JPWO2017141372A1 - Assistance robot - Google Patents

Abstract

The assistance robot (1) is provided so as to be movable up and down, back and forth and tiltable with respect to the base (10) and the base (10), and a part of the body of the person being assisted (M1, M2). The holding part (50) to be held and the vertical movement, the back-and-forth movement, and the tilting of the holding part (50) are controlled to change at least the person being assisted (M1, M2) from the sitting position to the standing position. A control device (120) for assisting to stand up, and the control device (120) is positioned at the shoulder of the person being assisted (M1, M2) held by the holding portion (50) when performing the support for standing up At least one of the height of the shoulder position of the person being assisted (M1, M2) held by the holding portion (50) when the standing assistance is completed and the position in the front-rear direction are held in different modes. The raising, back-and-forth movement and tilting of the part (50) are controlled.

Description

  The present invention relates to an assistance robot.

  The robot described in Patent Document 1 assists movement by walking or boarding by a plurality of persons with different physical abilities. The robot is configured to be deformable into a plurality of types according to a plurality of walking postures and boarding postures.

International Publication No. 2014/122751

  The robot described above assists the movement suitable for the person being assisted when the abilities of the person being assisted differ. However, standing assistance from a sitting person's sitting position to a standing position is merely lifting while holding the upper body of the person being assisted, and standing assistance according to the caregiver's degree of care cannot be performed. .

  An object of this invention is to provide the assistance robot which can perform standing-up assistance according to the care receiver's care degree.

  The assistance robot of the present invention is provided with a base, a holding part that can move up and down, can move back and forth, and can tilt with respect to the base, and holds a part of the body of the person being assisted, and the holding part And a control device that assists standing up from the sitting posture to the standing posture for at least the person being assisted by performing control to change the vertical movement, back-and-forth movement, and tilting.

Then, the control device has an operation locus of a shoulder position of the person being assisted held by the holding unit when performing the standing assistance, and the holding unit held by the holding unit when the standing assistance is completed. At least one of the height of the position of the shoulder of the person being assisted and the position in the front-rear direction controls the raising, back-and-forth movement, and tilting of the holding unit in different modes.
Thereby, since the movement locus | trajectory of the position of the person being assisted and the position in the front-rear direction can be set, standing assistance according to the degree of care of the person being assisted can be performed.

It is the figure which looked at the assistance robot of this embodiment from the advancing direction right side. The right side of the figure is the front in the direction of travel. It is a top view of the assistance robot of FIG. The right side of the figure is the front in the direction of travel. It is the figure which looked at the assistance robot of FIG. 1 from the back of the advancing direction. It is the figure which looked at the assistance robot of FIG. 1 from the front of the advancing direction. It is the figure which looked at the assistance robot of the state which raised the holding part in the assistance robot of FIG. 1 from the advancing direction right side. It is a figure which shows the operation | movement at the time of standing assistance of the caregiver of heavy care. It is a figure which shows the operation | movement at the time of standing assistance of the caregiver of light care.

(1. Overall configuration of assistance robot)
The overall configuration of the assistance robot of this embodiment will be described with reference to the drawings. This assistance robot supports a part of the body (for example, the upper body) of the person being assisted and assists in standing up from a sitting position to a standing position and sitting assistance from a standing position to a sitting position. In particular, standing assistance is performed according to the caregiver's degree of care.

  That is, when the caregiver is in heavy care, for example, when the balance of the trunk of the caregiver is poor, a mode (hereinafter referred to as “first mode”) that assists standing from the sitting posture to the standing posture of the middle waist is possible. In the case where the person being assisted is in light care, for example, when the person's trunk is solid, a mode for assisting standing up from a sitting position to a standing position (hereinafter referred to as “second mode”). Is possible). The second mode is an operation mode for a care recipient who has a lower level of care than the first mode.

  As shown in FIGS. 1 to 5, the assisting robot 1 includes a base 10, lifting arms 20 and 30, a lifting and lowering unit 40, a holding unit 50, an attachment 60, a foot placing unit 200, lifting and lowering actuators 70 and 80, and back and forth movements. Actuators 90 and 100 and a control device 120 are provided. In the following description, front, rear, left and right are front, rear, left and right when the traveling direction of the assisting robot 1 is forward.

The base 10 is a part installed on the ground plane. The base 10 is formed in a U-shape that opens rearward in plan view (see FIG. 2). The base 10 includes four wheels 15-18 and can move forward and backward. The base 10 is covered with a cover 11.
The elevating arms 20 and 30 are respectively provided on the left and right sides of the upper surface of the base 10 and are provided so as to be extendable and contractable upward. The elevating arms 20 and 30 extend and contract linearly in a direction in which the upper end is inclined forward with respect to the lower end (see FIGS. 1 and 5).

The elevating unit 40 is provided at the upper ends of the elevating arms 20 and 30. As the elevating arms 20 and 30 expand and contract in the vertical direction, the elevating unit 40 moves up and down with respect to the base 10. That is, the elevating unit 40 linearly moves in the direction of moving forward as it rises with respect to the base 10 (see FIGS. 1 and 5). The elevating arms 20 and 30 are covered with covers 25 and 35, respectively.
The holding unit 50 is located on the upper side of the elevating unit 40 and is supported by the elevating unit 40. The holding unit 50 moves back and forth with respect to the lifting unit 40 and tilts. The holding unit 50 holds a part of the body of the person being assisted. The holding | maintenance part 50 is provided with the attachment 60 replaceable according to a person being assisted.

  The attachment 60 includes a main body portion 61, a body pad 62, left and right grips 63 a and 63 b, left and right elbow placement portions 64 a and 64 b, side holding portions 65 a and 65 b, and an operation portion 66. The main body 61 is detachably attached to the main body frame 51 of the holding unit 50. The body pad 62 is formed in a substantially plate shape by a cushion material. The body pad 62 is located on the upper surface of the main body 61 at the center in the left-right direction and the center in the front-rear direction of the entire attachment 60.

  The body pad 62 is provided with the upper surface inclined slightly rearward. The torso pad 62 supports the person being assisted from the chest to the abdomen and from the vicinity of the left side to the vicinity of the right side. The upper edge of the torso pad 62 is formed in a concave shape so as not to hinder the movement of the head of the person being assisted. The lower edge of the torso pad 62 is formed in a concave shape so that the legs can enter and the waist can be stably supported.

  The grips 63 a and 63 b are fixed to the front of the left and right sides of the main body 61. The elbow placement portions 64 a and 64 b are disposed on the left and right sides of the main body portion 61. The side holding portions 65 a and 65 b are formed in an arc shape and are disposed on the left and right sides of the body pad 62. The operation unit 66 includes a mode select button operated by the person being assisted or by the person being assisted. When the person being assisted operates the mode selection button on the operation unit 66, the elevating unit 40 performs the elevating operation, and the holding unit 50 moves back and forth and tilts in conjunction with the elevating operation of the elevating unit 40.

  The foot placement unit 200 is provided in a U-shaped opening of the base 10, and the foot of the person being assisted is placed on the foot placement unit 200. The foot placement unit 200 is rotatably supported by a shaft member (not shown) provided on the inner surface on the front side of the U-shaped opening of the base 10. As a result, the foot placement unit 200 can turn from a substantially horizontal state to a substantially vertical state or from a substantially vertical state to a substantially horizontal state with respect to the ground plane in the U-shaped opening of the base 10. Therefore, in the case of a person being assisted who does not need to use the foot placement unit 200, the foot placement unit 200 can be stored compactly, so that the robot operation and the assistance operation are not disturbed.

  The elevating actuators 70 and 80 drive the elevating operation of the elevating unit 40 with respect to the base 10. Each of the lift actuators 70 and 80 drives expansion / contraction of the corresponding lift arms 20 and 30. That is, by driving the elevating actuators 70 and 80, the elevating unit 40 performs the operation from the state shown in FIG. 1 to the ascending position and the advancing position shown in FIG. 5 and vice versa. The lift actuators 70 and 80 are provided across the base 10 and the lift arms 20 and 30.

The forward / backward movement actuators 90 and 100 drive the holding portion 50 to move back and forth and tilt with respect to the elevating portion 40. That is, by driving the longitudinal actuators 90 and 100, the holding unit 50 performs the operation from the state shown in FIG. 1 to the forward position and the forward inclined state shown in FIG. Do. The longitudinal actuators 90 and 100 are provided across the elevating unit 40 and the holding unit 50.
The control device 120 controls the lifting and lowering actuators 70 and 80 and the forward and backward movement actuators 90 and 100 in accordance with an operation by the person being assisted.

(2. Operation of the person being assisted and the assisting robot)
First, the first mode applied to the heavy care recipient M1 will be described with reference to FIG. In addition, in FIG. 6, illustration of the attachment 60 (except elbow mounting parts 64a and 64b) of the assistance robot 1 is abbreviate | omitted. Here, in the assisting robot 1, before the operation, the elevating unit 40 is positioned at the lowest position, and the holding unit 50 is positioned in the horizontal state at the most retracted position. And the footrest part 200 is positioned in a horizontal state. In addition, the person being assisted M1 is seated on the chair C placed on the ground surface G.

  As shown by the solid line in FIG. 6, the person being assisted M1 places his / her legs on the foot placement unit 200, extends both arms, and holds the grips 63a and 63b with both hands through the inside of the U-shape of the side holding portions 65a and 65b. Hold it. Then, the person being assisted M1 sandwiches the armpit holding parts 65a and 65b under both armpits, presses the chest against the body pad 62, and places both elbows on the elbow rest parts 64a and 64b, respectively. The above operation may be performed by an assistant. Then, the person being assisted M1 or the assistant operates the mode selection button of the first mode in the operation unit 66.

  Then, the control device 120 drives the lift actuators 70 and 80 while driving the longitudinal actuators 90 and 100. That is, the holding unit 50 moves forward and tilts in a direction in which the inclination toward the obliquely forward and downward direction becomes steep, that is, the inclination angle with respect to the horizontal plane is 0 (horizontal state indicated by a solid line) to the inclination angle θ1m (in a dashed line) (Inclined state shown), and gradually increases to the final inclination angle θ1e (> θ1m, inclined state shown by a two-dot chain line). And if the holding | maintenance part 50 reaches the final state of inclination-angle (theta) 1e, the control apparatus 120 will drive stop the longitudinal actuators 90 and 100 and the raising / lowering actuators 70 and 80. FIG.

  During the operation of the first mode described above, the person being assisted M1 is lifted obliquely forward from the sitting posture, and finally becomes the standing posture of the middle waist. The position of the shoulder (indicated by the shaded circle) of the person being assisted M1 at this time was Q1s when the inclination angle of the holding part 50 was 0, but when the inclination angle of the holding part 50 was θ1 m It moves from Q1s to Q1m diagonally forward and forward, and when the inclination angle of the holding part 50 is θ1e, it moves further from Q1m to Q1e diagonally forward and upward. That is, the movement of the shoulder of the person being assisted M1 in the first mode is completed only by moving forward (motion locus QQ1 indicated by a thick arrow).

  Next, the second mode applied to the light caregiver M2 will be described with reference to FIG. Also in FIG. 7, the illustration of the attachment 60 of the assisting robot 1 (excluding the elbow placement parts 64a and 64b) is omitted. In the assisting robot 1, before the operation, the elevating unit 40 is positioned at the lowest position, and the holding unit 50 is positioned in the horizontal state at the most retracted position. Further, the person being assisted M2 is seated on a chair C placed on the ground surface G. However, the foot placement part 200 is positioned in a substantially vertical state with respect to the ground plane G.

  As shown by the solid line in FIG. 7, the person being assisted M2 places his feet on the ground contact surface G, extends both arms, and grips the grips 63a and 63b with both hands through the inside of the U-shape of the side holding portions 65a and 65b. . Then, the person being assisted M2 sandwiches the armpit holding portions 65a and 65b under the armpits, presses the chest against the body pad 62, and places both elbows on the elbow rest portions 64a and 64b, respectively. Then, the person being assisted M2 or the assistant operates the mode selection button of the second mode in the operation unit 66.

  Then, the control device 120 drives the lift actuators 70 and 80 while driving the longitudinal actuators 90 and 100. That is, the holding unit 50 moves forward and tilts in a direction in which the inclination toward the diagonally forward and downward direction becomes steep, that is, the inclination angle with respect to the horizontal plane is 0 (horizontal state indicated by a solid line) to the inclination angle θ2m (in a dashed line) (Inclined state shown) and gradually increases to the maximum inclination angle θ2e (> θ2m, inclined state shown by two-dot chain line). In this example, the maximum inclination angle θ2e in the second mode is the same as the maximum inclination angle θ1e in the first mode.

  Subsequently, the holding unit 50 is tilted in a direction in which the inclination toward the front and lower side becomes gentle while moving backward, that is, the inclination angle with respect to the horizontal plane is the maximum inclination angle θ2e, and the final inclination angle is 0 (shown by a broken line). It rises while gradually decreasing to a horizontal state. Then, when the holding unit 50 reaches a state where the final inclination angle is 0, the control device 120 stops driving the longitudinal actuators 90 and 100 and the lifting actuators 70 and 80.

  During the operation in the second mode described above, the person being assisted M2 is lifted obliquely forward from the sitting position, and then is lifted obliquely backward to finally be in a standing posture. The position of the shoulder (indicated by a shaded circle) of the person being assisted M2 at this time was Q2s when the inclination angle of the holding part 50 was 0, but when the inclination angle of the holding part 50 was θ2m Move from Q2s to Q2m diagonally forward and upward. When the inclination angle of the holding part 50 is θ2e, move from Q2m to Q2e further diagonally forward and upward. When the inclination angle of the holding part 50 is 0 again, the inclination is backward from Q2e. Move to upper Q2f. That is, the movement of the shoulder of the person being assisted M2 in the second mode ends after moving forward and then moving backward (motion locus QQ2 indicated by the thick arrow).

  Here, as shown in FIGS. 6 and 7, the holding unit 50 is in a horizontal state in both the first and second modes at the start of operation. In the first mode, the inclination angle of the holding unit 50 gradually becomes steeper, and finally the inclination angle becomes θ1e. On the other hand, in the second mode, the inclination angle of the holding unit 50 becomes gradually steep as in the first mode, and gradually becomes gentle after reaching the same inclination angle θ2e as the final inclination angle θ1e in the first mode. Finally, it becomes horizontal.

  Then, comparing the positions of the shoulders of the care recipients M1 and M2 when the inclination angle of the holding portion 50 is the same (θ1e = θ2e) in the first and second modes, as shown in FIGS. The vertical height H1 from the ground contact surface G of the shoulder position of the person being assisted in the first mode is higher than the vertical height H2 from the ground contact face G of the shoulder position of the person being assisted in the second mode. Also lower. As a result, the care recipient M1 having a poor balance of the trunk does not have to stretch his / her waist, and can hold the body in an easy posture. In addition, since the to-be-supported person M2 whose trunk is solid is in a state where his / her waist is substantially standing, it can easily shift to a standing posture in which the final waist is standing.

  Further, as shown in FIGS. 6 and 7, the position of the shoulder of the person being assisted in the first mode in the front-rear direction (position at the distance P1 in the horizontal direction from the initial position Q1s) is the person being assisted by the person M2 in the second mode. Is located behind the position in the front-rear direction of the shoulder (position at a distance P2 in the horizontal direction from the initial position Q1s). As a result, the person being assisted M1 with a poor balance of the trunk can be moved in an easy posture because the body is placed on the holding unit 50. In addition, the cared person M2 who has a firm trunk can not easily bend forward and can easily shift to the standing posture with the final waist.

  Similarly, when the person being assisted M1 and M2 shifts from the standing position to the sitting position, the lifting and lowering operations by the lifting and lowering actuators 70 and 80 and the forward and backward movement and tilting by the front and rear moving actuators 90 and 100 are similarly performed. It is done in cooperation.

(3. Effect)
The assistance robot 1 according to the present embodiment is provided with a base 10 and a holding unit that can move up and down, can move back and forth, and can tilt with respect to the base 10 and holds a part of the body of the person being assisted M1, M2. 50, and a control device 120 that assists standing up from the sitting posture to the standing posture for at least the person being assisted M1, M2 by performing control to change the vertical movement, the back-and-forth movement, and the tilting of the holding unit 50, respectively. .

Then, the control device 120 moves the movement trajectory of the shoulder positions of the persons being assisted M1 and M2 held by the holding unit 50 when performing the standing assistance, and the object held by the holding unit 50 when the standing assistance is completed. At least one of the height of the shoulder positions of the assistants M1 and M2 and the position in the front-rear direction controls the raising, the back-and-forth movement, and the tilting of the holding unit 50 in different modes.
Thereby, since the movement locus | trajectory of the position of the assistance person's M1, M2 position and the position of the front-back direction can be set, the standing assistance according to the care degree of the assistance person M1, M2 can be performed.

  The different modes include a first mode and a second mode. The first mode is a mode used by a relatively heavy caregiver M1, and the second mode is a relatively light caregiver. Since M2 is the mode when used, the mode can be accurately selected according to the degree of caregiver of the person being assisted.

  In addition, in the first mode, the control device 120 controls the movement of the holding unit 50 so that the shoulder of the care recipient M1 held by the holding unit 50 moves only forward, and in the second mode, the holding unit 50. The movement of the holding unit 50 is controlled so that the shoulder of the person M2 held by the person moves forward and then moves backward. Thereby, when the person being assisted M1 is heavy care, the body can be supported by leaning against the holding unit 50, and when the person being assisted M2 is light care, it is easy to take a standing posture.

  In addition, in the first mode, the control device 120 controls the movement of the holding unit 50 so that the shoulder of the care recipient M1 held by the holding unit 50 moves only forward, and in the second mode, the holding unit 50. The movement of the holding unit 50 is controlled so that the shoulder of the person M2 held by the person moves forward and then moves backward. As a result, when the person being assisted is in heavy care M1, for example, when the trunk of the person being assisted is in poor balance, it is possible to perform standing assistance from the sitting posture to the standing posture of the middle waist. When light nursing care, for example, when the caregiver's trunk is firm, standing assistance from a sitting posture to a standing posture can be performed.

  In addition, when the inclination angle of the holding unit 50 is a predetermined angle, the control device 120 holds the height of the shoulder position of the person being assisted M1 held in the holding unit 50 in the first mode in the second mode. It controls so that it may become lower than the height of the position of the shoulder of the care receiver M2 hold | maintained at the part 50. FIG. As a result, the care recipient M1 having a poor balance of the trunk does not have to stretch his / her waist, and can hold the body in an easy posture. In addition, since the to-be-supported person M2 whose trunk is solid is in a state where his / her waist is substantially standing, it can easily shift to a standing posture in which the final waist is standing.

  In addition, when the inclination angle of the holding unit 50 is a predetermined angle, the control device 120 determines that the position of the shoulder of the person being assisted M1 held in the holding unit 50 in the first mode is the holding unit 50 in the second mode. It controls so that it may be located back rather than the position of the shoulder of the held person M2. As a result, the person being assisted M1 with a poor balance of the trunk can be moved in an easy posture because the body is placed on the holding unit 50. In addition, the cared person M2 who has a firm trunk can not easily bend forward and can easily shift to the standing posture with the final waist.

(4. Other)
Although the assistance robot 1 of the above-described embodiment has the two operation modes of the first mode and the second mode, the assistance robot 1 may have three or more different operation modes. The assistance robot 1 only needs to have at least two operation modes corresponding to the level of care of the person being assisted.

1: assistance robot, 10: base, 20, 30: lifting arm, 40: lifting part, 50: holding part, 60: attachment, 70, 80: lifting actuator, 90, 100: longitudinal actuator, 120: control device , 200: foot placement unit, M1, M2: person being assisted

Claims (6)

The base,
A holding portion that is provided so as to be movable up and down, movable back and forth and tiltable with respect to the base, and holds a part of the body of the person being assisted;
A control device for assisting standing up from a sitting posture to a standing posture for at least the person being assisted by performing control to change the vertical movement, forward / backward movement and tilting of the holding unit;
With
The control device includes an operation locus of a shoulder position of the person being assisted held by the holding part when performing the standing assistance, and the assistance being held by the holding part when the standing assistance is completed. An assisting robot in which at least one of the height of the shoulder position and the position in the front-rear direction controls the ascending, forward-backward movement, and tilting of the holding unit in different modes.   The different modes include a first mode and a second mode. The first mode is a mode used by the relatively heavy care recipient, and the second mode is a relatively light subject. The assistance robot according to claim 1, wherein the assistance robot is in a mode for use by an assistant.   In the first mode, the control device controls the tilting of the holding portion so that the person being assisted is inclined only in a direction in which the person is inclined forward. In the second mode, the person being assisted is inclined forward. The assistance robot according to claim 2, wherein the tilting of the holding unit is controlled so as to tilt in the opposite direction after tilting in the posture direction.   In the first mode, the control device controls the movement of the holding unit so that the shoulder of the person being held held by the holding unit moves only forward, and in the second mode, the holding unit The assistance robot according to claim 2, wherein the movement of the holding unit is controlled so that the shoulder of the person being held held by the person moves forward and then moves backward.   When the inclination angle of the holding portion is a predetermined angle, the control device is configured such that the height of the position of the person being held in the holding portion in the first mode is the height in the second mode. The assistance robot according to any one of claims 2 to 4, wherein the assistance robot is controlled to be lower than a height of the position of the shoulder of the person being held held by the holding unit.   When the inclination angle of the holding unit is a predetermined angle, the control device determines that the position of the person's shoulder held by the holding unit in the first mode is the position of the holding unit in the second mode. The assistance robot according to any one of claims 2 to 5, wherein the assistance robot is controlled so as to be positioned behind a position of the held shoulder of the person being assisted.

Images