WO2020070853A1

WO2020070853A1 - Assistance apparatus

Info

Publication number: WO2020070853A1
Application number: PCT/JP2018/037184
Authority: WO
Inventors: 英明野村; 立高橋; 隆史三矢; 聡志清水
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2018-10-04
Filing date: 2018-10-04
Publication date: 2020-04-09
Also published as: JP7011084B2; JPWO2020070853A1

Abstract

This assistance apparatus is provided with: a raising and lowering part that moves along a linear motion axis inclined forward with respect to a vertical axis; an oscillation part that turns about a horizontal center axis to oscillate a support member; and a control device that controls movement of the support member in cooperation with the movement of the raising and lowering part and the turning of the oscillation part. Motion processing for a standing motion includes: a first step for turning the oscillation part forward and lowering the raising and lowering part to change an assistance recipient supported by the support member from an initial sitting posture to an intermediate posture in which the upper part of the body of the assistance recipient is bent forward; and a second step for raising the raising and lowering part to change the assistance recipient from the intermediate posture to a standing posture.

Description

Assistive device

The present invention relates to an assistance device.

Patent Document 1 discloses an assisting device for assisting a person to be assisted in standing up. This assistance device includes a vertically moving unit that moves directly in the vertical direction, and a swinging unit that is swingably provided above the vertically moving unit. This assisting device supports the upper body of the assisted person in the sitting position, and assists the erecting operation so as to bring the assisted person into the standing position by coordinating the movement of the elevating unit and the turning of the swinging unit.

International Publication No. WO2018 / 116472

負担 Here, the burden on the care recipient may fluctuate due to the posture change process until the care recipient shifts from the sitting posture to the standing posture. In addition, the assist device is reduced in weight and manufacturing cost by simplifying a configuration including a drive device. On the other hand, the assisting device is required to further reduce the burden on the assisted person when assisting the erecting operation in a limited operation range of the driving device.

The purpose of the present specification is to provide an assisting device capable of further reducing the burden on the assisted person when assisting the standing motion.

The present specification is a base, a support member for supporting the upper body of the care recipient, a lifting unit provided on the base, and moving along a linear motion axis inclined forward with respect to a vertical axis, A swing unit provided on the elevating unit and swinging around a horizontal center axis to swing the support member; and in an operation process for assisting the care recipient to stand up, the movement of the elevating unit and the swing A control device for controlling the movement of the support member by coordinating the turning of the part, wherein the operation process of the standing operation is performed by tilting the support member by turning the swinging part forward. The reference position of the support member is moved upward and forward with respect to the center axis, and the center axis is moved downward and rearward with respect to the base by lowering the elevating unit, so that the support member Before supported A first step of setting the care receiver from the initial sitting posture to the intermediate posture in which the upper body is tilted forward, and a second step of raising the elevating unit and setting the care receiver to the standing posture from the intermediate posture. Are disclosed.

The present specification is a base, a support member for supporting the upper body of the care recipient, a lifting unit provided on the base, and moving along a linear motion axis inclined forward with respect to a vertical axis, A swing unit provided on the elevating unit and swinging around a horizontal center axis to swing the support member; and in an operation process for assisting the care recipient to stand up, the movement of the elevating unit and the swing A control device for controlling the movement of the support member by coordinating the turning of the unit, wherein the inclination angle of the linear motion axis with respect to the vertical axis is set in an angle range of 10 degrees to 25 degrees, and In the operation processing, the swing unit is turned forward and the elevating unit is lowered, and the care receiver supported by the support member is tilted forward from the initial sitting position to an intermediate position in which the upper body is inclined forward. The first step of raising the lifting unit, A second step of the the care from the intermediate position and standing position, discloses a second assistance apparatus that includes.

According to the configuration of the first and second assisting devices, the assisted person is prevented from moving forward from the sitting position to the intermediate position where the entry to the assisting device is completed, and the weight of the assisted member is smoothly transferred to the support member. You can leave it. As a result, it is possible to further reduce the burden on the care recipient when assisting the standing motion.

It is the perspective view which looked at the assistance device of an embodiment from diagonally back. It is a side view which shows the assistance apparatus which supports the assisted person of a sitting posture. It is a side view which shows the assistance apparatus which supports the assistance recipient of an intermediate posture. It is a side view which shows the assistance apparatus which supports the assistance person of a standing posture. It is a side view which shows operation | movement of each part before and after execution of a 1st process and a 2nd process based on a raising / lowering part. It is a figure which shows the movement track of a lower reference position, and the movement track of an upper reference position.

1. Configuration of Assisting Device 1 The assisting device 1 assists the assisted person M (see FIG. 2 and the like) in standing up from a sitting position to a standing position and assisting a sitting operation from a standing position to a sitting position. I do. Since the assistance device 1 supports the upper body of the assistance recipient M in the standing posture, one assistance person can pull the assistance device 1 and move the assistance device 1 to a moving target in an assistance facility, for example.

Note that the “standing posture” means the posture in which the lower body of the care recipient M is standing, and does not matter the posture of the upper body. That is, the assist of the standing operation is an assist of the operation of raising the buttocks Mt of the care recipient M. The assistance of the sitting operation is an assistance of the operation of lowering the position of the buttocks Mt of the care recipient M.

(1) The assistance device 1 includes a base 10, a driving device 20, a support member 50, and a control device 60, as shown in FIG. The base 10 includes a frame 11, a column 12, a fixed cover 13, a footrest 14, a lower leg support 15, and six wheels 16-18. The frame 11 forms a main body of the base 10. The 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. The column 12 is provided so as to be at a predetermined angle forward with respect to the vertical axis. The support 12 accommodates a control device 60 described later therein. The fixed cover 13 covers and protects the column 12 and a part of the elevating unit 30 which will be described later.

The foot rest 14 is provided on the frame 11 so as to be horizontal. The lower leg contact part 15 is fixed to the frame 11 by a pair of left and right support arms 151. The leg support 15 is provided above the footrest 14. The main body of the lower leg contact portion 15 is a cushion material provided at the rear ends of the left and right support arms 151 and extending in the left-right direction. The lower leg contact portion 15 is a portion where the lower leg of the care recipient M contacts. The lower leg contact part 15 is configured to be able to adjust the height of the cushion material with respect to the footrest 14 and the position in the front-rear direction.

Three wheels 16-18 are provided on the left and right sides of the footrest 14 underneath. Each of the wheels 16-18 has a steering function of changing a moving direction. The front wheel 16 has a lock function for restricting movement. The assisting device 1 can perform not only the forward and backward movement and the direction change, but also the lateral movement (moving right beside) and the super-reallying turn (turning on the spot) by the turning function of the six wheels 16-18. Has become.

The drive device 20 supports the support member 50 that supports the upper body of the care recipient M so as to be movable in the vertical direction and the front-rear direction of the base 10. In the present embodiment, the driving device 20 includes a lifting drive unit 21, a swing driving unit 22, a lifting unit 30, and a swing unit 40. The operation of the elevation drive unit 21 and the swing drive unit 22 of the drive device 20 is controlled by the control device 60. The drive device 20 is configured to be able to move the support member 50 along a predetermined movement locus by coordinating the movement of the elevating unit 30 and the turning of the swing unit 40.

The elevating unit 30 is provided on the base 10. The elevating unit 30 moves along a linear motion axis An inclined forward with respect to the vertical axis. Details of the inclination angle θ of the translation axis An with respect to the vertical axis will be described later. The elevating unit 30 is guided by a guide (not shown) provided on the rear surface of the column 12 so as to be movable in the direction of the linear motion axis An. The elevating unit 30 moves along the guide of the column 12 by driving the elevating drive unit 21 as an actuator.

Since the linear motion axis An is inclined forward with respect to the vertical axis as described above, the elevating unit 30 moves forward as it rises and retreats as it descends. The swing drive unit 22 that turns the swing unit 40 is housed inside the elevating unit 30. The elevating unit 30 supports the swing unit 40 so as to be rotatable around the central axis Ar. The elevating unit 30 is protected by an elevating cover 31 that covers the periphery.

The swing unit 40 is provided in the elevating unit 30. The swing unit 40 swings around the central axis Ar to swing the support member 50. The swing unit 40 includes a swing main body 41, an arm 42, and a first handle 43, as shown in FIG. The swing main 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 main body 41. One end of the arm 42 is rotatably supported around a central axis Ar of the elevating unit 30. The arm 42 is rotated by the drive of the swing drive unit 22. When the assisting device 1 assists the standing operation, the arm 42 mainly turns forward from a state where the arm 42 extends rearward. On the other hand, when the assistance device 1 assists the seating operation, the arm 42 mainly turns rearward so as to be extended 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 swing main body 41. Side portions of the first handle 43 are gripped by both hands of the care recipient M. Further, the side portion and the front portion of the first handle 43 are gripped by the caregiver to move the assistance device 1. With the above-described configuration, the swing unit 40 pivots around a horizontal axis (center axis Ar) parallel to the left-right direction of the base 10 to support the swing unit 41 attached to the swing 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 care recipient M. The support member 50 includes a body support portion 51, a pair of side support portions 52, a second handle 53, and the like. The torso support portion 51 is formed in a planar shape close to the torso shape of the care recipient M. The body support 51 is formed of a material that can be flexibly deformed. The support surface of the torso support part 51 is in surface contact with the front of the torso in the upper body of the care receiver M to support the torso. More specifically, the support surface of the torso support portion 51 supports a range from the chest to the abdomen of the care recipient M. The body support 51 is attached to the swing body 41.

The torso support portion 51 is supported so as to be freely tiltable in the front-rear direction with respect to the swing main body 41. Specifically, the torso support portion 51 is configured to be tiltable in a predetermined angle range clockwise in FIG. 2 from the state shown in FIG. The above-mentioned “free tilt” means not a tilt driven by an actuator or the like, but a tilt that can be manually moved.

The pair of side support portions 52 is supported by the body support portion 51 and supports the side of the care receiver M. Specifically, the pair of side support portions 52 are provided on the left and right sides of the body support portion 51. The side support portion 52 is swingably supported by the body support portion 51. 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 provided integrally on the front surface of the body support 51. The second handle 53 is formed in a horizontally long U-shape. The second handle 53 includes a base portion fixed to a lower portion of the body support portion 51 and extending in the left-right direction, and a grip portion extending from both ends of the base portion toward the first handle 43 side.

The control device 60 is provided inside the column 12. The control device 60 controls the lifting drive unit 21 and the swing drive unit 22. The control device 60 drives the elevating drive unit 21 and the swing drive unit 22 based on a command from the care recipient M or the care assistant in an operation process for assisting the care recipient M in the standing motion and the sitting motion. The movement of the support member 50 is controlled by coordinating the movement of the lifting unit 30 and the turning of the swing unit 40.

The control device 60 performs the above-described control based on an operation on an unillustrated operating device that receives a command from the care recipient M or the care recipient. The control device 60 stores an auxiliary program for executing an operation process for assisting the standing operation and an operation process for assisting the sitting operation. In addition, a battery (not shown) that can be repeatedly charged and discharged is provided inside the column 12. The battery is used for driving the elevation drive unit 21 and the swing drive unit 22.

2. Operation Processing of Standing Operation by Assistance Device 1 Operation processing of assisting the standing operation by the assistance device 1 will be described with reference to FIGS. The operation process of the upright operation includes a first step of tilting the support member 50 forward and a second step of raising the support member 50. Note that the first step may include an operation of raising the support member 50, and similarly, the second step may include an operation of moving the support member 50 forward. In addition, the first step and the second step are actually executed in series, and when the support member 50 follows a smooth movement trajectory, it is not always possible to experience the switching of the steps.

In the present embodiment, the step of tilting and moving the support member 50 forward so that the mass of the upper body of the care receiver M is substantially deposited on the support member 50 is referred to as a first step. At this time, the care recipient M is shifted from the sitting position, which is the initial state shown in FIG. 2, to the intermediate position, shown in FIG. 3, in which the upper body is largely inclined forward. The process of raising the support member 50 so as to raise the upper body of the care receiver M is referred to as a second step. At this time, the care receiver M is shifted from the intermediate posture shown in FIG. 3 to a standing posture in which both legs are extended, which is the end state shown in FIG.

Here, when the movement of the elevating unit 30 and the turning of the swing unit 40 cooperate, the swinging support member 50 may have a part that moves forward with respect to the base 10 and a part that retreats. There may be a part that rises with respect to the base 10 and a part that descends. Therefore, hereinafter, the movement of the reference position set to the position that moves integrally with the support member 50 will be described as the movement of the support member 50. Note that a lower reference position Pb and an upper reference position Pu can be set as the reference positions as shown in FIG.

The lower reference position Pb is set at the lower end of the part of the trunk support 51 that contacts the trunk. As shown in FIGS. 2 to 4 and 6, during the standing-up operation of the care receiver M, the lower reference position Pb moves along the first movement trajectory Tb. That is, the control device 60 controls the movement of the support member 50 by coordinating the movement of the elevating unit 30 and the turning of the swing unit 40 so that the lower reference position Pb moves along the first movement trajectory Tb. .

{Circle around (2)} As shown in FIG. 2, the upper reference position Pu is set at the upper end of a portion of the body support portion 51 that comes into contact with the body. The upper reference position Pu may be set at a position beside the care receiver M. As shown in FIGS. 2 to 4 and 6, during the standing-up operation of the care receiver M, the upper reference position Pu moves along the second movement trajectory Tu. That is, the control device 60 controls the movement of the support member 50 by coordinating the movement of the elevating unit 30 and the turning of the swing unit 40 so that the upper reference position Pu moves along the second movement trajectory Tu.

As shown in FIG. 2, in the initial state of the operation process for assisting the standing operation, the care receiver M is in a seated state (a sitting posture state) in which the buttocks Mt are in contact with the seating surface 91 of the chair 90. . The assistance device 1 is set to an initial state of an operation process for assisting the standing-up operation by an operation of the assistance recipient M or the assistance assistant. The initial state of the assistance device 1 is a state in which the swing unit 40 extends rearward so that the support member 50 is located on the rear side of the movable range in the operation process of the standing operation. In this initial state, the care receiver M places his / her feet on the foot rest 14.

At this time, the care receiver M brings the front surface of the torso into surface contact with the torso support portion 51. In addition, the care receiver M brings the lower leg into contact with the rear surface of the lower leg contact portion 15. Further, the care recipient M holds the first handle 43. At this time, depending on the physique of the person to be assisted M, a certain gap may be formed between the side of the person to be assisted M and the armpit supporting portion 52. In this way, in the initial state in which the preparation for entry into the assistance device 1 has been completed, the assisted person M assumes a posture in which the upper body leans forward to some extent, as shown in FIG.

Subsequently, when the assisted person M or the assisted person starts the assisting operation of the standing motion, the control device 60 executes the first step of setting the assisted person M from the initial sitting position to the intermediate position in which the upper body is tilted forward. . Specifically, in the first step, the control device 60 tilts the support member 50 by first turning the swinging part 40 forward. At this time, the lower reference position Pb and the upper reference position Pu of the support member 50 move upward and forward with respect to the center axis Ar, as shown in FIG. The broken line in FIG. 5 shows the assistance device 1 supporting the care recipient M in the sitting position, and the solid line in FIG. 5 shows the assistance device 1 supporting the assistance person M in the middle posture, and one point in FIG. The chain line indicates the assisting device 1 that supports the assisted person M in the standing posture.

{Circle around (4)} In the first step, the control device 60 lowers the elevating unit 30 in coordination with the front swing of the swing unit 40. At this time, since the linear motion axis An is inclined forward with respect to the vertical axis, the elevating unit 30 moves the central axis Ar downward and backward with respect to the base 10 as shown in FIG. . Accordingly, in the first step, the care receiver M supported by the support member 50 is set to the intermediate posture in which the upper body is tilted forward from the initial sitting posture. At this time, the buttocks Mt of the care receiver M may be in a state of floating from the seat surface 91, depending on the physique of the care receiver M and the height of the seat surface 91 of the chair 90.

Here, FIG. 5 shows each part of the assistance device 1 before and after the execution of the first step with reference to the elevating unit 30. The lower reference position Pb rises with respect to the central axis Ar by an upward movement amount BV1 and moves forward by a forward movement amount BH1 with the swinging portion 40 turning forward. In the first step, the elevating unit 30 is lowered so that the center axis Ar is lowered by the downward movement amount LV1. At this time, the lifting unit 30 moves backward by the backward movement amount LH1.

Accordingly, as shown in FIG. 6, the lower reference position Pb as a whole rises by a rising amount NV1 corresponding to the difference (BV1−LV1) between the upward moving amount BV1 and the downward moving amount LV1. Further, the lower reference position Pb moves forward as a whole by an advance amount NH1 corresponding to the difference (BH1−LH1) between the forward movement amount BH1 and the rear movement amount LH1.

On the other hand, the upper reference position Pu rises with respect to the center axis Ar by the upward movement amount UV1 and moves forward by the forward movement amount UH1 with the swinging portion 40 turning forward. On the other hand, in the first step, the lifting unit 30 is lowered so that the center axis Ar is lowered by the downward movement amount LV1. At this time, the lifting unit 30 moves backward by the backward movement amount LH1.

Accordingly, as shown in FIG. 6, the upper reference position Pu rises as a whole by a rising amount MV1 corresponding to the difference (UV1−LV1) between the upward moving amount UV1 and the downward moving amount LV1. Further, the upper reference position Pu moves forward as a whole by an advance amount MH1 corresponding to a difference (UH1−LH1) between the forward movement amount UH1 and the backward movement amount LH1.

As a result, in the first step, the care receiver M supported by the support member 50 is moved from the initial sitting posture (see FIG. 2) to the intermediate posture in which the upper body of the care receiver M leans forward (see FIG. 3). And At this time, the lower reference position Pb moves along the first movement trajectory Tb from the position Pb1 to the position Pb2, as shown in FIG. Similarly, the upper reference position Pu moves along the second movement trajectory Tu from the position Pu1 to the position Pu2.

By the way, various values can be set as the elevation amounts NV1 and MV1 of the reference position (the lower reference position Pb or the upper reference position Pu) in the first step. Incidentally, by appropriately setting the rising amounts NV1 and MV1, the forward moving amounts NH1 and MH1 are determined according to the inclination angle θ of the linear motion shaft An. Alternatively, the rising amounts NV1 and MV1 may be determined by appropriately setting the forward moving amounts NH1 and MH1.

In the present embodiment, the first step is, as shown in FIG. 6, such that the advance amount NH1 of the lower reference position Pb is equal to or less than a predetermined amount, and the rising amount NV1 of the lower reference position Pb is set to the upper reference position Pu. The operation of each unit is controlled so as to be larger than the rising amount MV1. Thus, in the first step, the chest Mb of the care recipient M supported by the support member 50 is raised while moving forward, and the abdomen Ma of the care recipient M is raised while the front-back position is substantially maintained. The support member 50 is moved so as to rise more than the amount.

動作 The operation of bending the waist once in the initial stage of the standing operation is similar to the operation in which the care recipient M deposits the weight on the support member 50 while bending the waist by itself, and is a natural operation. In the intermediate position, the position of the center of gravity of the care receiver M in the front-rear direction is within the range in the front-rear direction where the foot of the care receiver M contacts the footrest 14. Therefore, the assisted person M in the intermediate position is in a position where it is easy to stably support itself with his / her feet, even if the person M cannot stand up by himself. Thus, in the first step, the care recipient M can smoothly shift to the intermediate position in which the weight is deposited in the support member 50, and the burden on the care recipient M can be further reduced.

Subsequently, the operation process of the standing operation is continued, and the control device 60 switches the operation of the elevating unit 30 from the down to the up, raises the elevating unit 30, and moves the care receiver M to the intermediate posture (see FIG. 3). ), The second step of setting the care receiver M to the standing posture in which both legs are extended (see FIG. 4) is executed. Specifically, in the second step, the swing unit 40 is turned forward and the lifting unit 30 is raised.

In the second step, as shown in FIG. 5, the lower reference position Pb rises by the upward movement amount BV2 with respect to the center axis Ar with the forward turning of the swinging unit 40, and advances by the forward movement amount BH2. I do. Then, in the second step, the lifting unit 30 is raised so that the central axis Ar is raised by the upward movement amount LV2. At this time, the lifting unit 30 moves forward by the forward movement amount LH2.

Accordingly, as shown in FIG. 6, the lower reference position Pb as a whole rises by a rising amount NV2 corresponding to the sum (BV2 + LV2) of the two upward moving amounts BV2 and LV2. Further, the lower reference position Pb moves forward as a whole by an advance amount NH2 corresponding to the sum (BH2 + LH2) of the two forward movement amounts BH2 and LH2.

On the other hand, the upper reference position Pu rises with respect to the center axis Ar by the upward movement amount UV2 and moves forward by the forward movement amount UH2 with the swinging portion 40 turning forward. Then, in the second step, the lifting unit 30 is raised so that the central axis Ar is raised by the upward movement amount LV2. At this time, the lifting unit 30 moves forward by the forward movement amount LH2.

Accordingly, as shown in FIG. 6, the upper reference position Pu rises as a whole by a rising amount MV2 corresponding to the sum (UV2 + LV2) of the two upward moving amounts UV2 and LV2. Further, the upper reference position Pu moves forward as a whole by an advance amount MH2 corresponding to the sum (UH2 + LH2) of the two forward movement amounts UH2 and LH2.

As a result, the second step is to change the care recipient M supported by the support member 50 from the intermediate posture (see FIG. 3) to the standing posture in which both legs of the care recipient M are extended (see FIG. 4). I do. At this time, the lower reference position Pb moves along the first movement trajectory Tb from the position Pb2 to the position Pb3, as shown in FIG. Similarly, the upper reference position Pu moves along the second movement trajectory Tu from the position Pu2 to the position Pu3. Accordingly, the upper body of the care receiver M moves forward while rising from the intermediate position.

Accordingly, in the second step, the back muscles of the care recipient M are maintained in a stretched state. In addition, the upper body of the care receiver M is stably supported by the support member 50. The position Pb3 at which the lower reference position Pb reaches at the end of the second step can be appropriately changed on the first movement trajectory Tb. For example, when the command to the assistance device 1 is no longer input, the control device 60 ends the operation process of the standing operation. Therefore, depending on the lower reference position Pb (position Pb3) at the time of termination, the care receiver M in the standing posture is in a state in which, for example, the knee of the lower leg is in contact with the lower leg contact portion 15 in addition to the posture shown in FIG. May be maintained. The same applies to the relationship between the upper reference position Pu and the position Pu3.

3. The inclination angle θ of the linear motion axis An of the lifting unit 30
In the present embodiment, in the first step of the operation process of the standing operation, the assisting device 1 performs the transition to the intermediate posture in which the assisted person M gradually deposits the weight on the support member 50. Here, depending on the process of the posture change of the care receiver M from the sitting posture to the intermediate posture, and from the intermediate posture to the standing posture, the load received by the care receiver M may vary. Specifically, for example, in a state where the weight of the care receiver M is not sufficiently deposited in the support member 50, if the amount of advance of the support member 50 increases, the upper body of the care receiver M is pulled forward and the comfort is increased. Decrease.

As described above, if the comfort in assisting the standing motion is reduced, the physical and psychological burden on the care receiver M may increase. Therefore, the assisting device 1 is required to assist the assisted person M with a more natural motion. On the other hand, if the assisting device 1 is provided with the drive device 20 that can operate in a complicated manner, it may be against weight reduction, miniaturization, and reduction in manufacturing cost. Therefore, the assisting device 1 is required to further reduce the burden on the assisted person M when assisting the standing operation in the limited operation range of the driving device.

Therefore, the assisting device 1 of the present embodiment includes an elevating unit that moves along the translation axis An that is inclined forward with respect to the vertical axis, and moves the swing unit 40 forward in the first step of the operation process of the upright operation. A configuration is adopted in which the elevator 30 is turned and the elevating unit 30 is lowered. According to the above-described configuration, when the elevating unit 30 is lowered by a predetermined amount in the first step, the center which is the center of rotation of the swing unit 40 by an amount corresponding to the amount of descent and the inclination angle θ of the linear motion axis An. The axis Ar moves backward with respect to the base 10.

Thus, the amount of rise and advance of the support member 50 with respect to the base 10 is reduced, and the amount of movement of the tilting support member 50 is optimized. The inclination angle θ of the linear motion axis An of the elevating unit 30 is appropriately set in consideration of the distance between the central axis Ar and the support member 50 and the use angle of the swing unit 40 so that the above-described control can be performed. Is done. In the present embodiment, the inclination angle θ of the linear motion axis An of the elevating unit 30 is set so as to satisfy at least one of the following first to third aspects as an example.

In the first embodiment, the inclination angle θ of the translation axis An with respect to the vertical axis is set according to the relationship with the operation of the lower reference position Pb. Specifically, in the first step, the upward movement amount of the lower reference position Pb with respect to the base 10 (the rising amount NV1) is the upward movement of the lower reference position Pb with respect to the center axis Ar associated with the front swing of the swing unit 40. It is assumed that the elevating unit 30 is lowered in coordination with the forward turning of the swing unit 40 so as to be 90% -70% of the amount BV1. In other words, the elevating unit 30 is lowered (for example, BV1 * 0.1 = LV1) so as to offset 10% to 30% of the upward movement amount BV1 associated with the forward turning of the swing unit 40.

The forward movement amount BH1 of the lower reference position Pb of the support member 50 with respect to the center axis Ar due to the front swing of the swinging unit 40, and the backward movement amount LH1 of the center axis Ar with respect to the base 10 due to the lowering of the elevating unit 30. Is set within a predetermined angle range so that the ratio (BH1: LH1) becomes 3: 1 to 1: 2. Specific numerical values included in the above angle range vary depending on the distance between the central axis Ar and the lower reference position Pb, the start position Pb1 of the first step of the lower reference position Pb, and the end position Pb2 of the first step. obtain. However, the inclination angle θ is set so that the above-mentioned ratio (BH1: LH1) falls within an angle range satisfying 3: 1 to 1: 2.

In the second embodiment, the inclination angle θ of the translation axis An with respect to the vertical axis is set according to the relationship with the operation of the upper reference position Pu. Specifically, in the first step, the elevating unit 30 is lowered in coordination with the front turning of the swing unit 40 so that the height of the upper reference position Pu with respect to the base 10 is maintained within the specified range Rs. I do. In other words, the lifting unit 30 is lowered (for example, UV1 * 0.2) so that a part of the upward movement amount UV1 due to the front turning of the swing unit 40 is offset and the rising amount MV1 falls within the specified range Rs. = LV1). Note that the above-mentioned “specified range Rs” is set to a range of 0% to 80% of the upward movement amount UV1 associated with the front swing of the swing unit 40, as shown in FIG.

The forward movement amount UH1 of the upper reference position Pu in the support member 50 with respect to the center axis Ar due to the front swing of the swinging unit 40, and the backward movement amount LH1 of the center axis Ar with respect to the base 10 due to the lowering of the elevating unit 30. Is set within a predetermined angle range so that the ratio (UH1: LH1) becomes 5: 1 to 5: 3. The specific numerical values included in the above angle range are the distance between the central axis Ar and the upper reference position Pu, the start position Pu1 of the first step of the upper reference position Pu, and the end of the first step, as in the first embodiment. It may vary depending on the position Pu2. However, the inclination angle θ is set so that the above ratio (UH1: LH1) falls within an angle range satisfying 5: 1 to 5: 3.

として As a third aspect, the inclination angle θ of the translation axis An with respect to the vertical axis is set in an angle range of 10 degrees to 30 degrees. As described above, in order to assist the care receiver M with a more natural motion in assisting the standing motion, the lowering of the elevating unit 30 is coordinated with the forward turning of the swinging unit 40. It is necessary to set the inclination angle θ of the translation axis An in consideration of the distance from the lower reference position Pb and the upper reference position Pu.

On the other hand, it is necessary to assist the standing-up motion corresponding to each different target such as the physique of the care recipient M. In consideration of the above circumstances, the inclination angle θ of the linear motion axis An is set in an angle range of 10 degrees to 30 degrees, for example, by adjusting the moving speed of the elevating unit 30 and the like, and The support member 50 can be moved along the first movement trajectory Tb and the second movement trajectory Tu, which can be assisted by a more natural movement.

In addition, in order to sufficiently reduce the amount of advance of the support member 50 with respect to the base 10 in the first step, it is conceivable to set the inclination angle θ of the translation axis An large. On the other hand, if the inclination angle θ is set too large, the amount of advance of the support member 50 with respect to the base 10 in the second step increases. At this time, the stability improves as the center of gravity of the upper body of the care receiver M in the standing posture is closer to the front-back position of the foot placed on the foot rest 14. As described above, from the viewpoint of improving the use comfort in the first step and the second step, and improving the stability of the standing posture in the end state of the standing operation, the inclination angle θ of the linear motion axis An with respect to the vertical axis. Is preferably set in an angle range of 15 degrees to 25 degrees.

In the first and third aspects, the control device 60 determines that the forward movement amount (forward amount NH1) of the lower reference position Pb in the first step is the forward movement amount of the lower reference position Pb in the second step. The movement of the lower reference position Pb in the support member 50 is controlled so as to be smaller than (the advance amount NH2) (NH1 <NH2). As a result, the abdomen Ma of the care receiver M located near the lower reference position Pb moves forward with respect to the base 10 in the second step in which the ride-in is completed, as compared with the first step. Therefore, the use comfort of the assistance device 1 is further improved.

In the second and third aspects, the control device 60 determines that the forward movement amount (forward amount MH1) of the upper reference position Pu with respect to the base 10 in the first step is equal to the upper reference position with respect to the base 10 in the second step. The movement of the upper reference position Pu on the support member 50 is controlled so as to be smaller than the forward movement amount of the position Pu (the forward movement amount MH2) (MH1 <MH2).

In addition, the controller 60 determines that the upward movement amount (elevation amount MV1) of the upper reference position Pu with respect to the base 10 in the first step is the upward movement amount (elevation amount MV2) of the upper reference position Pu with respect to the base 10 in the second step. (MV1 ≦ (2/3) * MV2) so as to control the movement of the upper reference position Pu on the support member 50. As a result, the side and the chest Mb of the care receiver M located near the upper reference position Pu rise and advance with respect to the base 10 in the second step where the boarding is completed, as compared with the first step. Thereby, the comfort of use of the assistance device 1 is further improved.

4. Modifications of Embodiment In the embodiment, the reference position is set at a lower end, an upper end, or a position beside the care receiver M of a part of the body support portion 51 that contacts the body of the care receiver M. . On the other hand, the reference position can be appropriately set as long as the reference position is set to a position that moves integrally with the support member 50. For example, the reference position may be set to the position of the chest Mb of the care receiver M in a configuration in which the support member 50 includes the body support as illustrated in the embodiment. Further, the reference position may be set at a connecting portion between the swing main body 41 and the arm 42. Even in such a configuration, the same effect as that of the embodiment can be obtained.

In the embodiment, in the operation processing for assisting the standing operation, each of the first step and the second step includes an operation of turning the swing unit 40 forward, and an operation of rotating the swing unit 40 rearward. It was not. On the other hand, for example, when it is necessary to raise the upper body of the care receiver M to some extent in the standing posture due to a difference in the assistance level, the ascending and descending is performed so that at least one of the steps includes the backward turning of the swing unit 40. The movement of the support member 50 may be controlled by coordinating the movement of the part 30 and the turning of the swing part 40.

動作 Further, the operation process of the standing operation is constituted by two steps of a first step and a second step executed in series. On the other hand, another process may be appropriately included in the operation process of the standing operation. For example, the operation processing may include a preparation step for changing the assistance apparatus 1 from the current state to the initial state, a recovery step in the case where each executed step is stopped and then restarted, and the like. The control device 60 controls the movement of the support member 50 by coordinating the movement of the elevating unit 30 and the turning of the swinging unit 40 by combining various processes based on the state of the assistance device 1 and the input command. The configuration may be such that

In the embodiment, the starting point of the first step is the initial state of the assistance device 1. Further, the end point of the first step and the start point of the second step are in a state where the weight of the care recipient M is deposited in the support member 50 and the care recipient M is in the middle posture. In addition, the end point of the second step is a state when the elevating unit 30 reaches a predetermined height so that the care recipient M is in a standing posture.

In the embodiment, the first step and the second step are defined as described above. In addition, the height of the elevating unit 30, the angle of the swinging unit 40, the position of the lower reference position Pb on the first movement trajectory Tb, The process may be divided according to the position of the upper reference position Pu on the movement trajectory Tu, the angle of the support member 50, the posture of the care receiver M, and the like. In any of the sections, in the first step of shifting from the sitting posture to the intermediate posture, assisting the raising and lowering of the raising and lowering part in coordination with the turning of the swing part 40 so that the center axis Ar moves backward while descending. The burden on the person M can be reduced.

1: assisting device, # 10: base, # 20: driving device, # 30: elevating unit, # 40: swinging unit, #supporting member 50, # 51: body supporting unit, # 52: side supporting unit, # 60: control device, @An: straight Motion axis, Ar: central axis, M: care recipient, Mb: chest, Ma: abdomen, Mt: buttocks, Pd: lower reference position, Pu: upper reference position, Td: (lower reference position) movement trajectory , Tu: movement trajectory (upper reference position)

Claims

A base,
A support member for supporting the upper body of the care recipient;
An elevating unit provided on the base, which moves along a linear motion axis inclined forward with respect to a vertical axis,
A swing unit provided on the elevating unit, swinging around a horizontal center axis to swing the support member,
A control device that controls movement of the support member by coordinating movement of the elevating unit and turning of the swinging unit, in an operation process that assists the caregiver's standing operation,
In the operation process of the standing operation,
By moving the reference position of the support member upward and forward with respect to the center axis while tilting the support member by turning the swinging portion forward, the lower portion is moved to the base by lowering the elevating portion. A first step of moving the center axis downward and rearward with respect to the assisted person supported by the support member to an intermediate posture in which the upper body is tilted forward from an initial sitting posture,
A second step of raising the elevating unit to change the care recipient from the intermediate posture to a standing posture.
The support member is formed in a planar shape, and has a torso support portion that supports the torso in surface contact with a front surface of the torso in the upper body of the care recipient,
The assistance device according to claim 1, wherein the reference position is set at a lower end of a portion of the body support portion that contacts the body.
The control device controls the movement of the reference position on the support member such that a forward movement amount of the reference position in the first step is smaller than a forward movement amount of the reference position in the second step. Item 3. The assistance device according to Item 2.
The inclination angle of the linear motion axis with respect to the vertical axis is the upward movement amount of the reference position with respect to the base in the first step, and the upward movement amount of the reference position with respect to the central axis associated with the front swing of the swing unit. When the elevating unit is lowered in coordination with the front swing of the swing unit so as to be 90% -70% of the reference value, the reference of the support member with respect to the center axis associated with the front swing of the swing unit is set. 4. The ratio according to claim 2, wherein a ratio between a forward movement amount of a position and a backward movement amount of the center axis with respect to the base with the lowering of the elevating unit is set in an angle range from 3: 1 to 1: 2. Assistive device as described.
The support member is formed in a planar shape, and has a torso support portion that supports the torso in surface contact with a front surface of the torso in the upper body of the care recipient,
The assistance device according to claim 1, wherein the reference position is set at an upper end of a portion of the body support portion that contacts the body.
The support member,
A torso supporting portion formed in a planar shape and supporting the torso in surface contact with the front of the torso in the upper body of the care recipient,
Having a side support portion that is supported by the torso support portion and supports the side of the care recipient;
The assistance device according to claim 1, wherein the reference position is set at a position beside the care recipient.
The control device is configured such that a forward movement amount of the reference position with respect to the base in the first step is smaller than a forward movement amount of the reference position with respect to the base in the second step, and The movement of the reference position on the support member is controlled such that the amount of upward movement of the reference position with respect to the base is not more than 2/3 of the amount of upward movement of the reference position with respect to the base in the second step. The assistance device according to claim 5.
The inclination angle of the linear motion axis with respect to the vertical axis is coordinated with the front turning of the swing unit so that the height of the reference position with respect to the base is maintained within a specified range in the first step. When the elevating unit is lowered, the amount of forward movement of the reference position of the support member with respect to the center axis associated with the front swing of the swinging unit and the rear of the central axis with respect to the base accompanying the descent of the elevating unit The assisting device according to any one of claims 5 to 7, wherein the assisting device is set in an angle range in which a ratio to the moving amount is from 5: 1 to 5: 3.
In the first step, the chest of the care recipient supported by the support member rises while moving forward, and the abdomen of the care recipient rises more than the rising amount of the chest while maintaining the front-back position. The assistance device according to any one of claims 1 to 8, wherein the support member is moved to perform the operation.
The assisting device according to any one of claims 1 to 9, wherein the inclination angle of the linear motion axis with respect to the vertical axis is set in an angle range of 10 degrees to 30 degrees.
A base,
A support member for supporting the upper body of the care recipient;
An elevating unit provided on the base, which moves along a linear motion axis inclined forward with respect to a vertical axis,
A swing unit provided on the elevating unit, swinging around a horizontal center axis to swing the support member,
A control device that controls movement of the support member by coordinating movement of the elevating unit and turning of the swinging unit, in an operation process that assists the standing-up operation of the care receiver,
The inclination angle of the linear motion axis with respect to the vertical axis is set in an angle range of 10 degrees to 30 degrees,
In the operation process of the standing operation,
A first step of lowering the elevating unit while rotating the swinging unit forward and lowering the care receiver supported by the support member from an initial sitting position to an intermediate position in which the upper body is tilted forward.
A second step of raising the elevating unit to change the care receiver from the intermediate posture to a standing posture.