JP6636057B2 - Assistance robot - Google Patents

Description

  The present invention relates to an assistance robot.

  The robot described in Patent Literature 1 assists a plurality of care recipients having different physical abilities by moving by walking or by boarding. This robot is configured to be deformable into a plurality of types according to a plurality of walking postures and a plurality of riding postures.

WO 2014/122751

  The above-described robot assists a movement suitable for the assisted person when the assisted person has different physical abilities. However, raising the assisted person from the sitting position to the standing position simply lifts the assisted person while holding the upper body, and cannot perform the assisted standing according to the care degree of the assisted person. .

  SUMMARY OF THE INVENTION It is an object of the present invention to provide an assisting robot capable of assisting a person to stand according to the degree of care of a care recipient.

The assistance robot of the present invention is provided with a base , a holding unit that is provided to be capable of moving up and down, moving back and forth, and tilting with respect to the base, and holding a part of the body of the care recipient, A control device that performs control to change the up-and-down movement, the back-and-forth movement, and the tilt, respectively, thereby assisting at least the care recipient in raising from the sitting posture to the standing posture.

The control device may further include a motion trajectory of a position of the caregiver's shoulder held by the holding unit when performing the standing assist, and the motion trajectory held by the holding unit when the standing assist is completed. At least one of the height of the position of the caregiver's shoulder and the position in the front-rear direction controls elevation, back-and-forth movement, and tilting of the holding unit in different modes, respectively, and the different modes are a first mode and a second mode. Including, the first mode is a mode when the relatively caregiver is used, the second mode is a mode when the relatively light caregiver is used, the In the first mode, the tilting of the holding unit is controlled so that the care receiver tilts only in the direction in which the care recipient is in the forward leaning posture, and in the second mode, the tilt is performed in the direction in which the care recipient is in the forward leaning posture. Then tilt in the opposite direction Controlling the tilting of sea urchin the holding portion. Thus, since the movement trajectory of the position of the assisted person's shoulder and the position in the front-back direction can be set, it is possible to perform standing assistance according to the degree of care of the assisted person. When the care recipient has a heavy nursing care M1, for example, the balance of the trunk of the care recipient is poor, it is possible to perform the standing assist from the sitting posture to the standing posture of the middle waist, and For example, when the caretaker has a firm trunk, it is possible to assist standing up from a sitting posture to a standing posture in which the person stands. Then, the mode can be appropriately selected according to the degree of care of the care recipient. When the care recipient is in heavy care, the body can be supported by leaning on the holding portion, and when the care recipient is in light care, it is easy to take a standing posture.

It is the figure which looked at the assistance robot of this embodiment from the traveling direction right side. The right side of the figure is the front in the traveling direction. It is a top view of the assistance robot of FIG. The right side of the figure is the front in the traveling direction. FIG. 2 is a view of the assistance robot of FIG. 1 as viewed from the rear in a traveling direction. FIG. 2 is a view of the assistance robot of FIG. 1 as viewed from the front in a traveling direction. FIG. 2 is a view of the assistance robot in a state where a holding unit is raised in the assistance robot of FIG. 1 as viewed from a right side in a traveling direction. It is a figure which shows the operation | movement at the time of assistance of standing-up of the care receiver of heavy care. It is a figure which shows the operation | movement at the time of assistance of standing up of the care-received person of light care.

(1. Overall configuration of assistance robot)
The overall configuration of the assistance robot according to the present embodiment will be described with reference to the drawings. The assistance robot supports a part of the body of the care recipient (for example, the upper body) and assists standing up from the sitting posture to the standing posture and assists sitting from the standing posture to the sitting posture. In particular, it provides standing assistance according to the degree of care of the care recipient.

  That is, when the care recipient is in heavy care, for example, when the trunk of the care recipient is poorly balanced, a mode (hereinafter, referred to as a “first mode”) of assisting the person in the standing position from the sitting position to the standing position in the middle waist is possible. In the case where the care recipient is lightly nursing, for example, when the trunk of the care recipient is firm, a mode for assisting standing up from a sitting posture to a standing posture in which the person is standing (hereinafter, “second mode”) Is possible). The second mode is an operation mode for a care recipient having a lower degree of care than the first mode.

  As shown in FIGS. 1 to 5, the assistance robot 1 includes a base 10, elevating arms 20 and 30, an elevating unit 40, a holding unit 50, an attachment 60, a foot placement unit 200, an elevating actuator 70 and 80, and a back and forth movement. It includes actuators 90 and 100 and a control device 120. In the following description, front, rear, left, and right are defined as front, rear, left, and right when the traveling direction of the assistance robot 1 is set to the front.

The base 10 is a part installed on the ground surface. The base 10 is formed in a U-shape that opens rearward in a 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 lifting arms 20 and 30 are provided on the left and right sides of the upper surface of the base 10 and are provided so as to be able to expand and contract upward. The lifting 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 lifting arms 20 and 30 expand and contract in the vertical direction, the lifting unit 40 moves up and down with respect to the base 10. That is, as the elevating unit 40 moves up with respect to the base 10, it directly moves in a direction of moving forward (see FIGS. 1 and 5). The lifting arms 20 and 30 are covered with covers 25 and 35, respectively.
The holding unit 50 is located above the elevating unit 40 and is supported by the elevating unit 40. The holding unit 50 moves back and forth with respect to the elevating unit 40 and tilts. The holding unit 50 holds a part of the body of the care recipient. The holding unit 50 includes an attachment 60 that can be exchanged according to the care recipient.

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

  The body pad 62 is provided with the upper surface inclined slightly rearward. The torso pad 62 supports the care receiver 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 body pad 62 is formed in a concave shape so as not to hinder the movement of the head of the care recipient. The lower edge of the body pad 62 is formed in a concave shape so that the legs can enter and the waist can be stably supported.

  The grips 63a, 63b are fixed to the left and right of the main body 61 in front of each other. The elbow rests 64a, 64b are arranged on the left and right sides of the main body 61, respectively. The side holding parts 65a and 65b are formed in an arc shape, and are arranged on the right and left sides of the body pad 62, respectively. The operation unit 66 includes a mode selection button operated by the care recipient or the caregiver. When the care recipient operates the mode selection button on the operation unit 66, the elevating unit 40 performs an 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 care recipient is placed on the foot placement unit 200. The footrest portion 200 is rotatably supported by a shaft member (not shown) provided on the front inner side surface of the U-shaped opening of the base 10. Thus, the foot rest 200 can be pivoted from the substantially horizontal state to the substantially vertical state or from the substantially vertical state to the substantially horizontal state at the U-shaped opening of the base 10 with respect to the ground contact surface. Therefore, in the case of an assisted person who does not need to use the foot placement unit 200, the foot placement unit 200 can be stored compactly, and does not hinder the robot operation or the assistance operation.

  The lifting actuators 70 and 80 drive the lifting operation of the lifting unit 40 with respect to the base 10. Each of the lifting actuators 70, 80 drives the expansion and contraction of the corresponding lifting arm 20, 30. In other words, by driving the lifting actuators 70 and 80, the lifting unit 40 performs the operation of moving the base 10 from the state shown in FIG. 1 to the raised position and the advanced position shown in FIG. 5, and vice versa. The lifting actuators 70 and 80 are provided over the base 10 and the lifting arms 20 and 30.

The longitudinal actuators 90 and 100 drive the holding unit 50 to move forward and backward and tilt with respect to the elevating unit 40. In other words, the driving of the longitudinal actuators 90 and 100 causes the holding unit 50 to move the elevating unit 40 from the state shown in FIG. 1 to the forward position and the forwardly inclined state shown in FIG. 5, and vice versa. Do. The longitudinal actuators 90 and 100 are provided over the lifting unit 40 and the holding unit 50.
The control device 120 controls the elevating actuators 70 and 80 and the longitudinal actuators 90 and 100 according to the operation by the care recipient.

(2. Operation of care recipient and assistance robot)
First, the first mode applied to the care recipient M1 in heavy care will be described with reference to FIG. In FIG. 6, illustration of the attachment 60 (except for the elbow rests 64a and 64b) of the assistance robot 1 is omitted. Here, before the operation of the assistance robot 1, the elevating unit 40 is positioned at the most lowered position, and the holding unit 50 is positioned at the most retracted position in a horizontal state. Then, the foot rest 200 is positioned in a horizontal state. In addition, the care receiver M1 is sitting on a chair C placed on the ground plane G.

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

  Then, the control device 120 drives the elevating actuators 70 and 80 while driving the longitudinal actuators 90 and 100. In other words, the holding unit 50 tilts in a direction in which the inclination toward the front and the lower side becomes steep while moving forward, that is, the inclination angle with respect to the horizontal plane is 0 (horizontal state shown by the solid line) to the inclination angle θ1m (in the dashed line). (Tilted state shown), and gradually increases to a final tilt angle θ1e (> θ1m, tilted state shown by a two-dot chain line). Then, when the holding unit 50 reaches the final state of the inclination angle θ1e, the control device 120 stops driving the longitudinal actuators 90 and 100 and the elevation actuators 70 and 80.

  During the operation of the first mode described above, the care receiver M1 is pulled up diagonally forward from the sitting posture, and finally becomes the standing posture of the middle waist. At this time, the position of the shoulder of the care receiver M1 (indicated by a shaded circle) was Q1s when the inclination angle of the holding unit 50 was 0, but when the inclination angle of the holding unit 50 was θ1m. It moves from Q1s to Q1m, which is obliquely upward and forward, and when the inclination angle of the holding unit 50 is θ1e, it moves from Q1m to Q1e, which is further obliquely upward and forward. That is, the movement of the shoulder of the care receiver M1 in the first mode ends only by moving forward (the motion trajectory QQ1 indicated by the thick arrow).

  Next, a second mode applied to the caregiver M2 in light care will be described with reference to FIG. In FIG. 7, the attachment 60 (except for the elbow rests 64a and 64b) of the assistance robot 1 is not shown. Before the operation of the assisting robot 1, the elevating unit 40 is positioned at the most lowered position, and the holding unit 50 is positioned at the most retracted position in a horizontal state. Further, the care receiver M2 is sitting on a chair C placed on the ground plane G. However, the foot rest 200 is positioned substantially perpendicular to the ground plane G.

  As shown by the solid line in FIG. 7, the care receiver M2 places the foot on the ground plane G, extends both arms, and grasps 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 care receiver M2 sandwiches the side holding portions 65a and 65b under both sides, presses the chest against the torso pad 62, and places both elbows on the elbow rest portions 64a and 64b, respectively. Then, the care recipient M2 or the caregiver operates the mode selection button of the second mode on the operation unit 66.

  Then, the control device 120 drives the elevating actuators 70 and 80 while driving the longitudinal actuators 90 and 100. That is, the holding unit 50 tilts in a direction in which the inclination toward the oblique front and downward becomes steep while moving forward, 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 (indicated by a one-dot chain line). (Inclination state shown), and gradually increases to a maximum inclination angle θ2e (> θ2m, inclination state shown by a 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 tilts in a direction in which the inclination toward the front and the lower side becomes gentle while moving backward, that is, from the maximum inclination angle θ2e to the horizontal plane, the final inclination angle is 0 (shown by a broken line). (Horizontal state) while gradually decreasing. Then, when the holding unit 50 reaches the state where the final tilt 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 of the second mode described above, the care receiver M2 is lifted diagonally forward from the sitting posture and then diagonally rearward, and finally assumes a standing posture in which the person stands. At this time, the position of the shoulder of the care receiver M2 (indicated by a shaded circle) was Q2s when the inclination angle of the holding unit 50 was 0, but when the inclination angle of the holding unit 50 was θ2m. It moves from Q2s to Q2m, which is obliquely forward and upward. When the inclination angle of the holding unit 50 is θ2e, it moves from Q2m to Q2e, which is further obliquely upward and forward. When the inclination angle of the holding unit 50 is 0 again, it obliquely moves backward from Q2e. Move to upper Q2f. That is, the movement of the shoulder of the care receiver M2 in the second mode moves forward, then moves backward, and ends (an operation trajectory QQ2 indicated by a thick arrow).

  Here, as shown in FIG. 6 and FIG. 7, the holding unit 50 is in a horizontal state in both the first and second modes at the start of the operation. Then, in the first mode, the inclination angle of the holding unit 50 becomes gradually steep, and finally the inclination angle becomes θ1e. On the other hand, in the second mode, the inclination angle of the holding unit 50 gradually becomes steep similarly to the first mode, and gradually becomes gentle after reaching the same inclination angle θ2e as the final inclination angle θ1e of the first mode. , And finally become a horizontal state.

  When the positions of the shoulders of the care receivers M1 and M2 are compared when the inclination angle of the holding unit 50 is the same (θ1e = θ2e) in the first and second modes, as shown in FIGS. The vertical height H1 of the shoulder position of the care receiver M1 from the ground plane G in the first mode is higher than the vertical height H2 of the shoulder position of the care receiver M2 in the second mode from the ground plane G. Will also be lower. Thus, the care recipient M1 with poor trunk balance does not need to stretch his / her waist, and thus can hold the body in a comfortable posture. In addition, since the caretaker M2 whose trunk is firm, the waist is almost in a standing state, it is possible to easily shift to the final standing posture in which the waist is standing.

  As shown in FIGS. 6 and 7, the position of the shoulder of the care receiver M1 in the front-back direction (the position of the distance P1 in the horizontal direction from the initial position Q1s) in the first mode is the care receiver M2 in the second mode. Is located behind the position of the shoulder in the front-rear direction (position of the distance P2 in the horizontal direction from the initial position Q1s). Accordingly, the care receiver M1 with poor trunk balance can lean on the holding unit 50 and move in a comfortable posture. In addition, since the caretaker M2 with a firm trunk does not lean excessively, it can easily transition to the final standing posture in which the person stands.

  Even when the care recipients M1 and M2 shift from the standing posture to the sitting posture, similarly, the lifting / lowering operation by the lifting / lowering actuators 70 and 80 and the forward / backward movement and tilting by the forward / backward movement actuators 90 and 100 are similarly performed. It takes place in concert.

(3. Effect)
The assistance robot 1 of the present embodiment is provided with a base 10 and a vertically movable, longitudinally movable, and tiltable with respect to the base 10, and a holding unit that holds a part of the body of each of the care recipients M1 and M2. 50 and a control device 120 that performs control to change the up-down movement, the back-and-forth movement, and the tilting of the holding unit 50, thereby assisting at least the care recipients M1 and M2 to stand up from the sitting posture to the standing posture. , Is provided.

Then, the control device 120 determines the motion trajectory of the position of the shoulders of the care receivers M1 and M2 held by the holding unit 50 when performing the assisting in standing, and the movement trajectory held in the holding unit 50 when the assisting in standing is completed. At least one of the height of the shoulders of the assistants M1 and M2 and the position in the front-rear direction control the raising, the back-and-forth movement, and the tilting of the holding unit 50 in different modes.
Thereby, since the movement trajectory of the shoulder positions of the care recipients M1 and M2 and the position in the front-back direction can be set, it is possible to perform standing assistance according to the degree of care of the care recipients M1 and M2.

  The different modes include a first mode and a second mode. The first mode is a mode used by the relatively severely assisted person M1, and the second mode is a relatively lightly assisted person. Since M2 is the mode for use, the mode can be appropriately selected according to the degree of care of the care recipient.

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

  In the first mode, the control device 120 controls the movement of the holding unit 50 so that the shoulder of the care receiver M1 held by the holding unit 50 moves only forward, and in the second mode, the control unit 120 controls the movement of the holding unit 50. The movement of the holding unit 50 is controlled so that the shoulder of the care receiver M2 held at the first position moves forward and then moves backward. Accordingly, when the care recipient has a poor balance of the heavy care M1, for example, the trunk of the care recipient, it is possible to perform the standing assistance from the sitting posture to the standing posture of the middle waist, and the care recipient M2 Light care, for example, when the caretaker's trunk is firm, it is possible to assist in raising from a sitting posture to a standing posture in which the person stands.

  In addition, when the inclination angle of the holding unit 50 is a predetermined angle, the control device 120 adjusts the height of the shoulder position of the care receiver M1 held by the holding unit 50 in the first mode to the holding position in the second mode. The height of the shoulder of the care receiver M2 held by the unit 50 is controlled to be lower than the height of the shoulder position. Thus, the care recipient M1 with poor trunk balance does not need to stretch his / her waist, and thus can hold the body in a comfortable posture. In addition, since the caretaker M2 whose trunk is firm, the waist is almost in a standing state, it is possible to easily shift to the final standing posture in which the waist is standing.

  Further, when the inclination angle of the holding unit 50 is a predetermined angle, the control device 120 moves the shoulder position of the care receiver M1 held by the holding unit 50 in the first mode to the holding unit 50 in the second mode. Control is performed so as to be located behind the held position of the care receiver M2. Accordingly, the care receiver M1 with poor trunk balance can lean on the holding unit 50 and move in a comfortable posture. In addition, since the caretaker M2 with a firm trunk does not lean excessively, it can easily transition to the final standing posture in which the person stands.

(4. Others)
The assistance robot 1 according to the above-described embodiment has the two operation modes of the first mode and the second mode, but may have three or more different operation modes. The assistance robot 1 may have at least two operation modes according to the degree of care of the care recipient.

1: assistance robot, 10: base, 20, 30: elevating arm, 40: elevating part, 50: holding part, 60: attachment, 70, 80: elevating actuator, 90, 100: forward and backward moving actuator, 120: control device , 200: foot rest, M1, M2: care recipient

Claims (4)

A base,
Be vertically movable relative to said base, is provided to be rotatably and tilting back and forth, and a holding portion for holding a part of the care of the body,
By performing control to change the vertical movement of the holding unit, the longitudinal movement and the tilt, respectively, a control device that at least assists the person to be assisted in raising from the sitting posture to the standing posture,
With
The control device may further include a motion trajectory of a position of the shoulder of the care receiver held by the holding unit when performing the assisting in raising, and the assisted assistance held in the holding unit when the assist in raising is completed. At least one of the height of the position of the shoulder of the person and the position in the front-back direction controls the elevation of the holding unit, the front-back movement, and the tilt in different modes, respectively ,
The different modes include a first mode and a second mode, wherein the first mode is a mode used by the relatively caregiver, and the second mode is a mode that is relatively light. This mode is used by caregivers,
In the first mode, the tilting of the holding unit is controlled such that the care receiver tilts only in the direction in which the care recipient is in the forward leaning posture, and in the second mode, the care recipient is in the forward leaning posture. An assisting robot that controls the tilting of the holding unit so as to tilt in the opposite direction after tilting . A base,
Be vertically movable relative to said base, is provided to be rotatably and tilting back and forth, and a holding portion for holding a part of the care of the body,
By performing control to change the vertical movement of the holding unit, the longitudinal movement and the tilt, respectively, a control device that at least assists the person to be assisted in raising from the sitting posture to the standing posture,
With
The control device may further include a motion trajectory of a position of the shoulder of the care receiver held by the holding unit when performing the assisting in raising, and the assisted assistance held in the holding unit when the assist in raising is completed. At least one of the height of the position of the shoulder of the person and the position in the front-back direction controls the elevation of the holding unit, the front-back movement, and the tilt in different modes, respectively ,
The different modes include a first mode and a second mode, wherein the first mode is a mode used by the relatively caregiver, and the second mode is a mode that is relatively light. This mode is used by caregivers,
In the first mode, the movement of the holding unit is controlled such that the shoulder of the care receiver held by the holding unit moves only forward, and in the second mode, the shoulder held by the holding unit is controlled. An assistance robot that controls the movement of the holding unit so that the care recipient's shoulder moves forward after moving forward . A base,
Be vertically movable relative to said base, is provided to be rotatably and tilting back and forth, and a holding portion for holding a part of the care of the body,
By performing control to change the vertical movement of the holding unit, the longitudinal movement and the tilt, respectively, a control device that at least assists the person to be assisted in raising from the sitting posture to the standing posture,
With
The control device may further include a motion trajectory of a position of the shoulder of the care receiver held by the holding unit when performing the assisting in raising, and the assisted assistance held in the holding unit when the assist in raising is completed. At least one of the height of the position of the shoulder of the person and the position in the front-back direction controls the elevation of the holding unit, the front-back movement, and the tilt in different modes, respectively ,
The different modes include a first mode and a second mode, wherein the first mode is a mode used by the relatively caregiver, and the second mode is a mode that is relatively light. This mode is used by caregivers,
When the inclination angle of the holding unit is a predetermined angle, the height of the position of the shoulder of the care recipient held by the holding unit in the first mode is held by the holding unit in the second mode. An assisting robot for controlling the assisted person to be lower than the height of the position of the shoulder of the assisted person . A base,
Be vertically movable relative to said base, is provided to be rotatably and tilting back and forth, and a holding portion for holding a part of the care of the body,
By performing control to change the vertical movement of the holding unit, the longitudinal movement and the tilt, respectively, a control device that at least assists the person to be assisted in raising from the sitting posture to the standing posture,
With
The control device may further include a motion trajectory of a position of the shoulder of the care receiver held by the holding unit when performing the assisting in raising, and the assisted assistance held in the holding unit when the assist in raising is completed. At least one of the height of the position of the shoulder of the person and the position in the front-back direction controls the elevation of the holding unit, the front-back movement, and the tilt in different modes, respectively ,
The different modes include a first mode and a second mode, wherein the first mode is a mode used by the relatively caregiver, and the second mode is a mode that is relatively light. This mode is used by caregivers,
When the angle of inclination of the holding portion is a predetermined angle, the position of the shoulder of the care recipient held by the holding portion in the first mode is adjusted by the position of the shoulder held by the holding portion in the second mode. An assistance robot that is controlled to be located behind the position of the assistant's shoulder .

Images