WO2020129152A1 - Assistance device - Google Patents

Assistance device Download PDF

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Publication number
WO2020129152A1
WO2020129152A1 PCT/JP2018/046541 JP2018046541W WO2020129152A1 WO 2020129152 A1 WO2020129152 A1 WO 2020129152A1 JP 2018046541 W JP2018046541 W JP 2018046541W WO 2020129152 A1 WO2020129152 A1 WO 2020129152A1
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WO
WIPO (PCT)
Prior art keywords
person
assisted
assistance device
arm
handle
Prior art date
Application number
PCT/JP2018/046541
Other languages
French (fr)
Japanese (ja)
Inventor
智子 公文
英明 野村
聡志 清水
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/JP2018/046541 priority Critical patent/WO2020129152A1/en
Priority to JP2020560677A priority patent/JP7129492B2/en
Publication of WO2020129152A1 publication Critical patent/WO2020129152A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids

Definitions

  • This specification relates to an assisting device.
  • Patent Document 1 discloses an assistance device that assists a transfer operation of a person being assisted from a sitting posture.
  • This specification makes it a subject to be solved to provide an assisting device capable of reducing anxiety of a person being assisted.
  • the present specification discloses an assisting device that assists the assisted person in standing and sitting while changing the posture of the assisted person's upper body.
  • the assistance device supports a base, at least an upper half of the person being assisted, and a support part displaceably provided with respect to the base, a drive part for driving the support part, and the standing motion. And a shielding part that blocks the field of view of the person being assisted, which is supported by the supporting part during the sitting motion.
  • the assisting device disclosed in the present specification can maintain a state in which the field of view of the person being assisted is shielded by the shielding portion when assisting the person standing up and sitting down. Therefore, the assistance device can reduce anxiety of the person being assisted.
  • FIG. 6 is a side partial cross-sectional view of the assistance device, showing an operation process of the assistance device when the buttocks of the person being assisted are floated from the chair.
  • FIG. 6 is a side partial cross-sectional view of the assistance device, showing a state where the buttocks of the person being assisted are lifted from the chair.
  • It is a side surface partial sectional view of the assistance device in a modification, and shows the initial state when a person being assisted gets on the assistance device.
  • Assistance device 1 assists transfer between two different locations, such as transfer between the bed and wheelchair of the person being assisted M or transfer between wheelchair and toilet seat.
  • the assistance device 1 supports the body of the person being assisted M and assists the standing motion from the sitting posture to the transfer posture and the sitting motion from the transfer posture to the sitting posture.
  • the posture during transfer is a posture in which the buttocks are floating from the seat surface, and includes a standing posture and a mid-waist posture. That is, the posture at the time of transfer includes a state in which the upper half of the body is standing up and a state of leaning forward.
  • the assistance device 1 can transport the person being assisted M in the posture at the time of transfer when the two places to be transferred are separated.
  • the assistance device 1 mainly includes a base 2, an arm 3, a support portion 4, an actuator 5, a link mechanism 6, a buffer mechanism 7, and a controller (not shown). ..
  • the base 2 mainly includes a footrest 21, a rear wheel 23, a base rod 24, a lower leg support 25, a pair of left and right mounting plates 26, and a pair of left and right front wheels 28.
  • the foot rest 21 is arranged at a position close to the floor surface F. Further, the foot rest 21 includes a foot rest surface 211 that forms an upper surface of the foot rest 21.
  • the foot rest surface 211 is a portion at which the person M to be assisted rests his/her foot, and is formed substantially horizontally.
  • a pair of left and right rear wheels 23 are provided on the left and right of the rear side of the footrest 21.
  • the pair of left and right base rods 24 are provided from the left and right of the front surface of the footrest 21 toward the front.
  • the base rod 24 bends upward from the front and then extends rearward with a tilt.
  • the lower leg support portion 25 is provided rearward on the upper portions of the two base rods 24.
  • the lower leg support portion 25 is provided above the front of the footrest table 21 and is provided at a position where the vicinity of the lower leg of the person to be assisted M can contact.
  • the pair of left and right mounting plates 26 are fixed to the inner positions facing each other, which are positions slightly above the bent portions that are bent upward from the front of the base rod 24.
  • the mounting plate 26 extends forward from the base rod 24.
  • the pair of left and right front wheels 28 are provided on the lower front portions of the pair of left and right mounting plates 26.
  • the front wheel 28 has a lock function for restricting movement. Therefore, the caregiver can safely move the person being assisted M on the assistance apparatus 1 by restricting the movement of the person being assisted M when the person being assisted M is riding on the assistance apparatus 1.
  • the arm 3 is supported by the mounting plate 26 so as to be swingable in the front-rear direction.
  • the swing of the arm 3 to the front corresponds to the standing direction in which the person being assisted M stands up, and the swing to the rear corresponds to the sitting direction in which the person M to be seated is seated.
  • a battery (not shown) serving as a power source for the actuator 5 and the control unit (not shown) is housed in the arm 3.
  • the support portion 4 mainly includes a body support portion 41 and a pair of left and right side support portions 45.
  • the body support portion 41 is a portion that supports the upper half of the person to be assisted M from the front.
  • the body support portion 41 includes a handle 42, a base plate 43, and a body contact member 44.
  • the handle 42 is formed in a substantially rectangular frame shape.
  • the handle 42 is a portion gripped by the person being assisted M and also a portion gripped by the assistant when moving the assistance apparatus 1.
  • the base plate 43 is a substantially rectangular member, and is formed by using a plate material having high rigidity such as metal or resin.
  • the base plate 43 is supported on the upper part of the arm 3 so as to be swingable in the front-rear direction.
  • the forward swing of the support portion 4 corresponds to the standing direction in which the person being assisted M stands up, and the backward swing corresponds to the sitting direction in which the person to be assisted M is seated.
  • the handle 42 is integrally swingably fixed to the base plate 43.
  • the body contact member 44 is attached to the upper surface of the base plate 43. Further, the body contact member 44 is a portion on which the person being assisted M applies his/her upper body, and is formed of a material that is more flexible than the base plate 43.
  • the pair of left and right side support parts 45 are attached to the left and right sides of the body support part 41 near the chest.
  • Each side support portion 45 is formed in an L shape that is bent at an obtuse angle.
  • the short linear portion from the base end on the mounting side of the armpit support portion 45 to the bending position is the shoulder receiving portion, and the long linear portion from the bending position to the tip is the armpit entry portion.
  • the shoulder receiving portion supports the front surface of the shoulder of the person being assisted M, and the armpit entry portions enter the sides of the body of the person being assisted M on both sides.
  • the side support portion 45 mainly includes a core member (not shown) and an outer peripheral member 47.
  • the core member is formed, for example, by bending a round bar or a pipe made of metal or hard resin.
  • the outer peripheral member 47 is a tubular member that covers the outer periphery of the core member, and is made of a material that is more flexible than the core member.
  • the actuator 5 mainly includes a main body portion 51, a movable portion 52, and a motor 53.
  • the body 51 is a cylindrical member.
  • the lower end of the main body 51 is connected to the base 2 via a cushioning mechanism 7 provided in the center of the footrest 21 on the front side in the left-right direction.
  • the movable portion 52 is a round bar-shaped member housed in the main body portion 51.
  • the movable portion 52 is provided so as to be retractable from the upper end of the main body portion 51.
  • the motor 53 is attached to the lower front side of the main body 51.
  • the direction of the current flowing through the motor 53 is controlled by a controller (not shown).
  • the movable part 52 is retracted from the main body part 51 by being driven by the motor 53, and the actuator 5 expands and contracts.
  • the actuator 5 can use another type of drive source such as a pressure drive source using hydraulic pressure or pneumatic pressure instead of the motor 53.
  • the link mechanism 6 mainly includes a first link member 61, a second link member 62, and a restriction member 63.
  • the first link member 61 is swingably supported by a support shaft 31 provided on the arm 3.
  • the first link member 61 is connected to the upper end of the movable portion 52 on the front side of the support shaft 31 shown in FIG.
  • an engaging pin 611 that can engage with the second link member 62 is formed on the first link member 61 rearward of the support shaft 31 shown in FIG. The engagement pin 611 pushes the second link member 62 downward when the first link member 61 swings counterclockwise as shown in FIG.
  • the front end of the second link member 62 is located below the engagement pin 611 provided on the first link member 61.
  • the rear end of the second link member 62 is fixed to the base plate 43, and the support portion 4 and the second link member 62 swing integrally with the arm 3.
  • the restriction member 63 is fixed to the arm 3 at a position above the first link member 61 and capable of contacting the first link member 61. In the state shown in FIG. 1, a gap is formed between the first link member 61 and the regulation member 63.
  • the control unit (not shown) is composed of the operating device 8 and the control main unit.
  • the operating device 8 has an up button 81 and a down button 82 for operating the actuator 5.
  • the operation device 8 is operated by an assistant.
  • the control main unit is configured by using a computer device having a CPU and operating by software.
  • the control body controls the presence/absence of a current flowing in the motor 53 of the actuator 5 and the flowing direction according to the operation information of the up button 81 and the down button 82.
  • the actuator 5 continues to extend while the up button 81 is pressed, and continues to shorten while the down button 82 is pressed. Then, the actuator 5 stops the extension when it reaches the limit, and stops the extension when it reaches the limit.
  • the assistance device 1 further includes a shielding unit 9 that blocks the view of the person M to be assisted who faces the front while being supported by the support unit 4.
  • the shield portion 9 is arranged in front of the face of the person being assisted M supported by the support portion 4.
  • the assistance device 1 blocks the field of view of the person being assisted M supported by the support portion 4 during the standing motion and the sitting motion, so that the field of view of the person being assisted M is assisted when assisting the standing motion and the sitting motion.
  • the scenery that enters can be prevented from changing.
  • the assistance device 1 can reduce the anxiety given to the person being assisted M when assisting the standing motion and the sitting motion.
  • a case where the shield 9 is attached to the handle 42 will be described as an example.
  • the shield 9 is detachably attached to the handle 42. Therefore, the caregiver can remove the shield 9 from the handle 42 when the shield 9 is unnecessary. That is, the assistance device 1 can appropriately attach and detach the shield portion 9 according to the person M to be assisted, and thus the convenience can be enhanced.
  • the shielding portion 9 can adjust the mounting position with respect to the handle 42.
  • the shield part 9 is moved in the up-down direction along the shape of the handle 42 to shield the helper M in the up-down direction.
  • the position of the part 9 can be adjusted. That is, the helper can adjust the position of the shield 9 so that the shield 9 is placed in front of the face of the person M in accordance with the body shape of the person M being assisted.
  • the assistance device 1 can mount the shielding portion 9 at a position suitable for the person being assisted M to be used, the field of view of the person being assisted M can be surely obstructed.
  • the shielding portion 9 is attached to a position closer to the person M to be assisted than the handle 42. Therefore, the assistance device 1 can bring the shielding portion 9 closer to the face of the person being assisted M. As a result, the assistance device 1 can prevent the assistance recipient M from moving away from the shielding portion 9 even if the assistance recipient M supported by the support portion 4 moves the viewpoint.
  • the handle 42 has a shape curved in a direction away from the shield 9.
  • a gap is provided between the handle 42 and the back side of the shielding portion 9 as seen from the person being assisted M, into which the finger of the person being assisted M can be inserted.
  • the person being assisted M can grip the handle 42 at a position on the back side of the shield portion 9 when viewed from the person being assisted M. Therefore, the person M to be assisted can increase the degree of freedom in the position of gripping the handle 42.
  • the person being assisted M can take a well-balanced posture while being supported by the support portion 4, so that the assistance device 1 can alleviate the anxiety given to the person being assisted M.
  • the width dimension w1 of the handle 42 in the left-right direction is set assuming the shoulder width of the person being assisted M.
  • the width dimension w1 of the handle 42 is set to a dimension that allows the person M to comfortably grasp the handle 42 with both hands when the person M to be assisted leans against the armpit support portion 45.
  • the shielding portion 9 When the person being assisted M supported by the support portion 4 looks at the shielding portion 9 from the front, the shielding portion 9 has a dimension in the up-down direction and the left-right direction that is at least larger than the head of the person being assisted M. It is formed to have dimensions. As a result, the assistance device 1 can sufficiently block the field of view of the person M to be assisted. Further, the width dimension w2 of the shielding portion 9 in the left-right direction is set to be larger than at least the width dimension w1 of the handle 42. Thereby, the assistance device 1 can suppress the viewpoint of the person being assisted M from deviating from the shielding portion 9 even if the person being assisted M whose upper body is supported by the support portion 4 moves the viewpoint left and right.
  • an operation mode of the assistance device 1 will be described.
  • an operation mode of the assistance device 1 when the person being assisted M is moved from a sitting state to a state where the buttocks are floated will be described.
  • the caregiver first grips the handle 42 to move the caregiver 1, and arranges it in front of the seated person M to be assisted.
  • the person M to be assisted moves the lower half of the body into the area below the support portion 4 and places both feet on the foot rest 21.
  • the person being assisted M can stabilize the posture by bringing a part of the lower leg into contact with the lower leg contact portion 25.
  • the second link member 62 can swing in the clockwise direction shown in FIG. Therefore, the person being assisted M can expand the region below the supporting portion 4 by swinging the supporting portion 4 forward. As a result, the person M to be assisted can easily enter the lower half of the body into the area below the support portion 4.
  • the person being assisted M leans forward while sitting and puts his/her upper body on the torso support portion 41.
  • the person being assisted M holds the handle 42 with both hands while leaning against the armpit support portion 45 on both sides.
  • the assistance device 1 can naturally orient the face of the person M to be assisted toward the shielding unit 9.
  • the assistance device 1 can block the field of view of the person being assisted M who faces the front by the blocking unit 9.
  • the caregiver may assist the series of actions of the person being assisted M described above.
  • the assistance device 1 can prevent the viewpoint from coming off the shielding unit 9 even if the person M to be assisted whose upper body is supported by the support unit 4 moves the viewpoint upward.
  • the person being assisted M can stabilize his/her posture by gripping a portion of the entire handle 42 that is located on the back side of the shielding portion 9 as seen from the person being assisted M.
  • the caregiver pushes the up button 81 of the operation device 8. While the caregiver is pushing the up button 81, the actuator 5 extends and the front end portion of the first link member 61 connected to the movable portion 52 is pushed up. Along with this, the first link member 61 swings counterclockwise as shown in FIG. 1, and the engagement pin 611 provided at the rear end of the first link member 61 pushes down the second link member 62. .. As a result, the second link member 62 swings clockwise as shown in FIG. 1, and the support portion 4 swings forward (upright direction). In this way, the support portion 4 is displaced with respect to the base 2 by being driven by the actuator 5 as a drive portion.
  • the assistance device 1 can maintain the relative position between the face of the person being assisted M and the shielding unit 9.
  • the assistance device 1 can maintain the state in which the shielding unit 9 is arranged in front of the person to be assisted M when changing the posture of the upper half of the person to be assisted M, so that the field of view of the person to be assisted is shielded. The state of being blocked by the portion 9 can be maintained.
  • the arm 3 When the actuator 5 further extends from the state shown in FIG. 3, the arm 3 is pushed up by the actuator 5 via the first link member 61, and the arm 3 swings relative to the base 2 in the clockwise direction shown in FIG. Move. Further, the actuator 5 tilts forward as the connecting position between the movable portion 52 and the first link member 61 is displaced. On the other hand, the support portion 4 maintains a constant posture with respect to the arm 3.
  • the shielding part 9 is displaced integrally with the support part 4 while maintaining the relative position with the person being assisted.
  • the shield 9 is located below the head of the person being assisted M who faces the front in the state shown in FIG. Therefore, the assistance device 1 can maintain the state in which the shielding unit 9 is positioned in front of the face of the person being assisted M even when the person being assisted M is in the posture during transfer.
  • the assistance device 1 blocks the view of the person being assisted M when changing the posture from the sitting posture to the posture during transfer and when changing the posture from the posture during transfer to the sitting posture,
  • the anxiety of the person being assisted M can be eased.
  • the shield 9 is attached to the handle 42, the assisting device 1 changes the posture from the sitting posture to the posture during transfer and when changing the posture from the posture during transfer to the posture during sitting.
  • the relative position between the face of the person being assisted M and the shielding portion 9 can be maintained.
  • the assistance device 1 can suppress a change in the view of the person being assisted M, so that the anxiety given to the person being assisted M can be effectively alleviated.
  • the shield 9 is formed in a flat plate shape. Further, the shielding portion 9 is arranged in front of the head of the person being assisted M in the state shown in FIG. 1, and is below the head of the person being assisted M in the state shown in FIGS. 3 and 4. Located in. In this case, the line-of-sight of the person being assisted is blocked by the shielding unit 9, while the person being assisted can confirm the facial expression of the person being assisted M from the side of the person being assisted. That is, the caregiver can assist the stand-up motion and the sitting motion by the caregiver 1 while confirming the facial expression of the person being assisted M. Therefore, even if the person M being assisted has some abnormality, the caregiver can cope with the abnormality. Can be done immediately.
  • FIG. 5 shows the assistance device 1 in which the shield portion 209 is attached to the arm 3.
  • the shielding unit 209 is arranged in front of the face of the person being assisted M supported by the supporting unit 4, and the field of view of the person being assisted M facing the front while being supported by the supporting unit 4 is shown. Block.
  • the shield portion 209 is detachably attached to the arm 3.
  • an insertion hole formed in accordance with the outer shape of the arm 3 and an opening serving as an entrance for inserting the arm 3 into the insertion hole are formed, and the arm is formed in the insertion hole.
  • the shield portion 209 is attached to the arm 3 by closing the opening in a state where the shield 3 is inserted. In this way, the assistance device 1 can appropriately attach and detach the shielding unit 209 according to the person M to be assisted, and thus the convenience can be enhanced.
  • the shielding part 209 can adjust the mounting position with respect to the arm 3.
  • the shielding unit 209 can adjust the position in the front-back direction as seen by the person being assisted M along the shape of the arm 3. Since the assistance device 1 can mount the shielding portion 209 at a position suitable for the person being assisted M to be used, the field of view of the person being assisted M can be surely obstructed.
  • the shield 209 is attached to the arm 3, the shield 209 is attached to a position farther from the face of the person being assisted M than the handle 42. In this case, the assistance apparatus 1 can reduce the feeling of pressure given to the person being assisted M by increasing the distance between the shield portion 209 and the face of the person being assisted M.
  • the shielding unit 209 blocks the field of view of the person being assisted M supported by the support unit 4 at the time of the standing up motion and the sitting motion by the assistance device 1, thereby assisting the standing motion and the sitting motion. It is possible to prevent the scenery that the person M sees from changing. As a result, the assistance device 1 can reduce the anxiety given to the person being assisted M when assisting the standing motion and the sitting motion.
  • the assistance device disclosed in the present specification has been described above based on the above-described embodiment and the above-described modified examples, the assistance device is not limited to the above-described mode and various modifications are possible without departing from the gist of the present disclosure. It is easy to infer that improvement is possible.
  • the sizes of the shields 9 and 209 in the up-down direction and the left-right direction when the person being assisted M is viewed from the front are appropriately adjusted according to the distance between the shields 9 and 209 and the face of the person being assisted M. do it. That is, in the assistance device 1, as the distance between the shields 9 and 209 and the face (eyes) of the person being assisted M is smaller, the field of view of the person M to be assisted is sufficient even if the size of the shields 9 and 209 is reduced. Since the light can be shielded, the shield portions 9 and 209 can be downsized. On the other hand, the assistance device 1 can reduce the feeling of pressure given to the person being assisted M by increasing the distance between the shields 9 and 209 and the face of the person being assisted M.
  • the assistance device 1 can stabilize the viewpoint of the person being assisted M. Further, in this case, the assistance device 1 can reduce the anxiety of the person being assisted M by making the consciousness toward the pattern, the pattern, or the like attached to the shields 9 and 209. Further, when the assisting device 1 assists the standing motion and the sitting motion, the relative positions of the shields 9 and 209 and the person being assisted M are maintained, so that the person being assisted M does not need to move his or her line of sight. .. Therefore, the assistance device 1 can prevent the line of sight from being separated from the shields 9 and 209 by moving the line of sight.
  • Assistance device 2: Base
  • 4 Supporting part
  • 5 Actuator (driving part)
  • 9,209 Shielding part
  • 91 Upper end of shielding part
  • M Assisted person

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

This assistance device assists an assistance recipient with the action of standing up and the action of sitting down while changing the posture of the upper body of the assistance recipient, and comprises: a base; a support part that supports at least the upper body of the assistance recipient, and is provided so as to be capable of displacement relative to the base; a drive part that drives the support part; and a shield part that is displaced relative to the base in a unified manner with the support part by being driven by the drive part, and blocks the field of view of the assistance recipient being supported by the support part.

Description

介助装置Assistance device
　本明細書は、介助装置に関する。 This specification relates to an assisting device.
　高齢化社会の進展に伴い、介助装置のニーズが増大している。例えば、特許文献１には、被介助者の座位姿勢からの移乗動作を介助する介助装置が開示されている。 Demand for assistive devices is increasing with the progress of an aging society. For example, Patent Document 1 discloses an assistance device that assists a transfer operation of a person being assisted from a sitting posture.
特開２０１６－１６５３１３号公報JP, 2016-165313, A
　特許文献１に記載の介助装置を用いて被介助者の移乗動作を介助するにあたり、被介助者の中には、介助装置に支えられながら体勢を変えられることに不安を感じる人がいるため、そうした被介助者の不安を軽減したいとの要請がある。 When assisting the transfer operation of the person being assisted by using the assistance device described in Patent Document 1, some of the persons being assisted are anxious about being able to change their posture while being supported by the assistance device. There is a request to reduce the anxiety of such care recipients.
　本明細書は、被介助者の不安を軽減できる介助装置を提供することを解決すべき課題とする。 This specification makes it a subject to be solved to provide an assisting device capable of reducing anxiety of a person being assisted.
　本明細書は、被介助者の上半身の姿勢を変えながら、前記被介助者の起立動作及び着座動作を補助する介助装置を開示する。前記介助装置は、基台と、前記被介助者の少なくとも上半身を支持すると共に、前記基台に対して変位可能に設けられた支持部と、前記支持部を駆動する駆動部と、前記起立動作及び前記着座動作に際して、前記支持部に支持された前記被介助者の視界を遮る遮蔽部と、を備える。 The present specification discloses an assisting device that assists the assisted person in standing and sitting while changing the posture of the assisted person's upper body. The assistance device supports a base, at least an upper half of the person being assisted, and a support part displaceably provided with respect to the base, a drive part for driving the support part, and the standing motion. And a shielding part that blocks the field of view of the person being assisted, which is supported by the supporting part during the sitting motion.
　本明細書で開示する介助装置は、被介助者の起立動作及び着座動作を補助する際に、遮蔽部によって被介助者の視界が遮られた状態を維持できる。よって、介助装置は、被介助者の不安を軽減できる。 The assisting device disclosed in the present specification can maintain a state in which the field of view of the person being assisted is shielded by the shielding portion when assisting the person standing up and sitting down. Therefore, the assistance device can reduce anxiety of the person being assisted.
実施形態における介助装置の側面部分断面図であり、被介助者が介助装置に搭乗した際の初期状態を示している。It is a side surface partial sectional view of an assistance device in an embodiment, and shows an initial state when a person being assisted gets on the assistance device. 被介助者の背面側から見た遮蔽部の形状を模式的に示した図である。It is the figure which showed typically the shape of the shield part seen from the back side of the person being assisted. 介助装置の側面部分断面図であり、被介助者の臀部を椅子から浮かせる際の介助装置の動作過程を示す。FIG. 6 is a side partial cross-sectional view of the assistance device, showing an operation process of the assistance device when the buttocks of the person being assisted are floated from the chair. 介助装置の側面部分断面図であり、被介助者の臀部を椅子から浮かせた状態を示す。FIG. 6 is a side partial cross-sectional view of the assistance device, showing a state where the buttocks of the person being assisted are lifted from the chair. 変形例における介助装置の側面部分断面図であり、被介助者が介助装置に搭乗した際の初期状態を示している。It is a side surface partial sectional view of the assistance device in a modification, and shows the initial state when a person being assisted gets on the assistance device.
　１．介助装置１の主な使用態様
　以下、本明細書に開示する介助装置を適用した実施形態について、図面を参照しながら説明する。まず、図１を参照しながら、介助装置１の主な使用態様について説明する。 1. Main Usage Modes of Assistance Device 1 Hereinafter, embodiments to which the assistance device disclosed in the present specification is applied will be described with reference to the drawings. First, main use modes of the assistance device 1 will be described with reference to FIG. 1.
　介助装置１は、例えば、被介助者Ｍのベッドと車椅子の間の移乗や、車椅子と便座の間の移乗など、異なる二箇所の間の移乗を介助する。介助装置１は、被介助者Ｍの胴体を支持して、座位姿勢から移乗時姿勢への起立動作、および移乗時姿勢から座位姿勢への着座動作を補助する。ここで、移乗時姿勢は、臀部が座面から浮いた姿勢であり、立位姿勢および中腰姿勢を含む。つまり、移乗時姿勢は、上半身が起立した状態および前かがみの状態などを含む。また、介助装置１は、移乗する二箇所が離れている場合に、移乗時姿勢の被介助者Ｍを移送することができる。 Assistance device 1 assists transfer between two different locations, such as transfer between the bed and wheelchair of the person being assisted M or transfer between wheelchair and toilet seat. The assistance device 1 supports the body of the person being assisted M and assists the standing motion from the sitting posture to the transfer posture and the sitting motion from the transfer posture to the sitting posture. Here, the posture during transfer is a posture in which the buttocks are floating from the seat surface, and includes a standing posture and a mid-waist posture. That is, the posture at the time of transfer includes a state in which the upper half of the body is standing up and a state of leaning forward. In addition, the assistance device 1 can transport the person being assisted M in the posture at the time of transfer when the two places to be transferred are separated.
　２．介助装置１の概略構成
　続いて、図１を参照しながら、介助装置１の概略構成を説明する。図１に示すように、介助装置１は、基台２と、アーム３と、支持部４と、アクチュエータ５と、リンク機構６と、緩衝機構７と、図略の制御部とを主に備える。 2. Schematic Configuration of Assistance Device 1 Subsequently, a schematic configuration of the assistance device 1 will be described with reference to FIG. As shown in FIG. 1, the assistance device 1 mainly includes a base 2, an arm 3, a support portion 4, an actuator 5, a link mechanism 6, a buffer mechanism 7, and a controller (not shown). ..
　基台２は、足載置台２１と、後輪２３と、基台ロッド２４と、下腿当て部２５と、左右一対の取り付け板２６と、左右一対の前輪２８とを主に備える。足載置台２１は、床面Ｆに近接した位置に配置される。また、足載置台２１は、足載置台２１の上面を形成する足載置面２１１を備える。足載置面２１１は、被介助者Ｍが足を載せる位置となる部位であって、概ね水平に形成される。 The base 2 mainly includes a footrest 21, a rear wheel 23, a base rod 24, a lower leg support 25, a pair of left and right mounting plates 26, and a pair of left and right front wheels 28. The foot rest 21 is arranged at a position close to the floor surface F. Further, the foot rest 21 includes a foot rest surface 211 that forms an upper surface of the foot rest 21. The foot rest surface 211 is a portion at which the person M to be assisted rests his/her foot, and is formed substantially horizontally.
　左右一対の後輪２３は、足載置台２１の後側の左右に設けられる。左右一対の基台ロッド２４は、足載置台２１の前面の左右からそれぞれ前向きに設けられる。基台ロッド２４は、前方から上方へ屈曲した後、後方に傾いて延在する。下腿当て部２５は、２本の基台ロッド２４の上部に、後向きに設けられる。下腿当て部２５は、足載置台２１の前寄りの上方に位置であって、被介助者Ｍの下腿付近が接触可能な位置に設けられている。 A pair of left and right rear wheels 23 are provided on the left and right of the rear side of the footrest 21. The pair of left and right base rods 24 are provided from the left and right of the front surface of the footrest 21 toward the front. The base rod 24 bends upward from the front and then extends rearward with a tilt. The lower leg support portion 25 is provided rearward on the upper portions of the two base rods 24. The lower leg support portion 25 is provided above the front of the footrest table 21 and is provided at a position where the vicinity of the lower leg of the person to be assisted M can contact.
　左右一対の取り付け板２６は、基台ロッド２４の前方から上方へ屈曲した屈曲部の少し上寄りの位置であって、向かい合う内側の位置にそれぞれ固設される。取り付け板２６は、基台ロッド２４から前方に延びる。左右一対の前輪２８は、左右一対の取り付け板２６の下側の前部に設けられる。介助装置１は、前輪２８および後輪２３の転舵機能により、直進移動および旋回移動だけでなく、横移動および超信地旋回が可能となっている。これにより、介助者は、介助装置１を容易に移動させることができる。なお、前輪２８は、移動を規制するロック機能を備える。よって、介助者は、被介助者Ｍを介助装置１に搭乗させる際に介助装置１の移動を規制することで、被介助者Ｍを安全に介助装置１に搭乗させることができる。 The pair of left and right mounting plates 26 are fixed to the inner positions facing each other, which are positions slightly above the bent portions that are bent upward from the front of the base rod 24. The mounting plate 26 extends forward from the base rod 24. The pair of left and right front wheels 28 are provided on the lower front portions of the pair of left and right mounting plates 26. With the steering function of the front wheels 28 and the rear wheels 23, the assistance device 1 is capable of not only the straight movement and the turning movement but also the lateral movement and the super-spot turning. This allows the caregiver to easily move the caregiver 1. The front wheel 28 has a lock function for restricting movement. Therefore, the caregiver can safely move the person being assisted M on the assistance apparatus 1 by restricting the movement of the person being assisted M when the person being assisted M is riding on the assistance apparatus 1.
　アーム３は、取り付け板２６に対し、前後方向へ揺動可能に支持される。なお、アーム３の前方への揺動は、被介助者Ｍを起立させる起立方向に対応し、後方への揺動は、被介助者Ｍを着座させる着座方向に対応する。また、アーム３には、アクチュエータ５及び制御部（図示せず）の電源となるバッテリ（図示せず）が収納される。 The arm 3 is supported by the mounting plate 26 so as to be swingable in the front-rear direction. The swing of the arm 3 to the front corresponds to the standing direction in which the person being assisted M stands up, and the swing to the rear corresponds to the sitting direction in which the person M to be seated is seated. A battery (not shown) serving as a power source for the actuator 5 and the control unit (not shown) is housed in the arm 3.
　支持部４は、胴体支持部４１と、左右一対の脇支持部４５とを主に備える。胴体支持部４１は、被介助者Ｍの上半身を前方から支持する部位である。胴体支持部４１は、ハンドル４２と、ベースプレート４３と、胴体接触部材４４とを備える。ハンドル４２は、概ね四角形の枠形状に形成されている。ハンドル４２は、被介助者Ｍが把持する部位であると共に、介助装置１を移動させる際に介助者が把持する部位でもある。 The support portion 4 mainly includes a body support portion 41 and a pair of left and right side support portions 45. The body support portion 41 is a portion that supports the upper half of the person to be assisted M from the front. The body support portion 41 includes a handle 42, a base plate 43, and a body contact member 44. The handle 42 is formed in a substantially rectangular frame shape. The handle 42 is a portion gripped by the person being assisted M and also a portion gripped by the assistant when moving the assistance apparatus 1.
　ベースプレート４３は、概ね矩形状の部材であって、金属や樹脂等の剛性の大きな板材を用いて形成される。ベースプレート４３は、アーム３の上部に対して前後方向へ揺動可能に支持される。なお、支持部４の前方への揺動は、被介助者Ｍを起立させる起立方向に対応し、後方への揺動は、被介助者Ｍを着座させる着座方向に対応する。また、ベースプレート４３には、ハンドル４２が一体的に揺動可能に固定される。胴体接触部材４４は、ベースプレート４３の上面に取り付けられる。また、胴体接触部材４４は、被介助者Ｍが上半身を当てる部位であり、ベースプレート４３よりも柔軟性のある材料で形成される。 The base plate 43 is a substantially rectangular member, and is formed by using a plate material having high rigidity such as metal or resin. The base plate 43 is supported on the upper part of the arm 3 so as to be swingable in the front-rear direction. The forward swing of the support portion 4 corresponds to the standing direction in which the person being assisted M stands up, and the backward swing corresponds to the sitting direction in which the person to be assisted M is seated. Further, the handle 42 is integrally swingably fixed to the base plate 43. The body contact member 44 is attached to the upper surface of the base plate 43. Further, the body contact member 44 is a portion on which the person being assisted M applies his/her upper body, and is formed of a material that is more flexible than the base plate 43.
　左右一対の脇支持部４５は、胴体支持部４１の左右両側の胸部寄りに取り付けられる。各々の脇支持部４５は、鈍角に屈曲するＬ字状に形成される。脇支持部４５の取り付け側の基端から屈曲位置までの短い直線状部分は肩受け部となり、屈曲位置から先端までの長い直線状部分は脇進入部となる。肩受け部は、被介助者Ｍの肩の前面を支持し、脇進入部は、被介助者Ｍの胴体の両側の脇に進入する。 The pair of left and right side support parts 45 are attached to the left and right sides of the body support part 41 near the chest. Each side support portion 45 is formed in an L shape that is bent at an obtuse angle. The short linear portion from the base end on the mounting side of the armpit support portion 45 to the bending position is the shoulder receiving portion, and the long linear portion from the bending position to the tip is the armpit entry portion. The shoulder receiving portion supports the front surface of the shoulder of the person being assisted M, and the armpit entry portions enter the sides of the body of the person being assisted M on both sides.
　脇支持部４５は、芯部材（図示せず）と、外周部材４７とを主に備える。芯部材は、例えば、金属又は硬質樹脂等で形成された丸棒やパイプを屈曲することにより形成される。外周部材４７は、芯部材の外周を覆う筒状の部材であり、心部材よりも柔軟性のある材料で形成される。 The side support portion 45 mainly includes a core member (not shown) and an outer peripheral member 47. The core member is formed, for example, by bending a round bar or a pipe made of metal or hard resin. The outer peripheral member 47 is a tubular member that covers the outer periphery of the core member, and is made of a material that is more flexible than the core member.
　アクチュエータ５は、本体部５１と、可動部５２と、モータ５３とを主に備える。本体部５１は、円筒状の部材である。本体部５１の下端は、足載置台２１の前側寄りの左右方向の中央に設けられた緩衝機構７を介して基台２に接続される。可動部５２は、本体部５１に収容された丸棒状の部材である。可動部５２は、本体部５１の上端から出没可能に設けられる。 The actuator 5 mainly includes a main body portion 51, a movable portion 52, and a motor 53. The body 51 is a cylindrical member. The lower end of the main body 51 is connected to the base 2 via a cushioning mechanism 7 provided in the center of the footrest 21 on the front side in the left-right direction. The movable portion 52 is a round bar-shaped member housed in the main body portion 51. The movable portion 52 is provided so as to be retractable from the upper end of the main body portion 51.
　モータ５３は、本体部５１の下部の前側に付設される。モータ５３は、図略の制御部によって流れる電流の方向が制御される。可動部５２は、モータ５３からの駆動によって本体部５１に対して出没し、アクチュエータ５が伸縮する。なお、アクチュエータ５は、モータ５３の代わりに、油圧や空気圧を用いた圧力駆動源などの別種の駆動源を用いることができる。 The motor 53 is attached to the lower front side of the main body 51. The direction of the current flowing through the motor 53 is controlled by a controller (not shown). The movable part 52 is retracted from the main body part 51 by being driven by the motor 53, and the actuator 5 expands and contracts. Note that the actuator 5 can use another type of drive source such as a pressure drive source using hydraulic pressure or pneumatic pressure instead of the motor 53.
　リンク機構６は、第一リンク部材６１と、第二リンク部材６２と、規制部材６３とを主に備える。第一リンク部材６１は、アーム３に設けられた支持軸３１に揺動可能に支持される。第一リンク部材６１は、図１に示す支持軸３１よりも前方側において、可動部５２の上端に接続される。また、第一リンク部材６１には、図１に示す支持軸３１よりも後方側に、第二リンク部材６２に係合可能な係合ピン６１１が突出形成される。この係合ピン６１１は、第一リンク部材６１が図１に示す反時計回りに揺動した際に、第二リンク部材６２を下方へ押し下げる。 The link mechanism 6 mainly includes a first link member 61, a second link member 62, and a restriction member 63. The first link member 61 is swingably supported by a support shaft 31 provided on the arm 3. The first link member 61 is connected to the upper end of the movable portion 52 on the front side of the support shaft 31 shown in FIG. Further, an engaging pin 611 that can engage with the second link member 62 is formed on the first link member 61 rearward of the support shaft 31 shown in FIG. The engagement pin 611 pushes the second link member 62 downward when the first link member 61 swings counterclockwise as shown in FIG.
　第二リンク部材６２の前方側端部は、第一リンク部材６１に設けられた係合ピン６１１の下方に位置する。第二リンク部材６２の後方側端部は、ベースプレート４３に固定され、支持部４及び第二リンク部材６２は、アーム３に対して一体的に揺動する。規制部材６３は、第一リンク部材６１の上方であって、第一リンク部材６１に当接可能な位置でアーム３に固定される。なお、図１に示す状態において、第一リンク部材６１と規制部材６３との間には、隙間が形成される。 The front end of the second link member 62 is located below the engagement pin 611 provided on the first link member 61. The rear end of the second link member 62 is fixed to the base plate 43, and the support portion 4 and the second link member 62 swing integrally with the arm 3. The restriction member 63 is fixed to the arm 3 at a position above the first link member 61 and capable of contacting the first link member 61. In the state shown in FIG. 1, a gap is formed between the first link member 61 and the regulation member 63.
　図略の制御部は、操作装置８及び制御本体部などで構成される。操作装置８は、アクチュエータ５を操作する上昇ボタン８１及び下降ボタン８２を有する。操作装置８は、介助者により操作される。制御本体部は、ＣＰＵを有してソフトウェアで動作するコンピュータ装置を用いて構成される。制御本体部は、上昇ボタン８１及び下降ボタン８２の操作情報に応じて、アクチュエータ５のモータ５３に流れる電流の有無及び流れる方向を制御する。アクチュエータ５は、上昇ボタン８１が押されている間、伸長し続け、下降ボタン８２が押されている間、短縮し続ける。そして、アクチュエータ５は、限界まで伸長したところで伸長を停止し、限界まで短縮したところで短縮を停止する。 The control unit (not shown) is composed of the operating device 8 and the control main unit. The operating device 8 has an up button 81 and a down button 82 for operating the actuator 5. The operation device 8 is operated by an assistant. The control main unit is configured by using a computer device having a CPU and operating by software. The control body controls the presence/absence of a current flowing in the motor 53 of the actuator 5 and the flowing direction according to the operation information of the up button 81 and the down button 82. The actuator 5 continues to extend while the up button 81 is pressed, and continues to shorten while the down button 82 is pressed. Then, the actuator 5 stops the extension when it reaches the limit, and stops the extension when it reaches the limit.
　３．遮蔽部９
　介助装置１は、支持部４に支持された状態で正面を向く被介助者Ｍの視界を遮る遮蔽部９を更に備える。遮蔽部９は、支持部４に支持された被介助者Ｍの顔の前に配置される。このように、介助装置１は、起立動作及び着座動作に際して、支持部４に支持された被介助者Ｍの視界を遮ることで、起立動作及び着座動作を介助する際に被介助者Ｍの視界に入る景色が変わることを防止できる。その結果、介助装置１は、起立動作及び着座動作を介助する際に被介助者Ｍに与える不安を軽減できる。ここで、本実施形態では、遮蔽部９がハンドル４２に装着される場合を例に挙げて説明する。 3. Shield 9
The assistance device 1 further includes a shielding unit 9 that blocks the view of the person M to be assisted who faces the front while being supported by the support unit 4. The shield portion 9 is arranged in front of the face of the person being assisted M supported by the support portion 4. In this way, the assistance device 1 blocks the field of view of the person being assisted M supported by the support portion 4 during the standing motion and the sitting motion, so that the field of view of the person being assisted M is assisted when assisting the standing motion and the sitting motion. The scenery that enters can be prevented from changing. As a result, the assistance device 1 can reduce the anxiety given to the person being assisted M when assisting the standing motion and the sitting motion. Here, in the present embodiment, a case where the shield 9 is attached to the handle 42 will be described as an example.
　遮蔽部９は、ハンドル４２に対し、着脱可能に装着される。よって、介助者は、遮蔽部９が不要である場合に、遮蔽部９をハンドル４２から取り外すことができる。つまり、介助装置１は、使用する被介助者Ｍに応じて遮蔽部９の着脱を適宜行うことができるので、利便性を高めることができる。 The shield 9 is detachably attached to the handle 42. Therefore, the caregiver can remove the shield 9 from the handle 42 when the shield 9 is unnecessary. That is, the assistance device 1 can appropriately attach and detach the shield portion 9 according to the person M to be assisted, and thus the convenience can be enhanced.
　また、遮蔽部９は、ハンドル４２に対する装着位置を調整することができる。例えば、介助装置１は、遮蔽部９がハンドル４２に装着された状態で、ハンドル４２の形状に沿って遮蔽部９を上下方向へ移動させることにより、被介助者Ｍから見た上下方向における遮蔽部９の位置調整を行うことができる。即ち、介助者は、被介助者Ｍの体型に合わせて、遮蔽部９が被介助者Ｍの顔の前に配置されるように遮蔽部９の位置調整を行うことができる。このように、介助装置１は、使用する被介助者Ｍにとって適した位置に遮蔽部９を装着できるので、被介助者Ｍの視界を確実に遮ることができる。 Also, the shielding portion 9 can adjust the mounting position with respect to the handle 42. For example, in the assistance device 1, when the shield part 9 is attached to the handle 42, the shield part 9 is moved in the up-down direction along the shape of the handle 42 to shield the helper M in the up-down direction. The position of the part 9 can be adjusted. That is, the helper can adjust the position of the shield 9 so that the shield 9 is placed in front of the face of the person M in accordance with the body shape of the person M being assisted. In this way, since the assistance device 1 can mount the shielding portion 9 at a position suitable for the person being assisted M to be used, the field of view of the person being assisted M can be surely obstructed.
　ここで、本実施形態において、遮蔽部９は、ハンドル４２よりも被介助者Ｍの顔に近い位置に装着される。よって、介助装置１は、遮蔽部９をより被介助者Ｍの顔に近づけることができる。これにより、介助装置１は、支持部４に支持された被介助者Ｍが視点を動かしたとしても、被介助者Ｍの視点が遮蔽部９から外れることを抑制できる Here, in the present embodiment, the shielding portion 9 is attached to a position closer to the person M to be assisted than the handle 42. Therefore, the assistance device 1 can bring the shielding portion 9 closer to the face of the person being assisted M. As a result, the assistance device 1 can prevent the assistance recipient M from moving away from the shielding portion 9 even if the assistance recipient M supported by the support portion 4 moves the viewpoint.
　さらに、ハンドル４２は、遮蔽部９から離れる方向に湾曲した形状を有する。そして、被介助者Ｍから見た遮蔽部９の裏側とハンドル４２との間に、被介助者Ｍの指を挿入可能な隙間が設けられている。これにより、被介助者Ｍは、被介助者Ｍから見て遮蔽部９の裏側となる位置で、ハンドル４２を把持することができる。よって、被介助者Ｍは、ハンドル４２を把持する位置の自由度を高めることができる。またその結果、被介助者Ｍは、支持部４に支持された状態でバランスの良い体勢をとることができるので、介助装置１は、被介助者Ｍに与える不安を和らげることができる。 Further, the handle 42 has a shape curved in a direction away from the shield 9. A gap is provided between the handle 42 and the back side of the shielding portion 9 as seen from the person being assisted M, into which the finger of the person being assisted M can be inserted. As a result, the person being assisted M can grip the handle 42 at a position on the back side of the shield portion 9 when viewed from the person being assisted M. Therefore, the person M to be assisted can increase the degree of freedom in the position of gripping the handle 42. Further, as a result, the person being assisted M can take a well-balanced posture while being supported by the support portion 4, so that the assistance device 1 can alleviate the anxiety given to the person being assisted M.
　ここで、図２に示すように、ハンドル４２の左右方向における幅寸法ｗ１は、概ね被介助者Ｍの肩幅を想定して設定される。具体的に、ハンドル４２の幅寸法ｗ１は、被介助者Ｍが脇支持部４５にもたれかかった状態で、被介助者Ｍが無理なく両手でハンドル４２を把持可能な寸法に設定される。 Here, as shown in FIG. 2, the width dimension w1 of the handle 42 in the left-right direction is set assuming the shoulder width of the person being assisted M. Specifically, the width dimension w1 of the handle 42 is set to a dimension that allows the person M to comfortably grasp the handle 42 with both hands when the person M to be assisted leans against the armpit support portion 45.
　そして、支持部４に支持された被介助者Ｍが正面から遮蔽部９を見た場合に、遮蔽部９は、上下方向及び左右方向における寸法が、少なくとも被介助者Ｍの頭部よりも大きな寸法となるように形成される。これにより、介助装置１は、被介助者Ｍの視界を十分に遮ることができる。さらに、遮蔽部９の左右方向における幅寸法ｗ２は、少なくともハンドル４２の幅寸法ｗ１よりも大きな寸法に設定される。これにより、介助装置１は、支持部４に上半身を支持された被介助者Ｍが視点を左右に動かしたとしても、被介助者Ｍの視点が遮蔽部９から外れることを抑制できる。 When the person being assisted M supported by the support portion 4 looks at the shielding portion 9 from the front, the shielding portion 9 has a dimension in the up-down direction and the left-right direction that is at least larger than the head of the person being assisted M. It is formed to have dimensions. As a result, the assistance device 1 can sufficiently block the field of view of the person M to be assisted. Further, the width dimension w2 of the shielding portion 9 in the left-right direction is set to be larger than at least the width dimension w1 of the handle 42. Thereby, the assistance device 1 can suppress the viewpoint of the person being assisted M from deviating from the shielding portion 9 even if the person being assisted M whose upper body is supported by the support portion 4 moves the viewpoint left and right.
　４．介助装置１の動作態様
　次に、介助装置１の動作態様について説明する。ここでは、被介助者Ｍを座らせた状態から臀部を浮かせた状態へ移行させる際の介助装置１の動作態様を説明する。図１に示すように、介助者は、最初に、ハンドル４２を把持して介助装置１を移動させ、座らせた被介助者Ｍの正面に配置する。 4. Operation Mode of Assistance Device 1 Next, an operation mode of the assistance device 1 will be described. Here, an operation mode of the assistance device 1 when the person being assisted M is moved from a sitting state to a state where the buttocks are floated will be described. As shown in FIG. 1, the caregiver first grips the handle 42 to move the caregiver 1, and arranges it in front of the seated person M to be assisted.
　その後、被介助者Ｍは、下半身を支持部４の下方の領域に進入させ、両足を足載置台２１に載置する。このとき、被介助者Ｍは、下腿の一部を下腿当て部２５に接触させることで、姿勢を安定させることができる。なお、図１に示す状態において、第二リンク部材６２は、図１に示す時計回りに揺動可能である。よって、被介助者Ｍは、支持部４を前方へ揺動させることで、支持部４の下方の領域を拡げることができる。その結果、被介助者Ｍは、下半身を支持部４の下方の領域に容易に進入させることができる。 After that, the person M to be assisted moves the lower half of the body into the area below the support portion 4 and places both feet on the foot rest 21. At this time, the person being assisted M can stabilize the posture by bringing a part of the lower leg into contact with the lower leg contact portion 25. In the state shown in FIG. 1, the second link member 62 can swing in the clockwise direction shown in FIG. Therefore, the person being assisted M can expand the region below the supporting portion 4 by swinging the supporting portion 4 forward. As a result, the person M to be assisted can easily enter the lower half of the body into the area below the support portion 4.
　続けて、被介助者Ｍは、座ったままの状態で前傾し、上半身を胴体支持部４１に当てる。また、被介助者Ｍは、両脇で脇支持部４５にもたれかかりながら、両手でハンドル４２を掴む。これにより、介助装置１は、被介助者Ｍの顔を自然と遮蔽部９に向けることができる。その結果、介助装置１は、正面を向く被介助者Ｍの視界を遮蔽部９によって遮ることができる。なお、介助者は、上記した被介助者Ｍの一連の動作を介助してもよい。 Next, the person being assisted M leans forward while sitting and puts his/her upper body on the torso support portion 41. In addition, the person being assisted M holds the handle 42 with both hands while leaning against the armpit support portion 45 on both sides. Thereby, the assistance device 1 can naturally orient the face of the person M to be assisted toward the shielding unit 9. As a result, the assistance device 1 can block the field of view of the person being assisted M who faces the front by the blocking unit 9. The caregiver may assist the series of actions of the person being assisted M described above.
　ここで、図１に示す状態において、遮蔽部９の上端９１は、被介助者Ｍの頭部よりも上方に位置する。よって、介助装置１は、支持部４に上半身を支持された被介助者Ｍが視点を上方へ動かしたとしても、視点が遮蔽部９から外れることを抑制できる。また、被介助者Ｍは、ハンドル４２全体のうち、被介助者Ｍから見た遮蔽部９の裏側に位置する部位を把持することで、体勢を安定させることができる。 Here, in the state shown in FIG. 1, the upper end 91 of the shielding portion 9 is located above the head of the person being assisted M. Therefore, the assistance device 1 can prevent the viewpoint from coming off the shielding unit 9 even if the person M to be assisted whose upper body is supported by the support unit 4 moves the viewpoint upward. In addition, the person being assisted M can stabilize his/her posture by gripping a portion of the entire handle 42 that is located on the back side of the shielding portion 9 as seen from the person being assisted M.
　その後、介助者は、操作装置８の上昇ボタン８１を押す。介助者が上昇ボタン８１を押している間、アクチュエータ５が伸長し、可動部５２に接続された第一リンク部材６１の前方側端部が押し上げられる。これに伴い、第一リンク部材６１は、図１に示す反時計回りに揺動し、第一リンク部材６１の後方側端部に設けられた係合ピン６１１が、第二リンク部材６２を押し下げる。その結果、第二リンク部材６２は、図１に示す時計回りに揺動し、支持部４は、前方（起立方向）に揺動する。このように、支持部４は、駆動部としてのアクチュエータ５に駆動されることで、基台２に対して変位する。 After that, the caregiver pushes the up button 81 of the operation device 8. While the caregiver is pushing the up button 81, the actuator 5 extends and the front end portion of the first link member 61 connected to the movable portion 52 is pushed up. Along with this, the first link member 61 swings counterclockwise as shown in FIG. 1, and the engagement pin 611 provided at the rear end of the first link member 61 pushes down the second link member 62. .. As a result, the second link member 62 swings clockwise as shown in FIG. 1, and the support portion 4 swings forward (upright direction). In this way, the support portion 4 is displaced with respect to the base 2 by being driven by the actuator 5 as a drive portion.
　図３に示すように、図１に示す状態からアクチュエータ５が所定長さまで伸長すると、脇支持部４５が前下がりとなる。これにより、被介助者Ｍは、後方への移動が脇支持部４５により規制される。また、図３に示す状態において、第一リンク部材６１は、規制部材６３に当接し、アーム３に対する第一リンク部材６１の揺動が規制される。その結果、支持部４のアーム３に対する揺動が規制される。 As shown in FIG. 3, when the actuator 5 extends from the state shown in FIG. 1 to a predetermined length, the armpit support portion 45 falls forward. As a result, the person M to be assisted is restricted from moving rearward by the side support portion 45. Further, in the state shown in FIG. 3, the first link member 61 contacts the regulation member 63, and the swing of the first link member 61 with respect to the arm 3 is regulated. As a result, swinging of the support portion 4 with respect to the arm 3 is restricted.
　ここで、図１に示す状態から図３に示す状態へ移行する間、又は、図３に示す状態から図１に示す状態へ移行する間、被介助者Ｍの上半身は、支持部４の変位に伴って変位する。そして、ハンドル４２に装着された遮蔽部９は、支持部４と一体的に変位する。これにより、介助装置１は、被介助者Ｍの顔と遮蔽部９との相対位置を維持することができる。つまり、介助装置１は、被介助者Ｍの上半身の体勢を変える際に、被介助者Ｍの顔の前に遮蔽部９が配置された状態を維持できるので、被介助者Ｍの視界が遮蔽部９に遮られた状態を維持できる。 Here, during the transition from the state shown in FIG. 1 to the state shown in FIG. 3, or during the transition from the state shown in FIG. 3 to the state shown in FIG. It is displaced along with. Then, the shield 9 attached to the handle 42 is displaced integrally with the support 4. Accordingly, the assistance device 1 can maintain the relative position between the face of the person being assisted M and the shielding unit 9. In other words, the assistance device 1 can maintain the state in which the shielding unit 9 is arranged in front of the person to be assisted M when changing the posture of the upper half of the person to be assisted M, so that the field of view of the person to be assisted is shielded. The state of being blocked by the portion 9 can be maintained.
　図３に示す状態から更にアクチュエータ５が伸長すると、アーム３は、第一リンク部材６１を介してアクチュエータ５に押し上げられ、アーム３は、基台２に対し、図３に示す時計回り方向へ揺動する。また、アクチュエータ５は、可動部５２と第一リンク部材６１との接続位置が変位するのに伴い、前方に傾動する。一方、支持部４は、アーム３に対して一定の姿勢を維持する。 When the actuator 5 further extends from the state shown in FIG. 3, the arm 3 is pushed up by the actuator 5 via the first link member 61, and the arm 3 swings relative to the base 2 in the clockwise direction shown in FIG. Move. Further, the actuator 5 tilts forward as the connecting position between the movable portion 52 and the first link member 61 is displaced. On the other hand, the support portion 4 maintains a constant posture with respect to the arm 3.
　図３に示す状態から図４に示す状態までアーム３が揺動すると、被介助者Ｍが更に前傾し、被介助者Ｍの上半身は、前方斜め上方へ移動する。その結果、被介助者Ｍの臀部が座面から大きく上昇し、被介助者Ｍは、脚部が伸びた移乗時姿勢となる。そして、図４に示す状態において、支持部４に支持された被介助者Ｍの顔は、自然と下を向き、正面を向く被介助者Ｍの視線が下方へ向けられる。 When the arm 3 swings from the state shown in FIG. 3 to the state shown in FIG. 4, the person M to be assisted leans forward, and the upper half of the person M to be assisted moves diagonally forward and upward. As a result, the buttocks of the person being assisted M are largely lifted from the seat surface, and the person being assisted M is in the transfer posture with the legs extended. Then, in the state shown in FIG. 4, the face of the person being assisted M supported by the support portion 4 naturally faces downward, and the line of sight of the person being assisted M who faces the front is directed downward.
　これに対し、遮蔽部９は、被介助者Ｍとの相対位置を維持しながら支持部４と一体的に変位する。そして、遮蔽部９は、図４に示す状態において、正面を向く被介助者Ｍの頭部の下方に位置する。よって、介助装置１は、被介助者Ｍが移乗時姿勢となった状態であっても、遮蔽部９が被介助者Ｍの顔の前に位置する状態を維持できる。 On the other hand, the shielding part 9 is displaced integrally with the support part 4 while maintaining the relative position with the person being assisted. The shield 9 is located below the head of the person being assisted M who faces the front in the state shown in FIG. Therefore, the assistance device 1 can maintain the state in which the shielding unit 9 is positioned in front of the face of the person being assisted M even when the person being assisted M is in the posture during transfer.
　このように、介助装置１は、座位姿勢から移乗時姿勢へと体勢を変える際に、及び、移乗時姿勢から座位姿勢へと体勢を変える際に、被介助者Ｍの視界を遮ることで、被介助者Ｍの不安を和らげることができる。また、遮蔽部９は、ハンドル４２に装着されるので、介助装置１は、座位姿勢から移乗時姿勢へと体勢を変える際に、及び、移乗時姿勢から座位姿勢へと体勢を変える際に、被介助者Ｍの顔と遮蔽部９との相対位置を維持できる。その結果、介助装置１は、被介助者Ｍの視界に入る景色の変化を抑制できるので、被介助者Ｍに与える不安を効果的に和らげることができる。 In this way, the assistance device 1 blocks the view of the person being assisted M when changing the posture from the sitting posture to the posture during transfer and when changing the posture from the posture during transfer to the sitting posture, The anxiety of the person being assisted M can be eased. Further, since the shield 9 is attached to the handle 42, the assisting device 1 changes the posture from the sitting posture to the posture during transfer and when changing the posture from the posture during transfer to the posture during sitting. The relative position between the face of the person being assisted M and the shielding portion 9 can be maintained. As a result, the assistance device 1 can suppress a change in the view of the person being assisted M, so that the anxiety given to the person being assisted M can be effectively alleviated.
　なお、遮蔽部９は、平板状に形成される。さらに、遮蔽部９は、図１に示す状態において、被介助者Ｍの頭部よりも前に配置されると共に、図３及び図４に示す状態において、被介助者Ｍの頭部よりも下方に位置する。この場合、被介助者Ｍの視線が遮蔽部９によって遮られるのに対し、介助者は、被介助者Ｍの側方から被介助者Ｍの表情を確認することができる。つまり、介助者は、被介助者Ｍの表情を確認しながら介助装置１による起立動作及び着座動作の介助を行うことができるので、被介助者Ｍに何らかの異常があったとしても、異常に対する対処を即座に行うことができる。 The shield 9 is formed in a flat plate shape. Further, the shielding portion 9 is arranged in front of the head of the person being assisted M in the state shown in FIG. 1, and is below the head of the person being assisted M in the state shown in FIGS. 3 and 4. Located in. In this case, the line-of-sight of the person being assisted is blocked by the shielding unit 9, while the person being assisted can confirm the facial expression of the person being assisted M from the side of the person being assisted. That is, the caregiver can assist the stand-up motion and the sitting motion by the caregiver 1 while confirming the facial expression of the person being assisted M. Therefore, even if the person M being assisted has some abnormality, the caregiver can cope with the abnormality. Can be done immediately.
　５．遮蔽部の変形例
　次に、遮蔽部の変形例について説明する。上記実施形態では、遮蔽部がハンドル４２に装着される場合を例に挙げて説明したが、遮蔽部は、ハンドル２以外の部位、例えばアーム３に装着されるものであってもよい。以下において、図５を参照しながら、遮蔽部の変形例を説明する。 5. Modified Example of Shielding Unit Next, a modified example of the shielding unit will be described. In the above embodiment, the case where the shield is attached to the handle 42 has been described as an example, but the shield may be attached to a part other than the handle 2, for example, the arm 3. Hereinafter, a modified example of the shielding unit will be described with reference to FIG.
　図５には、アーム３に遮蔽部２０９が装着された介助装置１が図示されている。図５に示すように、遮蔽部２０９は、支持部４に支持された被介助者Ｍの顔の前に配置され、支持部４に支持された状態で正面を向く被介助者Ｍの視界を遮る。また、遮蔽部２０９は、アーム３に対し、着脱可能に装着される。例えば、遮蔽部２０９の下方部分には、アーム３の外形形状に倣って形成された挿通穴と、その挿通孔にアーム３を挿通させる際の入口となる開口とが形成され、挿通孔にアーム３が挿通された状態で開口を塞ぐことで、遮蔽部２０９がアーム３に装着される。このように、介助装置１は、使用する被介助者Ｍに応じて遮蔽部２０９の着脱を適宜行うことができるので、利便性を高めることができる。 FIG. 5 shows the assistance device 1 in which the shield portion 209 is attached to the arm 3. As shown in FIG. 5, the shielding unit 209 is arranged in front of the face of the person being assisted M supported by the supporting unit 4, and the field of view of the person being assisted M facing the front while being supported by the supporting unit 4 is shown. Block. Further, the shield portion 209 is detachably attached to the arm 3. For example, in the lower portion of the shield portion 209, an insertion hole formed in accordance with the outer shape of the arm 3 and an opening serving as an entrance for inserting the arm 3 into the insertion hole are formed, and the arm is formed in the insertion hole. The shield portion 209 is attached to the arm 3 by closing the opening in a state where the shield 3 is inserted. In this way, the assistance device 1 can appropriately attach and detach the shielding unit 209 according to the person M to be assisted, and thus the convenience can be enhanced.
　また、遮蔽部２０９は、アーム３に対する装着位置を調整することができる。遮蔽部２０９がアーム３に装着される場合、遮蔽部２０９は、アーム３の形状に沿って、被介助者Ｍから見た前後方向における位置調整を行うことができる。介助装置１は、使用する被介助者Ｍにとって適した位置に遮蔽部２０９を装着できるので、被介助者Ｍの視界を確実に遮ることができる。さらに、遮蔽部２０９をアーム３に装着する場合、遮蔽部２０９は、ハンドル４２よりも被介助者Ｍの顔から離れた位置に装着される。この場合において、介助装置１は、遮蔽部２０９との被介助者Ｍの顔との距離を大きくすることにより、被介助者Ｍに与える圧迫感を軽減することができる。 Also, the shielding part 209 can adjust the mounting position with respect to the arm 3. When the shielding unit 209 is attached to the arm 3, the shielding unit 209 can adjust the position in the front-back direction as seen by the person being assisted M along the shape of the arm 3. Since the assistance device 1 can mount the shielding portion 209 at a position suitable for the person being assisted M to be used, the field of view of the person being assisted M can be surely obstructed. Further, when the shield 209 is attached to the arm 3, the shield 209 is attached to a position farther from the face of the person being assisted M than the handle 42. In this case, the assistance apparatus 1 can reduce the feeling of pressure given to the person being assisted M by increasing the distance between the shield portion 209 and the face of the person being assisted M.
　このように、遮蔽部２０９は、介助装置１による起立動作及び着座動作に際して、支持部４に支持された被介助者Ｍの視界を遮ることで、起立動作及び着座動作を介助する際に被介助者Ｍの視界に入る景色が変わることを防止できる。その結果、介助装置１は、起立動作及び着座動作を介助する際に被介助者Ｍに与える不安を軽減できる。 In this way, the shielding unit 209 blocks the field of view of the person being assisted M supported by the support unit 4 at the time of the standing up motion and the sitting motion by the assistance device 1, thereby assisting the standing motion and the sitting motion. It is possible to prevent the scenery that the person M sees from changing. As a result, the assistance device 1 can reduce the anxiety given to the person being assisted M when assisting the standing motion and the sitting motion.
　６．その他
　以上、上記実施形態及び上記変形例に基づいて本明細書に開示する介助装置について説明したが、上記形態に何ら限定されるものではなく、本開示の趣旨を逸脱しない範囲内で種々の変形改良が可能であることは容易に推察できるものである。 6. Others Although the assistance device disclosed in the present specification has been described above based on the above-described embodiment and the above-described modified examples, the assistance device is not limited to the above-described mode and various modifications are possible without departing from the gist of the present disclosure. It is easy to infer that improvement is possible.
　例えば、被介助者Ｍが正面から見たときの遮蔽部９，２０９の上下方向及び左右方向における寸法は、遮蔽部９，２０９との被介助者Ｍの顔との距離に応じて、適宜調整すればよい。つまり、介助装置１は、遮蔽部９，２０９との被介助者Ｍの顔（目）との距離が小さいほど、遮蔽部９，２０９の寸法を小さくしたとしても被介助者Ｍの視界を十分に遮ることができる分、遮蔽部９，２０９の小型化を図ることができる。一方、介助装置１は、遮蔽部９，２０９との被介助者Ｍの顔との距離が大きくすることにより、被介助者Ｍに与える圧迫感を軽減することができる。 For example, the sizes of the shields 9 and 209 in the up-down direction and the left-right direction when the person being assisted M is viewed from the front are appropriately adjusted according to the distance between the shields 9 and 209 and the face of the person being assisted M. do it. That is, in the assistance device 1, as the distance between the shields 9 and 209 and the face (eyes) of the person being assisted M is smaller, the field of view of the person M to be assisted is sufficient even if the size of the shields 9 and 209 is reduced. Since the light can be shielded, the shield portions 9 and 209 can be downsized. On the other hand, the assistance device 1 can reduce the feeling of pressure given to the person being assisted M by increasing the distance between the shields 9 and 209 and the face of the person being assisted M.
　本実施形態において、遮蔽部９，２０９が無地である場合を例に挙げて説明したが、遮蔽部９，２０９の被介助者Ｍへ向けられる側の面に模様や図柄等を付してもよい。これにより、介助装置１は、被介助者Ｍの視点を安定させることができる。またこの場合、介助装置１は、遮蔽部９，２０９に付された模様や図柄等に意識を向けさせることで、被介助者Ｍの不安を軽減できる。さらに、介助装置１による起立動作及び着座動作の補助を行う際に、遮蔽部９，２０９と被介助者Ｍとの相対位置が維持されるので、被介助者Ｍは、視線を動かす必要がない。よって、介助装置１は、視線を動かすことで遮蔽部９，２０９から視線が外れることを防止できる。 In the present embodiment, the case where the shields 9 and 209 are plain has been described as an example, but even if a pattern, a pattern, or the like is attached to the surface of the shields 9 and 209 facing the person being assisted M, Good. Accordingly, the assistance device 1 can stabilize the viewpoint of the person being assisted M. Further, in this case, the assistance device 1 can reduce the anxiety of the person being assisted M by making the consciousness toward the pattern, the pattern, or the like attached to the shields 9 and 209. Further, when the assisting device 1 assists the standing motion and the sitting motion, the relative positions of the shields 9 and 209 and the person being assisted M are maintained, so that the person being assisted M does not need to move his or her line of sight. .. Therefore, the assistance device 1 can prevent the line of sight from being separated from the shields 9 and 209 by moving the line of sight.
　　１：介助装置、　２：基台、　４：支持部、　５：アクチュエータ（駆動部）、　９，２０９：遮蔽部、　９１：遮蔽部の上端、　Ｍ：被介助者 1: Assistance device, 2: Base, 4: Supporting part, 5: Actuator (driving part), 9,209: Shielding part, 91: Upper end of shielding part, M: Assisted person

Claims (8)

  1. 　被介助者の上半身の姿勢を変えながら、前記被介助者の起立動作及び着座動作を補助する介助装置であって、
    　基台と、
    　前記被介助者の少なくとも上半身を支持すると共に、前記基台に対して変位可能に設けられた支持部と、
    　前記支持部を駆動する駆動部と、
    　前記起立動作及び前記着座動作に際して、前記支持部に支持された前記被介助者の視界を遮る遮蔽部と、
    　を備える、介助装置。     A assistance device for assisting the standing motion and the sitting motion of the person being assisted while changing the posture of the upper body of the person being assisted,
    Base
    While supporting at least the upper half of the person being assisted, a support portion displaceably provided with respect to the base,
    A drive unit for driving the support unit,
    At the time of the standing up motion and the sitting motion, a shield part that blocks the field of view of the person being assisted supported by the support part,
    An assistance device comprising:
  2. 　前記介助装置は、前記支持部と一体的に変位すると共に、前記被介助者により把持可能なハンドルを更に備え、
    　前記遮蔽部は、前記ハンドルに装着される、請求項１に記載の介助装置。     The assistance device further includes a handle that is integrally displaced with the support portion and that can be grasped by the person being assisted.
    The assistance device according to claim 1, wherein the shield is attached to the handle.
  3. 　前記介助装置は、一端が前記基台に支持されると共に前記基台に対して前後方向へ揺動可能に設けられたアームを更に備え、
    　前記支持部は、前記アームの他端に設けられ、
    　前記遮蔽部は、前記アームに装着される、請求項１に記載の介助装置。     The assistance device further includes an arm whose one end is supported by the base and is swingable in the front-back direction with respect to the base.
    The support portion is provided at the other end of the arm,
    The assistance device according to claim 1, wherein the shield is attached to the arm.
  4. 　前記遮蔽部は、前記ハンドル又は前記アームに対し、着脱可能に装着される、請求項２又は３に記載の介助装置。 The assistance device according to claim 2 or 3, wherein the shielding portion is detachably attached to the handle or the arm.
  5. 　前記遮蔽部は、前記ハンドル又は前記アームに対する装着位置を調整可能である、請求項２－４の何れか一項に記載の介助装置。 The assistance device according to any one of claims 2 to 4, wherein the shielding portion is capable of adjusting a mounting position with respect to the handle or the arm.
  6. 　前記遮蔽部は、前記被介助者が着座した状態で前記被介助者の上半身を前記支持部で支持した際に、正面を向く前記被介助者の頭部よりも上方に前記遮蔽部の上端が位置するように設けられる、請求項１－５の何れか一項に記載の介助装置。 The shielding portion has an upper end of the shielding portion above the head of the person being assisted facing the front when the upper half of the person being assisted is supported by the supporting portion in a state in which the person being assisted is seated. The assistance device according to claim 1, wherein the assistance device is provided so as to be positioned.
  7. 　前記遮蔽部は、前記被介助者が臀部を浮かせた状態で前記被介助者の上半身を前記支持部で支持した際に、正面を向く前記被介助者の頭部の下方に前記遮蔽部が位置するように設けられる、請求項１－６の何れか一項に記載の介助装置。 The shielding portion is located below the head of the person being assisted facing the front when the person being assisted supports the upper body of the person being assisted by the support portion in a state in which the buttocks are floated. The assistance device according to claim 1, wherein the assistance device is provided to
  8. 　前記遮蔽部は、前記支持部に支持された前記被介助者の正面から見て、前記被介助者の頭部よりも大きい、請求項１－７の何れか一項に記載の介助装置。 The assistance device according to any one of claims 1 to 7, wherein the shielding portion is larger than the head of the person being assisted supported by the support portion when viewed from the front.
PCT/JP2018/046541 2018-12-18 2018-12-18 Assistance device WO2020129152A1 (en)

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Citations (3)

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JP2017070627A (en) * 2015-10-09 2017-04-13 トヨタ自動車株式会社 Transfer support device
WO2018189823A1 (en) * 2017-04-12 2018-10-18 株式会社Ｆｕｊｉ Device for acquiring data from assisting device

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EP3079642A4 (en) 2013-12-13 2017-11-01 Alt Innovations LLC Multi-modal gait-based non-invasive therapy platform
JP6603345B2 (en) * 2018-03-15 2019-11-06 株式会社Ｆｕｊｉ Assistance robot

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Publication number Priority date Publication date Assignee Title
JP2010131225A (en) * 2008-12-05 2010-06-17 Toyota Motor Corp Transfer support apparatus
JP2017070627A (en) * 2015-10-09 2017-04-13 トヨタ自動車株式会社 Transfer support device
WO2018189823A1 (en) * 2017-04-12 2018-10-18 株式会社Ｆｕｊｉ Device for acquiring data from assisting device

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