turning in the front-rear direction by the turning function of the six wheels 16 to 18.
  • the assistance device 1 further includes a column portion 20 erected from the base 10.
  • the column portion 20 is provided to extend vertically upward (antigravity direction) from the center in the left-right direction near the front of the frame 11.
  • the column portion 20 is provided so as to extend upward in the vertical direction, but may be provided so as to extend in a direction slightly inclined forward or rearward from the vertical direction.
  • the column part 20 has a mechanism which raises / lowers the upper end side.
  • the assistance apparatus 1 is provided with the one pillar part 20, you may make it provide the several pillar part 20.
  • the pillar part 20 includes a pillar body part 21 erected on the frame 11.
  • the column main body 21 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 of the base 10.
  • the pillar part 20 is provided with the raising / lowering part 22 supported by the pillar main-body part 21 so that reciprocation is possible in the direction where the pillar main-body part 21 is extended. That is, the elevating part 22 reciprocates in the vertical direction (gravity direction and antigravity direction) with respect to the base 10 and the column main body part 21.
  • the elevating part 22 is formed in a long shape that is long in the vertical direction.
  • the elevating part 22 is located on the rear side of the column main body part 21.
  • the assistance device 1 further includes a crus pad 30.
  • the crus pad part 30 is fixed to a fixed part (part fixed to the frame 11) of the column part 20 by a pair of left and right support arms 31, 31 having an L shape.
  • the lower thigh pad portion 30 is provided slightly above the front side of the mark 12a.
  • the main body of the lower thigh pad portion 30 is a cushion material that is disposed over the upright portions of the left and right support arms 31 and extends in the left-right direction.
  • the lower leg support part 30 is a part where the lower leg of the person being assisted M contacts. The arrangement height of the crus pad part 30 can be adjusted.
  • the assistance device 1 further includes a swing arm 40 provided near the upper end of the elevating unit 22 and supported so as to be swingable about a horizontal axis in the left-right direction.
  • a swing arm 40 provided near the upper end of the elevating unit 22 and supported so as to be swingable about a horizontal axis in the left-right direction.
  • the assistance device 1 includes a first handle 50 fixed to the rear end of the swing arm 40 (the end of the portion extending rearward from the swing center of the swing arm 40).
  • the first handle 50 is formed in a substantially rectangular frame shape.
  • the first handle 50 is formed to extend in the front upward direction from the vicinity of the rear end of the swing arm 40.
  • a side portion of the first handle 50 is used as a portion that is gripped by both hands of the person being assisted.
  • the side part and the front part of the first handle 50 are used as a part to be gripped in order to move the assistance device 1 by an assistant.
  • the assistance device 1 further includes a support portion 60 that supports a part of the upper body of the person being assisted.
  • the support portion 60 is supported by the swing arm 40 and supports a part of the upper half of the person being assisted M.
  • the support portion 60 can move at least up and down (up and down) with respect to the base 10, and swings back and forth with respect to the column portion 20 when the swing arm 40 swings with respect to the column portion 20. To do.
  • the support part 60 includes a body support part 61, a pair of side support parts 62, 62, a second handle 63, and the like.
  • the trunk support portion 61 is formed in a surface shape close to the trunk shape of the person being assisted M, and can be flexibly deformed.
  • the support surface of the torso support portion 61 supports the torso by making surface contact with the front surface of the torso among the upper body of the person being assisted.
  • drum support part 61 supports the range ranging from the chest to the abdomen in the care receiver M from below. Further, the body support portion 61 is attached to the swing arm 40.
  • the body support portion 61 is supported so as to be freely tiltable in the front-rear direction with respect to the swing arm 40.
  • the torso support portion 61 is configured to be freely tiltable in a predetermined angle range clockwise when the assisting device 1 is viewed from the right in 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 62 and 62 are supported by the body support part 61 and support the side of the person being assisted M. Specifically, the pair of side support parts 62, 62 are provided on the left and right sides of the body support part 61.
  • the side support part 62 is supported by the body support part 61 so as to be swingable.
  • the side support part 62 is formed in an L shape by a rod-shaped member.
  • the surface of the side support part 62 is covered with a material that can be flexibly deformed.
  • the second handle 63 is integrally provided on the front surface of the body support portion 61.
  • the second handle 63 is formed in a horizontally long U shape.
  • the second handle 63 includes a base shaft portion that is fixed to the lower portion of the body support portion 61 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 50 side.
  • the assistance device 1 further includes a lifting actuator 71 and a swinging actuator 72 that drive the support unit 60.
  • the lift actuator 71 and the swing actuator 72 are arranged in the column portion 20.
  • the elevating actuator 71 is constituted by a linear actuator, for example, and elevates the elevating part 22 with respect to the column main body part 21.
  • As the elevating actuator 71 for example, a screw mechanism, a rack and pinion mechanism, a cylinder mechanism, or the like is applied.
  • the swing actuator 72 is constituted by, for example, a rotary actuator, and swings the swing arm 40 with respect to the elevating unit 22.
  • the oscillating actuator 72 may be composed of a linear actuator and a power conversion mechanism that converts the linear motion into rotation. Accordingly, the elevating actuator 71 and the swing actuator 72 change the height of the support portion 60 and the posture (tilt) of the support portion 60 in the front-rear direction.
  • the elevating actuator 71 and the swinging actuator 72 can perform independent operations, and can also perform coordinated operations.
  • the assistance device 1 further includes a control unit 100.
  • the control unit 100 is provided on the upper right side of the upper surface of the frame 11 (see FIG. 1).
  • the control unit 100 includes an operation unit 110 and a control unit 120.
  • the operation unit 110 is a wired or wireless remote controller operated by an operator such as an assistant, and receives an instruction from the operator.
  • the operation unit 110 includes an up button and a down button.
  • the ascending button is mainly operated by the operator when starting assistance from the sitting posture to the posture at the time of transfer with respect to the person being assisted.
  • the lowering button is mainly operated by the operator when starting assistance from the transferred posture to the sitting posture for the person being assisted.
  • the control unit 120 performs control related to the lifting and lowering operation of the support unit 60.
  • the control unit 120 includes a drive control unit 130 that drives the lift actuator 71 and the swing actuator 72.
  • the drive control unit 130 drives and controls the elevating actuator 71 and the swinging actuator 72 mainly based on an instruction from the operator received by the operation unit 110, and moves the support unit 60 up and down.
  • the drive control unit 130 can be a computer device that operates with software.
  • the software stores an operation program corresponding to the assistance operation from the sitting posture to the posture during transfer and the assistance operation from the posture during transfer to the sitting posture.
  • the assistance device 1 is required to widen the range in which the support unit 60 can operate so that the person M of various body types can use the assistance device 1 comfortably.
  • the range in which the assistant raises / lowers the support portion 60 when assisting the transfer of one person M is part of the ascending / descending range, and the ascending / descending limit of the ascending / descending range is actually There is almost no raising / lowering of the support part 60 to a position.
  • control unit 120 stores, as a stop position history, the position at which the support unit 60 stops in a series of assistance operations by the assistance device 1. Then, when the support unit 60 moves to a predetermined stop position determined based on the stored stop position history, the control unit 120 automatically stops driving of the lifting and lowering actuators 71 and 72.
  • control unit 120 includes a stop position setting unit 140 that sets an automatic stop position at which the drive control unit 130 automatically stops driving of the elevating actuator 71 and the swing actuator 72.
  • the stop position setting unit 140 includes a descending stop position setting unit 141, an ascending stop position setting unit 142, and an intermediate stop position setting unit 143.
  • the descent stop position setting unit 141 sets the stop position of the support unit 60 at the start of the assistance operation (hereinafter referred to as “first operation”) from the sitting posture to the transfer posture.
  • This descending stop position is a stop position of the support portion 60 when the person being assisted M is supported by the support portion 60.
  • the ascending stop position setting unit 142 sets a position at which the supporting unit 60 that ascends in the first operation is automatically stopped as the ascending stop position.
  • This rising stop position is a stop position of the support portion 60 when supporting the person M who has completed the posture change from the sitting posture to the posture at the time of transfer.
  • the intermediate stop position setting unit 143 sets, as the intermediate stop position, the position at which the support unit 60 that is lowered in the assisting operation from the transfer posture to the sitting posture (hereinafter referred to as “second operation”) is automatically stopped.
  • This intermediate stop position is a stop position of the support portion 60 when the person M who has completed the posture change from the posture at the time of transfer to the sitting posture is separated from the support portion 60.
  • the intermediate stop position is a position lower than the ascending stop position and higher than the descending stop position.
  • control unit 120 includes a history storage unit 150 that stores driving stop history of the lifting and lowering actuators 71 and 72.
  • the history storage unit 150 stores, as stop history information, the drive stop positions of the lift actuator 71 and the swing actuator 72 according to the stop position of the support unit 60 when the support unit 60 stops moving up and down.
  • the drive control unit 130 determines that the start of the first operation has been instructed when the ascending button of the operation unit 110 is continuously pressed for a predetermined time or longer (long press). Then, the drive control unit 130 transmits the position of the support unit 60 at the time when the first operation is started to the history storage unit 150 as stop history information at the descent stop position.
  • the drive control unit 130 is instructed to start the second operation when the lowering button of the operation unit 110 is continuously pressed (long pressed) for a predetermined time or longer. Judge that Then, the drive control unit 130 transmits the position of the support unit 60 at the time when the second operation is started to the history storage unit 150 as stop history information at the ascending stop position.
  • control part 120 determines the automatic stop position set to the stop position setting part 140 based on the stop log
  • FIG. the control unit 120 sets the descent stop position to the descent stop position setting unit 141 when the support unit 60 is lowered to the lowest position in the stop history information related to the descent stop position stored in the history storage unit 150.
  • the control unit 120 sets the rising stop position when the support unit 60 has moved up to the highest position in the stopping history information related to the rising stop position stored in the history storage unit 150 to the rising stop position setting unit 142. Set.
  • the drive control unit 130 indicates the position where the support unit 60 is stopped at that time when the lifting / lowering of the support unit 60 has stopped for a certain period of time, or stop history information regarding the intermediate stop position.
  • the history storage unit 150 sets the transmitted stop history information regarding the intermediate stop position as a new intermediate stop position. That is, the control unit 120 sets the same stop position as the most recent intermediate stop position in the intermediate stop position setting unit 143 when starting the assistance operation by the assistance device 1.
  • the drive control unit 130 stops at the intermediate stop position when the support unit 60 stops at the intermediate stop position set in the intermediate stop position setting unit 143 and then stops for a certain period of time without being moved up and down.
  • the transmission of history information to the history storage unit 150 may be omitted.
  • the control unit 120 when the number of stop position histories stored in the history storage unit 150 is less than a certain number (for example, 10), the control unit 120 sets the ascending limit position of the liftable range of the support unit 60. Then, the ascending stop position setting unit 141 is set as the automatic stopping position. Similarly, if the number of stop position histories stored in the history storage unit 150 is less than a certain number (for example, 10), the control unit 120 sets the lower limit position of the supportable range of the support unit 60 to the automatic stop position. Is set in the descent stop position setting unit 142. In other words, the drive control unit 130 stops driving the lifting actuator 71 and the swinging actuator 72 when the support unit 60 reaches the rising limit position or the lowering limit position of the range in which the support unit 60 can move up and down.
  • a certain number for example, 10
  • control unit 120 performs the descent stop position setting unit 141, the ascending stop position setting unit 142, and the intermediate stop position setting until the number of stop position histories stored in the history storage unit 150 reaches a certain number.
  • a predetermined default position may be set as an automatic stop position in each of the units 143.
  • the assistance apparatus 1 may be provided with alerting
  • the height position of the support portion 60 suitable for the person to be assisted differs depending on the use situation.
  • the sitting posture of the caregiver M when sitting in a wheelchair the sitting posture of the helper M when sitting in a bed
  • the sitting posture of the helper M when sitting in a toilet seat When compared, the height position of the buttocks of the person being assisted does not necessarily match. Therefore, the assistant is required to adjust the stop position of the support part 60 according to the use situation.
  • the assistant is required to adjust the stop position of the support portion 60 for each person being assisted.
  • the control unit 120 when starting the assistance by the assistance device 1, specifies a use scene where the assistance device 1 is used, and sets a stop position corresponding to the use scene in the stop position setting unit 140. In addition, the control unit 120 stores the stop history information in the history storage unit 150 in association with the usage scene.
  • control unit 120 includes an information acquisition unit 160 that acquires scene information that identifies a use scene where the assistance device 1 is used.
  • the information acquisition unit 160 specifies, as scene information, position information for specifying a position where the assistance device 1 is used, information on a person who is assisted using the assistance device 1, and a time when the assistance device 1 is used. Time information to be acquired.
  • the position information notification device 161 arranged in a living room or a toilet where the assistance device 1 is assumed to be used. Send and receive. Thereby, the control part 120 can specify a use scene correctly.
  • the position information notification device 161 may be set on a device arranged in a specific room, for example, a bed or a toilet bowl where the person being assisted is seated frequently. It may be installed in a device such as a wheelchair where M is frequently used.
  • the assistance device 1 may provide a GPS device in the control unit 100 instead of providing the position information notification device 161.
  • the information acquisition unit 160 transmits and receives caregiver information to and from the care receiver notification device 162 carried by the care receiver M. For example, when the person being assisted M approaches the assistance apparatus 1, the information acquisition unit 160 obtains information on the person being assisted from the person being notified 162. In this case, the assistance device 1 can stop the support unit 60 at a position suitable for each person to be assisted M even if the one assistance device 1 is shared by a plurality of people to be assisted M. . Therefore, the assistance device 1 can reduce the burden on the assistant and the person being assisted M.
  • examples of the care receiver notification device 162 include wearable terminals that can be worn by the care recipient.
  • the person being assisted person notification device 162 may be a code reading device that reads a person assisted person code that can identify the person being assisted.
  • the assistant or the like for example, causes the assistant M to carry an ID card or the like on which the assistant's code is written and uses the assistant device 1 as the assistant's notification device 162 when using the assistant device 1.
  • the person being assisted notification device 162 may be a biometric authentication device that identifies the person being assisted by fingerprint authentication, face authentication, voiceprint authentication, or the like.
  • the information acquisition unit 160 may acquire the person being assisted in cooperation with an existing watching care service or the like.
  • the information acquisition unit 160 acquires the time when the position information and the care recipient information are acquired as time information. That is, in nursing care facilities, etc., the time for bathing or recreation is often defined as a schedule. Therefore, the control part 120 can aim at specification of a use scene based on time information, when the time which uses the assistance apparatus 1 is regular.
  • control part 120 can raise the precision at the time of specifying a use scene by collating position information and care recipient information with time information.
  • the control unit 120 includes the care recipient information acquired from the care receiver notification device 162, including the care recipient's care schedule and the like, and compares the acquired assistance schedule with the time information. Identification may be made.
  • control unit 100 is provided with a battery power source having a symbol that can be repeatedly charged and discharged.
  • the battery power supply is also attached to the front left side of the upper surface of the frame 11.
  • the battery power source is shared by the lift actuator 71 and the swing actuator 72.
  • Operation for Operation Unit 110 Here, a specific example of the operation content of the operation unit 110 that is operated by an assistant or the like when performing assistance by the assistance device 1 will be described.
  • the drive control unit 130 drives the elevating actuator 71 and the swinging actuator 72 to raise the support unit 60 when the ascending button is operated.
  • the drive control unit 130 releases the operation of the ascending button At that time (when an assistant or the like releases the ascending button), the driving of the lifting and lowering actuators 71 and 72 is stopped.
  • the drive control unit 130 drives the lifting / lowering actuator 71 and the swinging actuator 72 even if the operation of the lifting button is released after a predetermined time has elapsed since the operation of the lifting button (long press). Continue. Then, the drive control unit 130 stops driving the elevating actuator 71 and the swinging actuator 72 when the support unit 60 reaches the ascending stop position.
  • the drive control unit 130 moves the lifting actuator 71 and the swinging actuator at that point in time when the ascending button or the descending button is operated again after the ascending button is pressed and long before the support unit 60 reaches the ascending stop position.
  • the driving of the moving actuator 72 is stopped.
  • the supporter 60 moves the support part 60 by operating the ascending button or the descending button at that time. Can be stopped.
  • the control unit 120 raises the ascent limit position of the supportable range of the support unit 60 as the automatic stop position.
  • the stop position setting unit 142 is set.
  • the assistant after releasing the long press of the ascending button, operates the ascending or descending actuator 71 and the swinging actuator 72 again by operating the ascending button or the descending button again before the support portion 60 reaches the ascending limit position.
  • the driving can be stopped.
  • the drive control unit 130 may be designed to stop driving the lift actuator 71 and the swing actuator 72 when the lift button is released even when the lift button is pressed for a long time. Good.
  • the drive control unit 130 drives the elevating actuator 71 and the swinging actuator 72 to lower the support unit 60. Then, when the operation of the lowering button is released before a predetermined time has elapsed after the lowering button is operated, that is, when the lowering button is pressed for a short time, the driving control unit 130 The drive of 71 and the swing actuator 72 is stopped. On the other hand, the drive control unit 130 drives the lifting and lowering actuators 71 and 72 when a predetermined time has elapsed (pressed for a long time) after the lowering button is operated, even if the lowering button is subsequently released. Continue.
  • the driving is performed.
  • the control unit 130 drives the elevating actuator 71 and the swing actuator 72 until the support unit 60 reaches the intermediate stop position.
  • the drive control unit 130 drives the elevating actuator 71 and the swinging actuator 72 until the support unit 60 reaches the lowering stop position.
  • the drive control unit 130 may move the lift actuator at that time when the up button or the down button is pressed again after the down button is pressed for a long time and before the support unit 60 reaches the intermediate stop position or the down stop position.
  • the drive of 71 and the swing actuator 72 is stopped. That is, when the supporter wants to stop the movement of the support part 60 before the support part 60 reaches the intermediate stop position or the lowering stop position, the supporter can operate the support button by operating the up button or the lower button at that time. The movement of the part 60 can be stopped.
  • the control unit 120 descends the lower limit position of the ascending / descending range of the support unit 60 as the automatic stop position.
  • the stop position setting unit 141 is set.
  • the control unit 120 sets the lower limit position of the ascending / descending range of the support unit 60 as the automatic stop position as the intermediate stop position setting unit 143. Set to.
  • the assistant after releasing the long-pressing of the lowering button, the assistant operates the ascending button or the lowering button again before the support unit 60 reaches the lowering limit position.
  • the driving can be stopped.
  • the drive control unit 130 may be of a specification that stops the driving of the lifting and lowering actuators 71 and 72 when the lowering button is released even when the lowering button is pressed for a long time. .
  • assistance action processing execution executed by the control unit 120 will be described with reference to FIGS. 3 to 11.
  • the assistance operation execution process is a process for executing a series of assistance operations by the assistance device 1.
  • FIG. 5 shows the assistance device 1 that supports the person M who is in the sitting position and before the first operation is started.
  • FIG. 7 is a diagram illustrating a process of executing the first operation of the assistance device 1 and illustrates a state in which the person being assisted is tilted forward from the state illustrated in FIG. 5.
  • FIG. 8 illustrates the assistance device 1 that supports the person being assisted M at the time of transfer, and before the second operation is started.
  • FIG. 10 shows the assistance device 1 that supports the person being assisted in the sitting position, and shows the assistance device 1 after the second operation is completed.
  • the assistance operation execution process includes a transfer preparation process (S1), a first operation start process (S2), a second operation start process (S3), and a separation position adjustment process (S4).
  • the transfer preparation process (S1) is a process of adjusting the height position of the support part 60 before the transfer of the person being assisted M is started.
  • the first operation start process (S2) is a process of adjusting the height position of the support portion 60 before starting the first operation.
  • the second operation start process (S3) is a process of adjusting the height position of the support portion 60 before starting the second operation.
  • the separation position adjustment process (S4) is a process of adjusting the height position of the support part 60 when the person being assisted is separated from the assistance device 1.
  • the control part 120 will perform the process of S11 again.
  • the control unit 120 raises and lowers the support unit 60 according to the operation content to the operation unit 110 (S12). That is, the drive control unit 130 raises the support unit 60 when the up button is pressed, and lowers the support unit 60 when the down button is pressed. Then, the control unit 120 determines whether or not the operation on the operation unit 110 is the second operation (long-pressing of the down button) (S13). And if operation to the operation part 110 is not 2nd operation (S13: No), the control part 120 will return to the process of S11.
  • the control unit 120 determines that the operation is an operation for adjusting the height position of the support unit 60. If the operation on the operation unit 110 is an operation on the up button, the drive control unit 130 raises the support unit 60 until the operation on the up button is released. In addition, when the operation on the operation unit 110 is an operation on the lowering button and the operation on the lowering button is released before a predetermined time has elapsed, the drive control unit 130 moves the driving control unit 130 to the lowering button. When the operation is released, the lowering of the support portion 60 is stopped.
  • the control unit 120 determines that the start of the assistance operation has been instructed. And the control part 120 acquires scene information by the information acquisition part 160 (S14), and sets the automatic stop position according to a use scene to the stop position setting part 140 (S15).
  • the assistant first presses down the lowering button of the operation unit 110 when starting a series of assistance operations by the assistance device 1.
  • the assistant causes the person to be assisted M to leave the assistance apparatus 1 when the support unit 60 stops at the intermediate stop position, and the assistance apparatus 1 finishes a series of assistance operations for the person to be assisted M. Therefore, when the assistance operation by the assistance device 1 is newly started, it is assumed that the support portion 60 is located at the intermediate stop position. Therefore, the control unit 120 determines that the assistance operation is started when the lowering button is pressed for a long time with the support unit 60 stopped at the intermediate stop position, and sets the automatic stop position according to the use scene to the stop position. Set in the setting unit 140.
  • the control unit 120 acquires scene information by the information acquisition unit 160, and specifies a use scene where the assistance device 1 is used. Further, in the process of S15, the control unit 120 shares scene information from the stop history information stored in the history storage unit 150 if a certain number or more of stop history information is accumulated in the history storage unit 150. Extract multiple pieces of stop history information.
  • the control unit 120 determines the descent stop position and the ascending stop position based on the extracted plurality of stop history information. At this time, for example, the control unit 120 sets a position obtained by averaging the plurality of descent stop positions as the extracted stop history information as the descent stop position set in the descent stop position setting unit 141. Similarly, the control unit 120 sets a position obtained by averaging the plurality of rising stop positions as the extracted stop history information as the rising stop position set in the rising stop position setting unit 142. Then, the control unit 120 sets the determined descent stop position and ascending stop position in the descent stop position setting unit 141 and the ascending stop position setting unit 142, respectively.
  • control unit 120 sets the lower limit position of the ascending / descending range of the support unit 60 in the lowering stop position setting unit 141 if the stop history information is not accumulated in the history storage unit 150 in a certain number or more. Is set in the ascending stop position setting unit 142.
  • the drive control unit 130 drives the lift actuator 71 and the swing actuator 72, and moves the support unit 60 until it reaches the lowering stop position or the lowering limit position set in the lowering stop position setting unit 141. (S16).
  • the control unit 120 determines whether or not the support unit 60 has reached the descent stop position or the descent limit position (S17). If the support unit 60 has not reached the lowering stop position or the lowering limit position (S17: No), the control unit 120 subsequently determines whether or not there has been an operation on the operation unit 110 (S18). And if there is no operation with respect to the operation part 110 (S18: No), the control part 120 will perform the process of S17 again. On the other hand, when the support part 60 reaches the descent stop position or the descent limit position (S17: Yes), or when the operation part 110 is operated before the support part 60 reaches the descent stop position or the descent limit position. (S18: Yes), the control unit 120 stops the driving of the elevating actuator 71 and the swing actuator 72 by the drive control unit 130 (S19), and ends this process.
  • the assistant stops the support portion 60 at the lowering stop position, and then holds the first handle 50 or the second handle 63 of the assistance device 1, so The assistance device 1 is brought closer. Thereafter, the assistant makes the lower body of the assistant M enter the area above the base 10 and below the support portion 60, and the assistant M places his / her foot on the mark 12 a of the footrest 12. . At this time, a part of the lower leg of the person being assisted M comes into contact with the lower leg pad 30 so that the entire lower leg of the person being assisted M becomes stable.
  • the assistant causes the body of the person being assisted M to come into surface contact with the body support part 61 and places the side of the person being assisted on the side support parts 62 and 62.
  • the posture of the person being assisted at this time is the sitting posture at which assistance is started. In the sitting posture, as shown in FIG. 5, the buttocks are in contact with the seating surface, and the trunk is slightly inclined forward.
  • the first action start process (S2) executed in the assistance action execution process will be described with reference to FIG.
  • the control part 120 will perform the process of S21 again.
  • the control unit 120 raises and lowers the support unit 60 according to the operation content to the operation unit 110 (S22).
  • the control unit 120 determines whether or not the operation on the operation unit 110 is the first operation (long push of the ascending button) (S23). And if operation to the operation part 110 is not 1st operation (S23: No), the control part 120 will return to the process of S21. That is, in the processing from S21 to S23, when there is an operation other than the first operation on the operation unit 110, the control unit 120 determines that the operation is for adjusting the height position of the support unit 60.
  • the drive control unit 130 lowers the support unit 60 until the operation on the lowering button is released.
  • the drive control unit 130 moves the drive control unit 130 to the up button.
  • the assistant checks whether or not the height position of the support part 60 is appropriate before starting the first operation. If the height of the support unit 60 is not appropriate, the assistant operates the ascending button or the descending button of the operation unit 110 to adjust the height position of the support unit 60. Note that the posture (inclination) of the support portion 60 may be maintained in a constant state or may be changed according to the height. Then, when the assistant determines that the height of the support portion 60 is appropriate, the assistant performs a first operation on the operation portion 110 and starts the first operation by the assistance device 1.
  • step S24 the drive control unit 130 drives the lift actuator 71 and the swing actuator 72, and supports the lift control position until the lift stop position or the lift limit position set in the lift stop position setting unit 142 is reached. 60 is moved up and down. Then, the drive control unit 130 cooperatively controls both the lift actuator 71 and the swing actuator 72, and swings the swing actuator 72 forward while moving the lift actuator 71 up and down.
  • the drive control unit 130 indicates the drive stop positions of the elevating actuator 71 and the swing actuator 72 according to the stop position of the support unit 60 at the time when the first operation is started, and the stop history at the lower stop position.
  • Information is transmitted to the history storage unit 150 (S25), and this process is terminated.
  • the history storage unit 150 stores the received stop history information in association with the scene information acquired by the information acquisition unit 160.
  • the drive control unit 130 swings the swing arm 40 forward while controlling the lift actuator 71 to lower the lift unit 22.
  • the swing actuator 72 is controlled so as to be moved.
  • the support part 60 will be in the state largely inclined forward, moving below. That is, the upper body tilts greatly forward while maintaining the state where the buttocks of the person being assisted M is in contact with the seating surface.
  • the drive control unit 130 controls the swing actuator 72 to swing the swing arm 40 forward while controlling the lift actuator 71 to lift the lift unit 22. .
  • the support part 60 will be in the state inclined further largely, moving upwards. That is, the buttocks of the person being assisted M are separated from the seating surface, the legs are extended, and the upper body is further tilted forward. In this way, the person being assisted M is in the transfer posture.
  • the assistant performs a long press (first operation) of the ascending button when starting the first action.
  • the drive control unit 130 drives the elevating actuator 71 and the swinging actuator 72 to automatically raise the support unit 60 to the ascending stop position or the ascending limit position. That is, when the first operation by the assistant is performed in a state in which a certain number of stop history information is accumulated, the assistance device 1 can provide the assistance person M with the assistance person M even if the assistance is not instructed to stop the support unit 60. When reaching a suitable lift stop position, the lift of the support portion 60 is stopped. Therefore, the assistance device 1 can reduce the burden on the assistant and the person being assisted M.
  • the control unit 120 determines whether or not the support unit 60 has reached the rising stop position or the rising limit position (S31).
  • the control unit 120 determines whether or not there has been an operation on the operation unit 110 (S32). And if there is no operation with respect to the operation part 110 (S32: No), the control part 120 will perform the process of S31 again.
  • the control unit 120 stops the driving of the lift actuator 71 and the swing actuator 72 by the drive control unit 130 (S33).
  • the control unit 120 determines whether or not there is an operation by the operation unit 110 (S34). And if there is no operation of the operation part 110 (S34: No), the control part 120 will perform the process of S34 again.
  • the control unit 120 raises and lowers the support unit 60 according to the operation content to the operation unit 110 (S35). Subsequently, the control unit 120 determines whether or not the operation on the operation unit 110 is the second operation (long-pressing of the down button) (S36). And if operation to the operation part 110 is not 2nd operation (S36: No), the control part 120 will perform the process of S34 again.
  • control unit 120 determines that the operation is for adjusting the height position of the support unit 60, The support unit 60 is raised and lowered until the operation on the up button or the down button is released.
  • the assistant checks whether or not the height position of the support portion 60 is appropriate when stopping the ascent of the support portion 60, and if the height of the support portion 60 is not appropriate, The height button of the support part 60 is adjusted by operating the up button or the down button. Then, after adjusting the height of the support part 60, the assistant performs transfer of the person being assisted M with the support part 60 stopped.
  • the control unit 120 determines that the start of the second operation has been instructed. And the control part 120 acquires scene information by the information acquisition part 160 (S37), and sets the intermediate
  • the drive control unit 130 starts the second operation (S39). Specifically, in step S39, the drive control unit 130 drives the lift actuator 71 and the swing actuator 72, and supports the support unit until the intermediate stop position or the lower limit position set in the intermediate stop position setting unit 143 is reached. 60 is moved up and down. Subsequently, the drive control unit 130 uses the drive stop positions of the lift actuator 71 and the swing actuator 72 according to the stop position of the support unit 60 at the time when the second operation is started as stop history information at the lift stop position. It transmits to the history memory
  • the drive control unit 130 moves up and down when the support unit 60 is positioned above the intermediate stop position and the lowering button is pressed (second operation) on the operation unit 110.
  • the actuator 71 and the swing actuator 72 are driven to automatically lower the support portion 60 to the intermediate stop position or the lower limit position.
  • the assistance device 1 may notify the person to be assisted M even if the assistant does not instruct the stop of the support unit 60.
  • the assistance device 1 can reduce the burden on the assistant and the person being assisted M.
  • the control unit 120 determines whether or not the support unit 60 has reached the intermediate stop position or the lower limit position (S41).
  • the control unit 120 determines whether or not there has been an operation on the operation unit 110 (S42). And if there is no operation with respect to the operation part 110 (S42: No), the control part 120 will perform the process of S41 again.
  • the control unit 120 stops the driving of the lift actuator 71 and the swing actuator 72 by the drive control unit 130 (S43).
  • the assistant checks whether or not the height position of the support portion 60 is appropriate when the support portion 60 is stopped. If the height of the support unit 60 is not appropriate, the assistant operates the ascending button or the descending button of the operation unit 110 to adjust the height position of the support unit 60. Then, after adjusting the height of the support part 60, the assistant causes the person to be assisted M to leave the support part 60.
  • the control unit 120 After the processing of S43, the control unit 120 starts measuring the stop time of the support unit 60 using a timer (not shown) (S44), and whether or not a predetermined time has elapsed since the support unit 60 stopped. Determine (S45). As a result, if the predetermined time has not elapsed since the support unit 60 stopped (S45: No), the control unit 120 determines whether or not there has been an operation on the operation unit 110 (S46).
  • control part 120 raises and lowers support part 60 according to the contents of operation to operation part 110 (S47). Thereafter, the control unit 120 resets the timer (S48) and executes the process of S45 again.
  • the control unit 120 associates the position of the support unit 60 with the use scene where the second operation has been performed.
  • the information is transmitted to the history storage unit 150 as stop history information at the intermediate stop position (S49), and this process ends.
  • the history storage unit 150 stores the received stop history information in association with the scene information acquired by the information acquisition unit 160.
  • the support part 60 can be moved to the descent stop position or the descent limit position by long-pressing the descent button (second operation). it can.
  • the drive control unit 130 acquires the scene information and supports when the lowering button is pressed (second operation) on the operation unit 110 after the support unit 60 is stopped at the intermediate stop position.
  • the part 60 is moved to the descent stop position or the descent limit position according to the usage scene. Therefore, the assistance device 1 can reduce the burden on the assistant and the person being assisted M.
  • the assistance device 1 sets the automatic stop position at which the operation of the support unit 60 automatically stops according to the use scene when performing assistance for transfer to the person being assisted.
  • the drive control unit 130 determines that the support unit 60 that moves up and down has reached the automatic stop position
  • the drive control unit 130 stops driving the lift actuator 71 and the swing actuator 72.
  • the assistant device only needs to move the support unit 60 until it automatically stops regardless of the usage scene of the assistance device 1, so that the assistant device 1 can reduce the burden on the assistant.
  • the assistance device 1 can automatically stop the support unit 60 at a position suitable for the use scene. That is, since the assistant can reduce the adjustment work of the height position of the support part 60 as much as possible after the support part 60 is automatically stopped, the assistance device 1 can reduce the burden on the person being assisted M.
  • the assistance device 1 sets the automatic stop position in the stop position setting unit 140
  • the stop position when the support unit 60 stops at the uppermost position among the stop history information having the same scene information is set as the ascending stop position. Set.
  • the assistant can stop the raising of the support portion 60 when the assistant reaches the rising stop position suitable for the person M who uses the assistance device 1.
  • the assistance device 1 sets the stop position when the support unit 60 stops at the lowest position among the stop history information having the same scene information as the descending stop position.
  • the assistant can stop the lowering of the support portion 60 when the assistant reaches the lowering stop position suitable for the person being assisted using the assistance device 1. Therefore, the assistance device 1 can reduce the burden on the assistant and the person being assisted M.
  • the drive control unit 130 moves up and down the actuator 71 and the swing actuator 72 until the support unit 60 reaches the ascending stop position or the descending stop position.
  • the assistant can move the support unit 60 to the ascending stop position or the descending stop position by performing the first operation or the second operation on the operation unit 110. Therefore, the assistance device 1 can reduce the burden on the assistant and the person being assisted M.
  • the operation unit 110 is provided with the up button and the down button, and the first operation is started when the up button is pressed for a long time, and the second operation is started when the down button is pressed for a long time.
  • the drive control unit 130 may start the first operation or the second operation when the up button or the down button is continuously pressed a plurality of times within a predetermined time.
  • the assistance apparatus 1 may provide the operation part 110 with the button for instruct
  • the drive control unit 130 transmits the position of the support unit 60 at the time when the first operation is started to the history storage unit 150 as stop history information at the descending stop position.
  • the present invention is not limited to this, and the drive control unit 130 uses the history storage unit as the stop history information at the descent stop position, using the position of the support unit 60 slightly before the start time of the first operation (for example, 3 seconds before). 150 may be transmitted.
  • the control unit 120 stores in the history storage unit 150 the stop position of the support unit 60 that has been lowered due to an erroneous operation in the history storage unit 150 when the helper accidentally presses the lowering button to start the first operation. Can be avoided.
  • This point also applies to a case where stop history information at the ascending stop position is transmitted to the history storage unit 150.
  • the control unit 120 has acquired the scene information when starting the second operation and determines the intermediate stop position to be set in the intermediate stop position setting unit 143.
  • the present invention is not limited to this. is not.
  • the control unit 120 determines an intermediate stop position to be set in the intermediate stop position setting unit 143 based on the scene information acquired when starting the first action. Also good. Thereby, the assistance apparatus 1 can shorten time until it starts a 2nd operation
  • control unit 120 determines the ascending stop position and the descending position based on the most recent (for example, 10) pieces of stop history information with the same or similar scene information among the stop history information stored in the history storage unit 150.
  • the stop position may be determined.
  • control unit 120 requires more time to determine the ascending stop position and the descending stop position than when determining the ascending stop position and the descending stop position based on all the stop history information stored in the stop history information. Can be shortened. In addition, the control unit 120 determines the ascending stop position and the descending stop position based on the latest stop history information, so that it corresponds to the latest use scene (e.g., replacement of a sitting instrument or physical condition of the person being assisted). Appropriate ascent and descent positions can be set according to changes. Furthermore, the control unit 120 can reduce the cost required for the memory or the like used as the history storage unit 150 by reducing the number of stop history information stored in the history storage unit 150.
  • the controller 120 determines the descending stop position and the ascending stop position based on a plurality of stop history information having common scene information when determining the descending stop position and the ascending stop position. did.
  • the present invention is not limited to this, and the control unit 120 is the stop history information with common scene information, and the descending stop position and the ascending stop position as the stop history information stored in the history storage unit 150 most recently. It may be set in the descending stop position setting unit 141 and the ascending stop position setting unit 142 as they are. In this case, the control unit 120 can shorten the time required to determine the descending stop position and the ascending stop position.

Landscapes

  • 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

Dispositif de soin comprenant : une base (10) ; une unité de support (60) qui supporte une partie du corps d'un sujet recevant des soins et qui se déplace au moins verticalement par rapport à la base ; des actionneurs (71, 72) qui déplacent l'unité de support au moins verticalement par rapport à la base ; une unité d'acquisition d'informations (160) pour acquérir des informations de situation concernant la situation d'utilisation du dispositif de soin (1) ; une unité de stockage d'historique (150) qui, lorsque le fonctionnement de l'unité de support est arrêté, associe et stocke des positions d'arrêt d'entraînement des actionneurs correspondant à la position d'arrêt de l'unité de support en tant qu'informations d'historique d'arrêt avec les informations de situation ; une unité de réglage de position d'arrêt (140) qui utilise les informations de situation et les informations d'historique d'arrêt pour régler, en fonction de la situation d'utilisation, une position d'arrêt automatique au niveau de laquelle le fonctionnement de l'unité de support est automatiquement arrêté ; et une unité de commande d'entraînement (130) qui commande l'entraînement des actionneurs et, lorsqu'il est déterminé que l'unité de support se déplaçant verticalement a atteint la position d'arrêt automatique, arrête l'entraînement des actionneurs.
PCT/JP2018/017217 2018-04-27 2018-04-27 Dispositif de soin WO2019207769A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2018/017217 WO2019207769A1 (fr) 2018-04-27 2018-04-27 Dispositif de soin
JP2020515434A JP6998457B2 (ja) 2018-04-27 2018-04-27 介助装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2018/017217 WO2019207769A1 (fr) 2018-04-27 2018-04-27 Dispositif de soin

Publications (1)

Publication Number Publication Date
WO2019207769A1 true WO2019207769A1 (fr) 2019-10-31

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PCT/JP2018/017217 WO2019207769A1 (fr) 2018-04-27 2018-04-27 Dispositif de soin

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JP (1) JP6998457B2 (fr)
WO (1) WO2019207769A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014121503A (ja) * 2012-12-24 2014-07-03 Fuji Mach Mfg Co Ltd 自走式介助ロボット
JP2015165879A (ja) * 2014-03-04 2015-09-24 トヨタ自動車株式会社 介護システム
JP2017136350A (ja) * 2016-01-29 2017-08-10 パナソニックＩｐマネジメント株式会社 ロボット、ロボットの制御方法、及び、プログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014121503A (ja) * 2012-12-24 2014-07-03 Fuji Mach Mfg Co Ltd 自走式介助ロボット
JP2015165879A (ja) * 2014-03-04 2015-09-24 トヨタ自動車株式会社 介護システム
JP2017136350A (ja) * 2016-01-29 2017-08-10 パナソニックＩｐマネジメント株式会社 ロボット、ロボットの制御方法、及び、プログラム

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JPWO2019207769A1 (ja) 2021-01-14

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