JP6637994B2 - Assistive device - Google Patents

Assistive device Download PDF

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JP6637994B2
JP6637994B2 JP2017553543A JP2017553543A JP6637994B2 JP 6637994 B2 JP6637994 B2 JP 6637994B2 JP 2017553543 A JP2017553543 A JP 2017553543A JP 2017553543 A JP2017553543 A JP 2017553543A JP 6637994 B2 JP6637994 B2 JP 6637994B2
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load
sitting
standing
control device
support
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JPWO2017094128A1 (en
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剛裕 野口
剛裕 野口
丈二 五十棲
丈二 五十棲
伸幸 中根
伸幸 中根
聡志 清水
聡志 清水
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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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1096—Knee, upper or lower leg
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/104—Devices carried or supported by
    • A61G7/1046—Mobile bases, e.g. having wheels
    • A61G7/1048—Mobile bases, e.g. having wheels having auxiliary drive means
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1063—Safety means
    • A61G7/1065—Safety means with electronic monitoring
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1086—Upper body
    • 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
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1092—Rests specially adapted for the arms
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/34—Specific positions of the patient sitting
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/30—Specific positions of the patient
    • A61G2200/36—Specific positions of the patient standing
    • 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
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/52—Underarm
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/30—General characteristics of devices characterised by sensor means
    • A61G2203/32—General characteristics of devices characterised by sensor means for force
    • 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
    • A61G2203/00—General characteristics of devices
    • A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
    • A61G2203/72—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention
    • A61G2203/726—General characteristics of devices with special adaptations, e.g. for safety or comfort for collision prevention for automatic deactivation, e.g. deactivation of actuators or motors

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  • Health & Medical Sciences (AREA)
  • Nursing (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)
  • Rehabilitation Tools (AREA)
  • Chair Legs, Seat Parts, And Backrests (AREA)

Description

本発明は、被介助者の起立または着座を介助する介助装置に関する。   The present invention relates to an assisting device for assisting an assisted person in standing or sitting.

介助装置としては、被介助者の上体を保持して移動可能な保持部と、保持部に設けられ、保持部が被介助者から受ける荷重を検出する荷重検出装置と、保持部の動作を制御する制御部とを備えるものが提案されている（例えば、特許文献１参照）。この介助装置では、被介助者を起立させる場合において、荷重検出装置の検出結果に基づき重心位置を導出する。そして、重心位置が所定範囲内に入るように保持部の移動速度や傾きを制御することによって、被介助者に違和感を与えることなく被介助者を起立させることができる。   As the assistance device, a holding unit that can move while holding the upper body of the assisted person, a load detection device that is provided in the holding unit, and detects a load that the holding unit receives from the assisted person, and an operation of the holding unit. There has been proposed a device including a control unit for controlling (for example, see Patent Document 1). This assistance device derives the position of the center of gravity based on the detection result of the load detection device when the assisted person stands up. Then, by controlling the moving speed and the inclination of the holding portion so that the position of the center of gravity falls within the predetermined range, the care receiver can be erected without giving a sense of incongruity to the care receiver.

国際公開２０１５／１４５７５６号パンフレットInternational Publication No. 2015/145756 pamphlet

上述した特許文献１の介助装置では、荷重検出装置の検出結果を利用することで介助装置の実用性を向上させているが、荷重の検出結果の利用に関しては改良の余地が残されている。本発明は、そのような実情に鑑みてなされたものであり、荷重の検出結果を利用して実用性の高い介助装置を提供することを課題とする。   In the assistance device of Patent Document 1 described above, the utility of the assistance device is improved by using the detection result of the load detection device, but there is room for improvement in using the detection result of the load. The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a highly practical assistance device using a load detection result.

本発明は、上述の課題を解決するため、以下の手段を採った。   The present invention employs the following solutions in order to solve the above-mentioned problems.

本発明の介助装置は、
被介助者の起立または着座を介助する介助装置であって、
基台と、
前記基台に移動可能に設けられ、被介助者を支持する支持装置と、
前記支持装置を基台に対して移動させることで起立動作または着座動作を行う移動装置と、
前記支持装置に設けられ、前記支持装置が被介助者から受ける荷重を検出する第１荷重検出装置と、
前記移動装置を制御する制御装置と、を備え、
前記制御装置は、前記第１荷重検出装置によって検出された荷重値に基づき、動作中の前記起立動作または前記着座動作を停止する。The assistance device of the present invention
An assisting device for assisting the person to stand or sit,
A base,
A support device movably provided on the base, and supporting the care recipient;
A moving device that performs a standing operation or a sitting operation by moving the supporting device with respect to a base,
A first load detection device that is provided on the support device and detects a load that the support device receives from the care recipient;
A control device for controlling the moving device,
The control device stops the standing operation or the sitting operation during operation based on the load value detected by the first load detection device.

この介助装置は、被介助者を支持する支持装置を移動させることで、被介助者の起立または着座を介助する。そして、介助装置は、支持装置が被介助者から受ける荷重を第１荷重検出装置によって検出し、検出された荷重値に基づき、動作中の起立動作または着座動作を停止する。このため、介助装置は、支持装置が被介助者から受ける荷重の状態に基づいて動作中の起立動作または着座動作を停止させることができる。   The assisting device assists the assisted person in standing or sitting by moving a supporting device that supports the assisted person. Then, the assistance device detects the load received by the support device from the care recipient by the first load detection device, and stops the standing operation or the sitting operation during the operation based on the detected load value. For this reason, the assistance device can stop the standing operation or the sitting operation during the operation based on the state of the load that the support device receives from the assisted person.

本発明の介助装置において、前記制御装置は、前記第１荷重検出装置によって検出された荷重値に基づき、前記支持装置が被介助者から受ける荷重の前後方向の荷重バランスに偏りがあると判断したときは、動作中の前記起立動作または前記着座動作を停止するようにしてもよい。この介助装置では、支持装置が被介助者から受ける荷重の前後方向の荷重バランスに偏りが生じたときに動作中の起立動作または着座動作を停止することができ、実用性が向上する。   In the assistance device of the present invention, the control device determines that the load balance in the front-rear direction of the load received from the care receiver by the support device is biased based on the load value detected by the first load detection device. At this time, the standing operation or the sitting operation during the operation may be stopped. With this assisting device, the standing operation or the sitting operation during the operation can be stopped when the load balance in the front-rear direction of the load received from the care receiver by the support device can be stopped, and the practicality is improved.

本発明の介助装置において、前記制御装置は、少なくとも前記第１荷重検出装置によって検出された荷重値に基づき、前記支持装置が被介助者から受ける荷重の左右方向の荷重バランスに偏りがあると判断したときは、動作中の前記起立動作または前記着座動作を停止するようにしてもよい。この介助装置では、支持装置が被介助者から受ける荷重の左右方向の荷重バランスに偏りが生じたときに動作中の起立動作または着座動作を停止することができ、実用性が向上する。   In the assistance device according to the aspect of the invention, the control device may determine that there is a bias in the left-right direction load balance of the load received from the care receiver by the support device based on at least the load value detected by the first load detection device. Then, the standing operation or the sitting operation during the operation may be stopped. In this assisting device, when the load applied to the support device from the care receiver is biased in the left-right direction, the standing operation or the sitting operation during the operation can be stopped, and the practicality is improved.

本発明の介助装置において、前記第１荷重検出装置は、前記支持装置の複数個所の荷重値を測定可能であり、前記制御装置は、前記複数個所の荷重値同士の差分値が所定値を超えた場合に荷重バランスに偏りがあると判断するようにしてもよい。   In the assistance device of the present invention, the first load detection device can measure load values at a plurality of locations of the support device, and the control device determines that a difference value between the load values at the plurality of locations exceeds a predetermined value. In such a case, it may be determined that the load balance is biased.

本発明の介助装置において、操作者からの起立動作指示または着座動作指示を受け付ける入力装置をさらに備え、前記制御装置は、前記第１荷重検出装置によって検出された荷重値に基づき、動作中の前記起立動作または前記着座動作を停止すべきと判断した時は、前記入力装置へ前記起立動作指示または前記着座動作指示が入力されていても前記起立動作または前記着座動作を停止するようにしてもよい。   The assistance device according to the aspect of the invention may further include an input device that receives a standing operation instruction or a sitting operation instruction from an operator, wherein the control device is configured to perform the operation based on a load value detected by the first load detection device. When it is determined that the standing operation or the sitting operation should be stopped, the standing operation or the sitting operation may be stopped even if the standing operation instruction or the sitting operation instruction is input to the input device. .

また、前記制御装置は、前記移動装置の前記起立動作または前記着座動作を停止した際に、前記第１荷重検出装置によって検出された荷重値に基づき前記起立動作または前記着座動作を再開してもよいと判断したときは、前記入力装置に操作者からの前記起立動作指示または前記着座動作指示が入力されていることを条件として前記起立動作または前記着座動作を再開するようにしてもよい。   Further, the control device, when stopping the standing operation or the sitting operation of the moving device, may restart the standing operation or the sitting operation based on the load value detected by the first load detection device. When it is determined that it is good, the standing operation or the sitting operation may be restarted on condition that the standing operation instruction or the sitting operation instruction is input from the operator to the input device.

さらに、前記制御装置は、前記入力装置への前記起立動作指示または前記着座動作指示が前記起立動作または前記着座動作の停止前から継続して入力されていた場合には前記起立動作指示または前記着座動作指示を無視するようにしてもよい。   Further, the control device may be configured such that when the standing operation instruction or the sitting operation instruction to the input device is continuously input before the standing operation or the sitting operation is stopped, the standing operation instruction or the sitting operation instruction is performed. The operation instruction may be ignored.

あるいは、本発明の介助装置において、前記基台は被介助者の足を載置する足置き台を有し、前記足置き台には第２荷重検出装置が設けられ、前記制御装置は、前記第１荷重検出装置および第２荷重検出装置によって検出された荷重値に基づき、動作中の前記起立動作または前記着座動作を停止するようにしてもよい。   Alternatively, in the assistance apparatus of the present invention, the base has a footrest on which the foot of the care recipient is placed, and the footrest is provided with a second load detection device, and the control device includes: The standing operation or the sitting operation during the operation may be stopped based on the load values detected by the first load detection device and the second load detection device.

本実施形態の介助装置１を右側後方から見た説明図。Explanatory drawing which looked at the assistance apparatus 1 of this embodiment from right rear. 介助装置１を右側から見た説明図であり、被介助者が着座状態にある図。FIG. 3 is an explanatory diagram of the assistance device 1 as viewed from the right side, in which an assisted person is in a seated state. 介助装置１を右側から見た説明図であり、被介助者が起立状態にある図。FIG. 5 is an explanatory diagram of the assistance device 1 as viewed from the right side, in which the assistance recipient is in an upright state. ベースプレート５３上に配置された荷重検出装置６０を表す図The figure showing the load detection apparatus 60 arrange | positioned on the base plate 53 介助装置１１の構成を表すブロック図Block diagram showing the configuration of the assistance device 11 実装処理ルーチンの一例を表すフローチャート。9 is a flowchart illustrating an example of an implementation processing routine.

本発明の好適な実施形態を図面を参照しながら以下に説明する。介助装置１は、被介助者Ｍ（図２に示す）に対して座位姿勢から立位姿勢への起立介助、及び、立位姿勢から座位姿勢への着座介助を行う。本実施形態の介助装置１は、例えば、自力での起立が困難な被介助者Ｍを対象とし、被介助者Ｍのボトムス（下半身に着る衣服）の着脱支援や、被介助者Ｍの***介助などに有効に用いられる。なお、本実施形態における立位姿勢とは、少なくとも被介助者Ｍの尻が椅子等の座面３から離れた状態を意味し、被介助者Ｍを介護する介護者が、着脱支援や***介助を行なえる程度被介助者Ｍの下半身が立っている状態を意味する。本実施形態において、左右方向、前後方向及び上下方向は、図１に示した通りとする。   Preferred embodiments of the present invention will be described below with reference to the drawings. The assisting device 1 provides the assisted person M (shown in FIG. 2) with standing assistance from a sitting posture to a standing posture and seating assistance from a standing posture to a sitting posture. The assistance device 1 of the present embodiment is intended for, for example, an assisted person M who is difficult to stand up by himself, and assists the assisted person M in attaching and detaching bottoms (clothing worn on the lower body) and assisting the assisted person M in excretion. It is used effectively for such purposes. Note that the standing posture in the present embodiment means a state where at least the buttocks of the care recipient M are separated from the seating surface 3 such as a chair, and the caregiver who cares for the care recipient M provides support for putting on and taking off and assisting in excretion. Means that the lower body of the care receiver M is standing to the extent that the person can perform the operation. In the present embodiment, the left-right direction, the front-rear direction, and the up-down direction are as shown in FIG.

介助装置１は、図１及び図２に示すように、基台１０、車輪２０、昇降部３０、アーム４０、支持装置５０、グリップ５５、下腿当て部７０、制御装置８０、および入力装置９０（図５）を備える。   As shown in FIGS. 1 and 2, the assistance device 1 includes a base 10, wheels 20, a lifting unit 30, an arm 40, a support device 50, a grip 55, a lower leg support 70, a control device 80, and an input device 90 ( 5).

基台１０は、フレーム１１、支柱１２、足置き台１３、および固定カバー１４を備える。フレーム１１は、接地面２（床面、地面）から僅かに離れた位置であって、接地面２に対してほぼ水平に設けられる。   The base 10 includes a frame 11, a support 12, a footrest 13, and a fixed cover 14. The frame 11 is provided at a position slightly distant from the ground plane 2 (floor surface, ground) and substantially horizontal to the ground plane 2.

支柱１２は、フレーム１１に固定されており、フレーム１１の前方上面から上方に向かって立設される。支柱１２は、フレーム１１の前方のうち、左右方向中央に配置される。なお、本実施形態において、介助装置１は、１本の支柱１２を有するが、２本以上の支柱１２を備えるようにしてもよい。   The column 12 is fixed to the frame 11 and is erected upward from the front upper surface of the frame 11. The support 12 is disposed at the center in the left-right direction in the front of the frame 11. In the present embodiment, the assistance device 1 has one support 12, but may include two or more supports 12.

足置き台１３は、フレーム１１の上面後方に固定される。足置き台１３の上面には、被介助者Ｍの足の接地マーク１３ａが記されている。つまり、接地マーク１３ａは、被介助者Ｍに対して足の位置を案内する役割を有する。固定カバー１４は、図１に示すように、フレーム１１又は支柱１２に固定され、後述する昇降部３０の昇降本体３１の下側部分の周囲を囲む。   The footrest 13 is fixed to the rear of the upper surface of the frame 11. On the upper surface of the footrest 13, a ground mark 13a of the care receiver M's foot is marked. That is, the ground mark 13a has a role of guiding the position of the foot to the care recipient M. As shown in FIG. 1, the fixed cover 14 is fixed to the frame 11 or the column 12, and surrounds a lower portion of an elevating body 31 of an elevating unit 30 described later.

車輪２０は、図１に示すように、フレーム１１の前後左右の四隅に配置される。車輪２０は、回転を規制するロック機能を有する。車輪２０は、本実施形態においては、自由回転可能に設けられるが、駆動装置により駆動可能に設けてもよい。   The wheels 20 are arranged at four front, rear, left and right corners of the frame 11, as shown in FIG. The wheel 20 has a lock function for restricting rotation. In the present embodiment, the wheel 20 is provided so as to be freely rotatable, but may be provided so as to be driven by a driving device.

昇降部３０は、昇降本体３１、揺動支持部３２、および昇降カバー３３を備える。昇降本体３１は、図２に示すように、上下方向に長尺状に形成され、支柱１２の前面に上下方向に直動可能に設けられる。昇降本体３１は、支柱１２の前面のガイド（図示せず）に案内されると共に、昇降駆動モータ３５（図４）により駆動される。この昇降本体３１は、固定カバー１４により囲まれている。なお、本実施形態においては、介助装置１は、１本の支柱１２を有するため１個の昇降部３０を有するが、仮に、２本以上の支柱１２を有する場合には、支柱１２の数に対応する数の昇降部３０を有することになる。   The elevating unit 30 includes an elevating body 31, a swing support part 32, and an elevating cover 33. As shown in FIG. 2, the elevating body 31 is formed in a vertically long shape, and is provided on the front surface of the column 12 so as to be able to move vertically in a vertical direction. The elevating body 31 is guided by a guide (not shown) on the front surface of the column 12 and is driven by an elevating drive motor 35 (FIG. 4). The elevating main body 31 is surrounded by the fixed cover 14. In addition, in this embodiment, although the assistance apparatus 1 has one support | pillar 12, it has one raising / lowering part 30, but if it has two or more support | pillars 12, if the number of the support | pillars 12 is assumed, It will have a corresponding number of lifts 30.

揺動支持部３２は、昇降本体３１上端側に設けられ、左右方向に平行な揺動軸心３２ａを有する。詳細には、揺動支持部３２は、昇降本体３１の上端から後方に突出形成される。つまり、揺動軸心３２ａは、支柱１２より後方に位置し、且つ、昇降本体３１より後方に位置する。   The swing support portion 32 is provided on the upper end side of the elevating body 31 and has a swing axis 32a parallel to the left-right direction. Specifically, the swing support portion 32 is formed to protrude rearward from the upper end of the elevating main body 31. That is, the swing axis 32 a is located behind the column 12 and behind the lifting / lowering main body 31.

昇降カバー３３は、図１に示すように、昇降部３０に固定され、昇降部３０を囲む。さらに、昇降カバー３３は、支柱１２及び固定カバー１４を囲む。昇降カバー３３は、昇降部３０が上昇した位置においても固定カバー１４との重なりを有する。   As shown in FIG. 1, the lifting cover 33 is fixed to the lifting unit 30 and surrounds the lifting unit 30. Further, the lifting cover 33 surrounds the column 12 and the fixed cover 14. The elevating cover 33 has an overlap with the fixed cover 14 even at the position where the elevating part 30 is raised.

アーム４０は、基端側を昇降部３０の揺動支持部３２の揺動軸心３２ａを中心軸として揺動可能に設けられる。アーム４０はアーム駆動モータ４１（図４）によって揺動駆動される。アーム４０は、揺動支持部３２より高い位置を揺動する。つまり、アーム４０の揺動範囲は、アーム４０の先端が揺動支持部３２の後方に延びる状態（図２に示す）と、アーム４０の先端が揺動支持部３２又は昇降本体３１の上方付近に位置する状態（図３に示す）との間である。介助装置１が起立補助を行う場合には、アーム４０は、後方に延びた状態から前旋回し、介助装置１が着座補助を行う場合には、アーム４０は、後方に延びる状態となるように後旋回する。   The arm 40 is provided so as to be able to swing about the swing axis 32 a of the swing support portion 32 of the elevating unit 30 at the base end side. The arm 40 is driven to swing by an arm drive motor 41 (FIG. 4). The arm 40 swings at a position higher than the swing support portion 32. That is, the swing range of the arm 40 is such that the tip of the arm 40 extends rearward of the swing support portion 32 (shown in FIG. 2), and the tip of the arm 40 is near the upper portion of the swing support portion 32 or the elevating body 31. (Shown in FIG. 3). When the assistance device 1 performs the standing assistance, the arm 40 turns forward from the state of extending rearward, and when the assistance device 1 performs the sitting assistance, the arm 40 extends rearward. Turn back.

支持装置５０は、アーム４０の先端に設けられ、被介助者Ｍの上半身を支持する。支持装置５０は、昇降部３０、昇降駆動モータ３５、アーム４０、アーム駆動モータ４１から構成される移動装置５７によって、基台１０に対して昇降および揺動させられる。本実施形態においては、支持装置５０は、被介助者Ｍの胴体に接触する胴体受部５１と、被介助者Ｍの両脇を抱える脇受部５２と、ベースプレート５３と、荷重検出装置６０とを備える。胴体受部５１および脇受部５２はベースプレート５３に固定され、ベースプレート５３はアーム４０に固定されている。なお、支持装置５０は、胴体受部５１と脇受部５２の何れか一方のみを備えるようにしてもよい。   The support device 50 is provided at the distal end of the arm 40 and supports the upper body of the care receiver M. The support device 50 is moved up and down with respect to the base 10 by a moving device 57 including the elevating unit 30, the elevating drive motor 35, the arm 40, and the arm drive motor 41. In the present embodiment, the support device 50 includes a torso receiving portion 51 that comes into contact with the torso of the care recipient M, a side receiving portion 52 that holds both sides of the care recipient M, a base plate 53, and a load detection device 60. Is provided. The body receiving portion 51 and the side receiving portion 52 are fixed to a base plate 53, and the base plate 53 is fixed to the arm 40. Note that the support device 50 may include only one of the body receiving portion 51 and the side receiving portion 52.

胴体受部５１は、被介助者Ｍの胴体を下方から支持する。胴体受部５１は、面状に形成され、クッション材により形成される。胴体受部５１は、標準的な被介助者Ｍの胴体に応じた初期形状に形成され、個々の被介助者Ｍの胴体に応じて柔軟に変形する。本実施形態では、胴体受部５１は、被介助者Ｍの胸部から腹部に亘って接触する。   The body receiving portion 51 supports the body of the care recipient M from below. The body receiving portion 51 is formed in a planar shape, and is formed of a cushion material. The body receiving portion 51 is formed in an initial shape corresponding to the standard body of the care receiver M, and is flexibly deformed according to the body of each care receiver M. In the present embodiment, the torso receiving portion 51 contacts from the chest to the abdomen of the care receiver M.

脇受部５２は、円弧状に形成され、円弧開口が上方を向くように胴体受部５１の左右それぞれに配置される。脇受部５２は、被介助者Ｍの脇を下方から支持することで、被介助者Ｍの上半身を支持する。さらに、脇受部５２は、被介助者Ｍの両脇を前後方向から挟むことで、被介助者Ｍの前後動を規制する。   The side receiving portions 52 are formed in an arc shape, and are arranged on the right and left sides of the body receiving portion 51 such that the arc openings face upward. The side receiving part 52 supports the upper part of the person to be assisted M by supporting the side of the person to be assisted M from below. Further, the side receiving portion 52 regulates the front and rear movement of the care recipient M by sandwiching both sides of the care recipient M from the front and rear directions.

グリップ５５は、Ｕ字状に形成され、グリップ５５のＵ字状の両端が、胴体受部５１の下面に固定される。グリップ５５の中央部は、胴体受部５１の前方に位置し、支持装置５０に支持された状態の被介助者Ｍにより把持される。   The grip 55 is formed in a U shape, and both ends of the U shape of the grip 55 are fixed to the lower surface of the body receiving portion 51. The central portion of the grip 55 is located in front of the trunk receiving portion 51 and is gripped by the care receiver M in a state supported by the support device 50.

荷重検出装置６０は、ベースプレート５３と胴体受部５１の間に設けられる。図４に示すように荷重検出装置６０は、本実施形態では前側荷重センサ６０ａ、後側荷重センサ６０ｂ、右側荷重センサ６０ｃ、左側荷重センサ６０ｄの４つの荷重センサから構成される。前側荷重センサ６０ａは、ベースプレート５３の前後方向のほぼ中央かつ左右方向中央の位置に配置される。後側荷重センサ６０ｂは、ベースプレート５３の後部かつ左右方向中央の位置に配置される。右側荷重センサ６０ｃは、ベースプレート５３の後部かつ右端の位置に配置される。左側荷重センサ６０ｄは、ベースプレート５３の後部かつ左端の位置に配置される。荷重検出装置６０は４つの荷重センサ６０ａ、６０ｂ、６０ｃ、６０ｄによって、支持装置５０が被介助者Ｍから受ける荷重を検出する。   The load detecting device 60 is provided between the base plate 53 and the body receiving portion 51. As shown in FIG. 4, in the present embodiment, the load detection device 60 includes four load sensors: a front load sensor 60a, a rear load sensor 60b, a right load sensor 60c, and a left load sensor 60d. The front-side load sensor 60a is disposed at substantially the center of the base plate 53 in the front-rear direction and at the center in the left-right direction. The rear load sensor 60b is arranged at the rear of the base plate 53 and at the center in the left-right direction. The right side load sensor 60c is disposed at the rear and right end position of the base plate 53. The left load sensor 60d is disposed at the rear and left end position of the base plate 53. The load detection device 60 detects the load that the support device 50 receives from the care receiver M by using the four load sensors 60a, 60b, 60c, and 60d.

下腿当て部７０は、座位姿勢における被介助者Ｍの下腿前部（脛部又は膝部）を接触させることで、座位姿勢における被介助者Ｍの下半身の位置及び姿勢を決める。特に、足の位置がある程度決定される。下腿当て部７０は、基台１０の支柱１２に固定される。下腿当て部７０は、２個の支持部材７１と、下腿当て本体７２とを備える。   The lower leg contact part 70 determines the position and posture of the lower body of the care receiver M in the sitting posture by bringing the front leg (shin or knee) of the care recipient M in the sitting posture into contact. In particular, the position of the foot is determined to some extent. The leg support 70 is fixed to the support 12 of the base 10. The lower leg contact part 70 includes two support members 71 and a lower leg contact body 72.

支持部材７１は、Ｌ字状に形成される。支持部材７１のＬ字状の一端が、支柱１２に固定され、支持部材７１のＬ字状の他端が、支柱１２より後方に位置する。下腿当て本体７２は、支持部材７１の他端側に固定され、昇降カバー３３の後方且つ揺動支持部３２の下方に位置する。下腿当て本体７２は、被介助者Ｍの下腿前部を接触させる部位であり、面状に形成され、クッション材により形成される。   The support member 71 is formed in an L shape. One end of the L-shaped support member 71 is fixed to the column 12, and the other end of the L-shaped support member 71 is located behind the column 12. The lower leg support body 72 is fixed to the other end side of the support member 71, and is located behind the elevating cover 33 and below the swing support portion 32. The lower leg support body 72 is a portion that contacts the lower leg front of the care recipient M, is formed in a planar shape, and is formed of a cushion material.

入力装置９０は、操作者である被介助者Ｍ又は介護者からの起立動作指示または着座動作指示を入力する入力手段である。入力装置９０は、図５に示すように、起立動作指示を行なうための起立ボタン９１と、着座動作指示を行なうための着座ボタン９２とを備える。さらに入力装置９０は、各種の情報を表示する表示部９３を備える。本実施形態の入力装置９０は、起立ボタン９１が操作者によって押下されている間は制御装置８０に対して起立動作指示を出力し続け、着座ボタン９２が操作者によって押下されている間は制御装置８０に対して着座動作指示を出力し続ける。   The input device 90 is input means for inputting a standing operation instruction or a sitting operation instruction from the care recipient M or a caregiver who is an operator. As shown in FIG. 5, the input device 90 includes a standing button 91 for giving a standing operation instruction and a sitting button 92 for giving a sitting operation instruction. Further, the input device 90 includes a display unit 93 for displaying various information. The input device 90 of the present embodiment continues to output a rising operation instruction to the control device 80 while the standing button 91 is pressed by the operator, and controls the standing operation button 92 while the sitting button 92 is pressed by the operator. The seating operation instruction is continuously output to the device 80.

制御装置８０は、基台１０の水平台１１に固定されており、水平台１１の前方上面から上方に向かって立設される。制御装置８０は、支柱１２の横に配置される。制御装置８０は、昇降部３０の上下動及びアーム４０の揺動を制御して、被介助者Ｍに対して起立補助及び着座補助を行う。   The control device 80 is fixed to the horizontal base 11 of the base 10 and is erected upward from the front upper surface of the horizontal base 11. The control device 80 is arranged beside the column 12. The control device 80 controls the up and down movement of the elevating unit 30 and the swing of the arm 40 to assist the care receiver M in raising and sitting.

制御装置８０には、図５に示すように、上述した荷重検出装置６０、昇降駆動モータ３５、アーム駆動モータ４１、および入力装置９０が接続されている。   As shown in FIG. 5, the above-described load detection device 60, the lifting drive motor 35, the arm drive motor 41, and the input device 90 are connected to the control device 80.

制御装置８０には、予め起立補助動作を行う際の起立補助プログラムが記憶されている。操作者によって起立動作指示が実行されることにより、制御装置８０は、起立補助プログラムを実行し、移動装置５７の動作、すなわち昇降部３０の上下動及びアーム４０の揺動を制御する。また、制御装置８０には、予め着座補助動作を行う際の着座補助プログラムが記憶されている。操作者によって着座動作指示が実行されることにより、制御装置８０は、着座補助プログラムを実行し、移動装置５７の動作、すなわち昇降部３０の上下動及びアーム４０の揺動を制御する。また、制御装置８０は、起立開始高さおよび起立完了高さに応じて、起立補助プログラム及び着座補助プログラムを補正する。   The control device 80 stores in advance a standing assistance program for performing the standing assistance operation. The control device 80 executes the erecting assist program by executing the erecting operation instruction by the operator, and controls the operation of the moving device 57, that is, the vertical movement of the elevating unit 30 and the swing of the arm 40. The control device 80 stores a seating assistance program for performing the seating assistance operation in advance. The control device 80 executes the seating assistance program by executing the seating operation instruction by the operator, and controls the operation of the moving device 57, that is, the vertical movement of the elevating unit 30 and the swing of the arm 40. Further, control device 80 corrects the standing assistance program and the sitting assistance program according to the standing start height and the standing completion height.

次に、上述したように構成された介助装置１の起立動作を図のフローチャートに沿って説明する。操作者である被介助者Ｍまたは介護者は、介助装置１に起立動作指示を行うために入力装置９０の起立ボタン９１を押下する（ステップＳ１００）。制御装置８０は、起立ボタン９１の入力によって入力装置９０から起立動作指示を受けると、荷重検出装置６０から荷重値を取得する（ステップＳ１１０）。制御装置８０は、取得した荷重値に基づき起立動作を開始するか否か判断する。具体的には、制御装置８０はステップＳ１２０において、前側荷重センサ６０ａの荷重検出値と後側荷重センサ６０ｂの荷重検出値とに基づき、支持装置５０が被介助者Ｍから受ける荷重の前後方向の荷重バランスに偏りがある否かを判定する。本実施形態においては、制御装置８０は前側荷重センサ６０ａの荷重検出値と後側荷重センサ６０ｂの荷重検出値との差分値を算出し、この差分値が予め定められた閾値よりも大きい場合は前後方向の荷重バランスに偏りがあると判断する。なお、本実施形態においては被介助者Ｍの体重が異なっても同一の閾値としている。これは、本実施形態の介助装置１において、被介助者Ｍの体重の条件を変えてテストしたところ、荷重センサの荷重検出値の差分値によって荷重バランスを評価することにより、被介助者Ｍの体重が変化しても同じ閾値によって荷重バランスの良否を判定可能なことが判明したからである。続いて、ステップＳ１２０と同様にステップＳ１３０において、制御装置８０は右側荷重センサ６０ｃの荷重検出値と左側荷重センサ６０ｄの荷重検出値とに基づき、支持装置５０が被介助者Ｍから受ける荷重の左右方向の荷重バランスに偏りがある否かを判定する。制御装置８０は右側荷重センサ６０ｃの荷重検出値と左側荷重センサ６０ｄの荷重検出値との差分値を算出し、この差分値が予め定められた閾値よりも大きい場合は左右方向の荷重バランスに偏りがあると判断する。なお、このときの閾値は前後方向のバランスを判定する閾値と同じでもよいし、異なっていてもよい。そして、ステップＳ１２０またはステップＳ１３０において前後方向または左右方向の荷重バランスに偏りがあると判断した場合は、制御装置８０はその旨のメッセージを表示部９３に表示し処理を終了する（ステップＳ１４０）。一方、ステップＳ１２０またはステップＳ１３０において前後方向または左右方向の荷重バランスに偏りが無いと判断した場合は、制御装置８０は移動装置５７を制御して起立動作を開始する（ステップＳ１５０）。   Next, the erecting operation of the assisting device 1 configured as described above will be described with reference to the flowchart of FIG. The care receiver M or the caregiver, who is the operator, presses the standing button 91 of the input device 90 to instruct the assisting device 1 to stand up (step S100). When receiving a standing operation instruction from the input device 90 by inputting the standing button 91, the control device 80 acquires a load value from the load detecting device 60 (step S110). The control device 80 determines whether or not to start the standing operation based on the obtained load value. Specifically, in step S120, the control device 80 determines in the front-rear direction of the load that the support device 50 receives from the care receiver M based on the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b. It is determined whether the load balance is biased. In the present embodiment, the control device 80 calculates a difference value between the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b, and when the difference value is larger than a predetermined threshold value. It is determined that the load balance in the front-rear direction is biased. Note that, in the present embodiment, the same threshold value is used even if the weight of the care receiver M is different. This is because, in the assistance device 1 of the present embodiment, when the weight of the care receiver M is changed and the test is performed, the load balance is evaluated based on the difference value of the load detection value of the load sensor. This is because it has been found that even if the weight changes, it is possible to determine whether the load balance is good or not using the same threshold value. Subsequently, in step S130, as in step S120, the control device 80 determines whether the load received by the support device 50 from the care receiver M is right or left based on the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d. It is determined whether there is a bias in the load balance in the direction. The control device 80 calculates a difference value between the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d, and if the difference value is larger than a predetermined threshold value, the load is biased in the left-right direction. Judge that there is. The threshold at this time may be the same as or different from the threshold for determining the balance in the front-back direction. If it is determined in step S120 or S130 that the load balance in the front-rear direction or the left-right direction is unbalanced, the control device 80 displays a message to that effect on the display unit 93 and ends the process (step S140). On the other hand, if it is determined in step S120 or step S130 that there is no deviation in the load balance in the front-rear direction or the left-right direction, the control device 80 controls the moving device 57 to start the standing operation (step S150).

支持装置５０が移動を開始すると、制御装置８０は起立ボタン９１の入力の有無を確認する（ステップＳ１６０）。ステップＳ１６０にて起立ボタン９１の入力が無い場合は、操作者が起立動作の停止指示を行なったことになるので、制御装置８０は支持装置５０の移動を停止させる（ステップＳ１７０）。一方ステップＳ１６０にて起立ボタン９１の入力が確認されると荷重検出装置６０から荷重値を取得する（ステップＳ１８０）。制御装置８０は、取得した荷重値に基づき起立動作を停止するか否か判断する。具体的には、制御装置８０はステップＳ１９０において、前側荷重センサ６０ａの荷重検出値と後側荷重センサ６０ｂの荷重検出値とに基づき、支持装置５０が被介助者Ｍから受ける荷重の前後方向の荷重バランスに偏りがある否かを判定する。本実施形態においては、制御装置８０は前側荷重センサ６０ａの荷重検出値と後側荷重センサ６０ｂの荷重検出値との差分値を算出し、この差分値が予め定められた閾値よりも大きい場合は前後方向の荷重バランスに偏りがあると判断する。また、ステップＳ２００において、制御装置８０は右側荷重センサ６０ｃの荷重検出値と左側荷重センサ６０ｄの荷重検出値とに基づき、支持装置５０が被介助者Ｍから受ける荷重の左右方向の荷重バランスに偏りがある否かを判定する。本実施形態においては、制御装置８０は右側荷重センサ６０ｃの荷重検出値と左側荷重センサ６０ｄの荷重検出値との差分値を算出し、この差分値が予め定められた閾値よりも大きい場合は左右方向の荷重バランスに偏りがあると判断する。そして、ステップＳ１９０またはステップＳ２００において前後方向または左右方向の荷重バランスに偏りがあると判断した場合は、起立ボタン９１の入力により起立動作指示が入力されていても、制御装置８０はその起立動作指示を無視して動作中の起立動作を停止するとともに、荷重バランスに偏りがあるため停止した旨のメッセージを表示部９３に表示して処理を終了する（ステップＳ２１０）。   When the support device 50 starts moving, the control device 80 checks whether or not the input of the upright button 91 has been performed (step S160). If there is no input from the standing button 91 in step S160, it means that the operator has given an instruction to stop the standing operation, and the control device 80 stops the movement of the supporting device 50 (step S170). On the other hand, when the input of the standing button 91 is confirmed in step S160, the load value is obtained from the load detection device 60 (step S180). The control device 80 determines whether to stop the erecting operation based on the obtained load value. Specifically, in step S190, the control device 80 determines in the front-rear direction of the load that the support device 50 receives from the care receiver M based on the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b. It is determined whether the load balance is biased. In the present embodiment, the control device 80 calculates a difference value between the load detection value of the front load sensor 60a and the load detection value of the rear load sensor 60b, and when the difference value is larger than a predetermined threshold value. It is determined that the load balance in the front-rear direction is biased. In step S200, the control device 80 biases the load balance in the left and right direction of the load received by the support device 50 from the care receiver M based on the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d. It is determined whether or not there is. In the present embodiment, the control device 80 calculates a difference value between the load detection value of the right load sensor 60c and the load detection value of the left load sensor 60d, and when the difference value is larger than a predetermined threshold value, It is determined that the load balance in the direction is biased. If it is determined in step S190 or S200 that the load balance in the front-rear direction or the left-right direction is unbalanced, the control device 80 continues to operate the upright operation instruction even if the upright button 91 is input. Is disregarded, the standing operation during the operation is stopped, and a message indicating that the operation is stopped is displayed on the display unit 93 because the load balance is biased, and the process is terminated (step S210).

一方、ステップＳ１９０またはステップＳ２００において前後方向または左右方向の荷重バランスに偏りが無いと判断した場合は、制御装置８０は支持装置５０の現在位置をアーム駆動モータ４１のエンコーダ位置情報および昇降駆動モータ３５のエンコーダ位置情報より算出する（ステップＳ２２０）。そして、ステップＳ２３０において、制御装置８０は算出した現在位置が起立動作の完了位置に到達したか否か判定する。現在位置が起立動作の完了位置に到達していなければ、制御装置８０は起立動作を継続し、現在位置が起立動作の完了位置に到達するまでステップＳ１６０以降の処理を繰り返す。また、ステップＳ２３０において現在位置が起立動作の完了位置に到達していれば制御装置８０は起立動作を停止して起立動作を終了する（ステップＳ１７０）。 On the other hand, if it is determined in step S190 or S200 that there is no deviation in the load balance in the front-rear direction or the left-right direction, the control device 80 determines the current position of the support device 50 by the encoder position information of the arm drive motor 41 and the lifting drive motor 35. (Step S220). Then, in step S230, control device 80 determines whether or not the calculated current position has reached the completion position of the standing operation. If the current position has not reached the standing operation completion position, control device 80 continues the standing operation, and repeats the processing from step S160 onward until the current position reaches the standing operation completion position. If the current position has reached the standing operation completion position in step S230, control device 80 stops the standing operation and ends the standing operation (step S170).

以上、介助装置１の起立動作について説明したが、介助装置１の着座動作についても同様のフローであり上記説明において「起立」を「着座」と読み替えることにより説明される。   Although the standing operation of the assistance device 1 has been described above, the same operation is performed for the sitting operation of the assistance device 1, and is described by replacing “standing” with “sitting” in the above description.

以上説明した実施形態の介助装置１は、基台１０と、基台１０に移動可能に設けられ、被介助者Ｍを支持する支持装置５０と、支持装置５０を基台１０に対して移動させることで起立動作または着座動作を行う移動装置５７と、支持装置５０に設けられ、支持装置５０が被介助者Ｍから受ける荷重を検出する荷重検出装置６０と、移動装置５７を制御する制御装置８０と、を備える。そして、制御装置８０は荷重検出装置６０によって検出された荷重値に基づき、動作中の起立動作または着座動作を停止する。このため、介助装置１は、支持装置５０が被介助者Ｍから受ける荷重の状態に基づいて動作中の起立動作または着座動作を停止させることができる。支持装置５０が被介助者Ｍから受ける荷重は、被介助者Ｍの被支持状態によって変化する。したがって、例えば、被介助者Ｍの被支持状態が適切でない場合に支持装置５０の起立動作または着座動作を停止させることができる。そうすれば、介護度が比較的軽い被介助者Ｍが使用する場合であれば、起立動作または着座動作が途中で中断しないよう、被介助者Ｍ自身が体を使って被支持状態を改善しようとするのでリハビリ効果が望める。また、介護度が比較的重い被介助者Ｍが使用する場合であれば、起立動作または着座動作を停止によって被介助者Ｍの被支持状態が適切でないことがわかるので、被介助者Ｍを介護する介護者が被介助者Ｍの被支持状態を修正して被支持状態が適切な状態で起立動作または着座動作を再開できる。   The assistance device 1 according to the embodiment described above is provided on the base 10, the support device 50 movably provided on the base 10, and the support device 50 that supports the care recipient M, and moves the support device 50 relative to the base 10. A moving device 57 that performs a standing operation or a sitting operation, a load detecting device 60 that is provided on the supporting device 50, and detects a load that the supporting device 50 receives from the care recipient M, and a control device 80 that controls the moving device 57. And. Then, based on the load value detected by the load detection device 60, the control device 80 stops the standing operation or the sitting operation during the operation. For this reason, the assistance device 1 can stop the standing operation or the sitting operation during the operation based on the state of the load that the support device 50 receives from the care recipient M. The load that the support device 50 receives from the care receiver M changes depending on the supported state of the care receiver M. Therefore, for example, when the supported state of the care receiver M is not appropriate, the standing operation or the sitting operation of the support device 50 can be stopped. Then, if the care recipient M uses a relatively light care degree, the care recipient M will use the body to improve the supported state so that the standing motion or the sitting motion is not interrupted on the way. So the rehabilitation effect can be expected. In addition, when the care recipient M uses a relatively heavy care degree, the standing operation or the sitting motion is stopped, thereby indicating that the supported state of the care recipient M is not appropriate. The caregiver can correct the supported state of the care receiver M and resume the standing operation or the sitting operation in the appropriate supported state.

また、制御装置８０は、荷重検出装置６０の前側荷重センサ６０ａおよび後側荷重センサ６０ｂによって検出された荷重値に基づき、支持装置５０が被介助者Ｍから受ける荷重の前後方向の荷重バランスに偏りがあると判断したときは、動作中の起立動作または着座動作を停止する。同様に、制御装置８０は、荷重検出装置６０の右側荷重センサ６０ｃおよび左側荷重６０ｄセンサによって検出された荷重値に基づき、支持装置５０が被介助者Ｍから受ける荷重の左右方向の荷重バランスに偏りがあると判断したときは、動作中の起立動作または着座動作を停止する。このため、介助装置１は、支持装置５０が被介助者Ｍから受ける荷重の前後方向または左右方向の荷重バランスに偏りが生じたときに動作中の起立動作または着座動作を停止することができ、介助装置１の実用性が向上する。   Further, the control device 80 biases the load balance in the front-rear direction of the load received by the support device 50 from the care receiver M based on the load values detected by the front load sensor 60a and the rear load sensor 60b of the load detection device 60. When it is determined that there is, the standing operation or the sitting operation during the operation is stopped. Similarly, the control device 80 biases the load balance in the left and right direction of the load that the support device 50 receives from the care receiver M based on the load values detected by the right load sensor 60c and the left load sensor 60d of the load detection device 60. When it is determined that there is, the standing operation or the sitting operation during the operation is stopped. For this reason, the assisting device 1 can stop the standing operation or the sitting operation during the operation when the load applied to the support device 50 from the care recipient M in the front-rear direction or the left-right direction is unbalanced, The practicality of the assistance device 1 is improved.

また、荷重検出装置６０は、荷重センサ６０ａ、６０ｂ、６０ｃ、６０ｄによって支持装置５０の複数個所の荷重値を測定可能である。そして、制御装置８０は、前側荷重センサ６０ａによって検出された前側荷重値と後側荷重センサ６０ｂによって検出された後側荷重値との差分値が所定の閾値を超えた場合、若しくは右側荷重センサ６０ｃによって検出された右側荷重値と左側荷重センサ６０ｄによって検出された左側荷重値との差分値が所定値を超えた場合、に荷重バランスに偏りがあると判断する。このように、荷重値の差分値により荷重バランスを判定することにより、被介助者Ｍの体重が変化しても閾値を再設定することなく荷重バランスの良否を判定することができる。   Further, the load detecting device 60 can measure the load values at a plurality of positions of the supporting device 50 by the load sensors 60a, 60b, 60c, and 60d. Then, the control device 80 determines whether the difference between the front load value detected by the front load sensor 60a and the rear load value detected by the rear load sensor 60b exceeds a predetermined threshold value, or that the right load sensor 60c When the difference value between the right load value detected by the above and the left load value detected by the left load sensor 60d exceeds a predetermined value, it is determined that the load balance is biased. As described above, by determining the load balance based on the difference value of the load values, it is possible to determine the quality of the load balance without resetting the threshold value even if the weight of the care receiver M changes.

また、介助装置１は、操作者からの起立動作指示または着座動作指示を受け付ける入力装置９０を備えている。そして制御装置８０は、荷重検出装置６０によって検出された荷重値に基づき、動作中の起立動作または着座動作を停止すべきと判断した時は、入力装置９０へ起立動作指示または着座動作指示が入力されていても起立動作または着座動作を停止する。これにより、操作者が起立動作指示または着座動作指示を出し続けていても、荷重バランスに偏りが生じたときに動作中の起立動作または着座動作が停止するので介助装置１の実用性が向上する。   Further, the assistance device 1 includes an input device 90 that receives a standing operation instruction or a sitting operation instruction from the operator. When the control device 80 determines that the standing operation or the sitting operation during the operation should be stopped based on the load value detected by the load detecting device 60, the standing operation instruction or the sitting operation instruction is input to the input device 90. Even if the operation is performed, the standing operation or the sitting operation is stopped. Accordingly, even if the operator continues to issue the standing operation instruction or the sitting operation instruction, the standing operation or the sitting operation during the operation is stopped when the load balance is unbalanced, so that the utility of the assistance device 1 is improved. .

なお、本発明は上述した実施形態に何ら限定されることはなく、本発明の技術的範囲に属する限り種々の態様で実施し得ることはいうまでもない。   It should be noted that the present invention is not limited to the above-described embodiment at all, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

例えば、上述した実施形態では、制御装置８０はステップＳ２１０において移動装置５７の起立動作が停止した時点で処理を終了したが、制御装置８０が移動装置５７の起立動作または着座動作を停止した際に、荷重検出装置６０によって検出された荷重値に基づき起立動作または着座動作を再開してもよいと判断したときは、入力装置９０に操作者からの起立動作指示または着座動作指示が入力されていることを条件として起立動作または着座動作を再開するようにしてもよい。そうすれば、一旦起立動作や着座動作が停止しても、荷重バランスの偏りが解消されれば起立動作または着座動作が再開される。したがって、被介助者自身が体を使って被支持状態を改善しようとするのでリハビリ効果が望める。また、入力装置９０に操作者からの起立動作指示または着座動作指示が入力されていることを条件として起立動作または着座動作を再開するので、操作者が意図しない動作が行われることを防止できる。さらに、この場合において、制御装置８０は、入力装置９０への起立動作指示または着座動作指示が起立動作または着座動作の停止前から継続して入力されていた場合には起立動作指示または着座動作指示を無視するようにしてもよい。このようにすれば、操作者が意図しない動作が行われることをより防止することができる。   For example, in the above-described embodiment, the control device 80 ends the process when the rising operation of the moving device 57 stops in step S210, but when the control device 80 stops the rising operation or the sitting operation of the moving device 57, When it is determined that the standing operation or the sitting operation may be restarted based on the load value detected by the load detecting device 60, the standing operation instruction or the sitting operation instruction from the operator is input to the input device 90. Alternatively, the standing operation or the sitting operation may be restarted on the condition. Then, even if the standing operation or the sitting operation is stopped, the standing operation or the sitting operation is restarted if the bias of the load balance is resolved. Therefore, the rehabilitation effect can be expected because the care recipient himself tries to improve the supported state using his body. Further, since the standing operation or the sitting operation is restarted on condition that the standing operation instruction or the sitting operation instruction is input to the input device 90 from the operator, the operation unintended by the operator can be prevented. Further, in this case, if the standing operation instruction or the sitting operation instruction to the input device 90 has been continuously input before the standing operation or the stopping of the sitting operation, the control device 80 sets the standing operation instruction or the sitting operation instruction. May be ignored. With this configuration, it is possible to further prevent the operation that is not intended by the operator from being performed.

上述した実施形態において、荷重検出装置（第１荷重検出装置）６０は支持装置５０のみに設けられていたが、さらに足置き台１３にも荷重検出装置（第２荷重検出装置）を設けるようにしてもよい。その場合、制御装置８０は、第１荷重検出装置および第２荷重検出装置によって検出された荷重値に基づき、動作中の前記起立動作または前記着座動作を停止するようにしてもよい。これにより、介助装置１は、支持装置５０が被介助者Ｍから受ける荷重の状態および足置き台１３が被介助者Ｍから受ける荷重の状態に基づいて動作中の起立動作または着座動作を停止させることができる。例えば、上述した実施形態においては、ステップＳ１２０、ステップＳ１３０、ステップＳ１９０、ステップＳ２００で荷重バランスに偏りが有るか否か判定する際の閾値を被介助者Ｍの体重にかかわらず一定としていたが、被介助者Ｍの体重によって閾値を変更することが望ましい場合は、第２荷重検出装置によって検出された荷重値に応じて閾値の値を変更することができる。   In the above-described embodiment, the load detection device (first load detection device) 60 is provided only on the support device 50. However, a load detection device (second load detection device) is further provided on the footrest 13. You may. In that case, the control device 80 may stop the standing operation or the sitting operation during operation based on the load values detected by the first load detection device and the second load detection device. Thereby, the assisting device 1 stops the standing operation or the sitting operation during the operation based on the state of the load that the support device 50 receives from the assisted person M and the state of the load that the footrest 13 receives from the assisted person M. be able to. For example, in the above-described embodiment, the threshold for determining whether or not the load balance is biased in step S120, step S130, step S190, and step S200 is constant regardless of the weight of the care receiver M. When it is desirable to change the threshold value according to the weight of the care receiver M, the threshold value can be changed according to the load value detected by the second load detection device.

上述した実施形態において、荷重検出装置６０は複数の荷重センサから構成されていたが、一つの荷重センサから構成されるものであってもよい。また、制御装置８０は、２つの荷重センサの差分値により荷重バランスの偏りを判定していたが、３つ以上の荷重センサの荷重値から差分値を計算してもよい。あるいは、一つの荷重センサの荷重値により判定するようにしてもよい。例えば、後側荷重センサ６０ｂのみ設けて、後側荷重センサ６０ｂの荷重値が所定の閾値を超えた場合に、荷重バランスに偏りがあると判定して起立動作または着座動作を停止させるようにしてもよい。また、荷重バランスを考慮することなく、支持装置５０の特定箇所の荷重値に基づいて起立動作または着座動作を停止させるようにしてもよい。また、荷重検出装置６０はベースプレート５３と胴体受部５１との間に設けられていたが、脇受部５２に設けるようにしてもよい。   In the above-described embodiment, the load detection device 60 is configured by a plurality of load sensors, but may be configured by a single load sensor. In addition, the control device 80 determines the bias of the load balance based on the difference value between the two load sensors, but may calculate the difference value from the load values of three or more load sensors. Alternatively, the determination may be made based on the load value of one load sensor. For example, only the rear load sensor 60b is provided, and when the load value of the rear load sensor 60b exceeds a predetermined threshold value, it is determined that the load balance is unbalanced, and the standing operation or the sitting operation is stopped. Is also good. Further, the standing operation or the sitting operation may be stopped based on the load value of the specific portion of the support device 50 without considering the load balance. Further, the load detecting device 60 is provided between the base plate 53 and the body receiving portion 51, but may be provided on the side receiving portion 52.

上述した実施形態において、移動装置５７は昇降動作と揺動動作の組み合わせにより構成されていたが、昇降動作だけで構成されてもよいし、揺動動作だけで構成されてもよい。あるいは、昇降動作と前後動作の組み合わせにより構成されてもよいし、他の形式でもよい。また、移動装置５７を構成する駆動軸は１つでもよいし、２つ以上の駆動軸によって構成されるものであってもよい。   In the above-described embodiment, the moving device 57 is configured by a combination of the elevating operation and the swinging operation. However, the moving device 57 may be configured by only the elevating operation, or may be configured only by the swinging operation. Alternatively, it may be configured by a combination of the elevating operation and the front-back operation, or may be another type. Further, the moving device 57 may include one drive shaft, or may include two or more drive shafts.

上述した実施形態において、支持装置５０は被介助者Ｍの胴体および脇部を支持するが、支持装置５０が被介助者Ｍの他の部分を支持するようにしてもよい。支持装置５０は少なくとも被介助者Ｍの体の一部を支持すればよく、被介助者Ｍの少なくとも上半身の一部を支持することが好ましい。   In the above-described embodiment, the support device 50 supports the body and side portions of the care recipient M, but the support device 50 may support other parts of the care recipient M. The support device 50 may support at least a part of the body of the care recipient M, and preferably supports at least a part of the upper body of the care recipient M.

上述した実施形態の介助装置１は、起立動作完了時点で被介助者Ｍの下半身のみを立たせるものであったが、起立動作完了時点で被介助者Ｍの下半身及び上半身を立たせるものであってもよい。   The assistance device 1 of the above-described embodiment stands only on the lower body of the care receiver M at the time of completion of the standing operation, but raises the lower body and upper body of the care receiver M at the completion time of the standing operation. You may.

上述した実施形態では、本発明を介助装置１として説明したが、例えば、介助装置１の制御方法としてもよい。   In the above-described embodiment, the present invention has been described as the assisting device 1. However, for example, a control method of the assisting device 1 may be used.

１ 介助装置、２ 接地面、３ 座面、１０ 基台、１１ フレーム、１２ 支柱、１３ 足置き台、１４ 固定カバー、２０ 車輪、３０ 昇降部、３１ 昇降本体、３２ 揺動支持部、３３ 昇降カバー、３５ 昇降駆動モータ、４０ アーム、４１ アーム駆動モータ、５０ 支持装置、５１ 胴体受部、５２ 脇受部、５３ ベースプレート、５５ グリップ、５７ 移動装置、６０ 荷重検出装置（第１荷重検出装置）、６０ａ 前側荷重センサ、６０ｂ 後側荷重センサ、６０ｃ 右側荷重センサ、６０ｄ 左側荷重センサ、７０ 下腿当て部、７１ 支持部材、７２ 下腿当て本体、８０ 制御装置、９０ 入力装置、９１ 起立ボタン、 ９２ 着座ボタン、 ９３ 表示部。
DESCRIPTION OF SYMBOLS 1 Assisting device, 2 grounding surface, 3 seating surfaces, 10 bases, 11 frames, 12 columns, 13 footrests, 14 fixed covers, 20 wheels, 30 elevating parts, 31 elevating bodies, 32 swing support parts, 33 elevating Cover, 35 elevating drive motor, 40 arm, 41 arm drive motor, 50 support device, 51 body receiving portion, 52 side receiving portion, 53 base plate, 55 grip, 57 moving device, 60 load detecting device (first load detecting device) , 60a front-side load sensor, 60b rear-side load sensor, 60c right-side load sensor, 60d left-side load sensor, 70 lower leg contact portion, 71 support member, 72 lower leg contact body, 80 control device, 90 input device, 91 standing button, 92 seating Button, 93 display.

Claims (7)

被介助者の起立または着座を介助する介助装置であって、
基台と、
前記基台に移動可能に設けられ、被介助者を支持する支持装置と、
前記支持装置を基台に対して移動させることで起立動作または着座動作を行う移動装置と、
前記支持装置に設けられ、前記支持装置が被介助者から受ける荷重を検出する第１荷重検出装置と、
前記移動装置を制御する制御装置と、を備え、
前記制御装置は、前記第１荷重検出装置によって検出された荷重値に基づき、前記支持装置が被介助者から受ける荷重の前後方向の荷重バランスに偏りがあると判断したときは、動作中の前記起立動作または前記着座動作を停止する介助装置。 An assisting device for assisting the person to stand or sit,
A base,
A support device movably provided on the base, and supporting the care recipient;
A moving device that performs a standing operation or a sitting operation by moving the supporting device with respect to a base,
A first load detection device that is provided on the support device and detects a load that the support device receives from the care recipient;
A control device for controlling the moving device,
The control device, based on the load value detected by the first load detection device, when the support device determines that there is a bias in the load balance in the front-rear direction of the load received from the caregiver, the operation during the operation An assisting device for stopping the standing operation or the sitting operation. 被介助者の起立または着座を介助する介助装置であって、
基台と、
前記基台に移動可能に設けられ、被介助者を支持する支持装置と、
前記支持装置を基台に対して移動させることで起立動作または着座動作を行う移動装置と、
前記支持装置に設けられ、前記支持装置が被介助者から受ける荷重を検出する第１荷重検出装置と、
前記移動装置を制御する制御装置と、を備え、
前記制御装置は、前記第１荷重検出装置によって検出された荷重値に基づき、前記支持装置が被介助者から受ける荷重の左右方向の荷重バランスに偏りがあると判断したときは、動作中の前記起立動作または前記着座動作を停止する介助装置。 An assisting device for assisting the person to stand or sit,
A base,
A support device movably provided on the base, and supporting the care recipient;
A moving device that performs a standing operation or a sitting operation by moving the supporting device with respect to a base,
A first load detection device that is provided on the support device and detects a load that the support device receives from the care recipient;
A control device for controlling the moving device,
The control device, based on the load value detected by the first load detection device, when the support device determines that there is a bias in the load balance in the left-right direction of the load received from the caregiver, the operation during the operation An assisting device for stopping the standing operation or the sitting operation. 被介助者の起立または着座を介助する介助装置であって、
基台と、
前記基台に移動可能に設けられ、被介助者を支持する支持装置と、
前記支持装置を基台に対して移動させることで起立動作または着座動作を行う移動装置と、
前記支持装置に設けられ、前記支持装置が被介助者から受ける荷重を検出する第１荷重検出装置と、
前記移動装置を制御する制御装置と、を備え、
前記第１荷重検出装置は前記支持装置の複数個所の荷重値を測定可能であり、
前記制御装置は、前記複数個所の荷重値同士の差分値が所定の閾値を超えた場合に荷重バランスに偏りがあると判断し、荷重バランスに偏りがあると判断したときは、動作中の前記起立動作または前記着座動作を停止する介助装置。 An assisting device for assisting the person to stand or sit,
A base,
A support device movably provided on the base, and supporting the care recipient;
A moving device that performs a standing operation or a sitting operation by moving the supporting device with respect to a base,
A first load detection device that is provided on the support device and detects a load that the support device receives from the care recipient;
A control device for controlling the moving device,
The first load detection device can measure a load value at a plurality of locations of the support device,
The control device determines that there is a bias in the load balance when the difference value between the load values at the plurality of locations exceeds a predetermined threshold, and determines that there is a bias in the load balance. An assisting device for stopping the standing operation or the sitting operation. 操作者からの起立動作指示または着座動作指示を受け付ける入力装置をさらに備え、
前記制御装置は、前記第１荷重検出装置によって検出された荷重値に基づき、動作中の前記起立動作または前記着座動作を停止すべきと判断した時は、前記入力装置へ前記起立動作指示または前記着座動作指示が入力されていても前記起立動作または前記着座動作を停止する請求項１ないし３のいずれか１項に記載の介助装置。 Further comprising an input device for receiving a standing operation instruction or a sitting operation instruction from the operator,
The control device, based on the load value detected by the first load detection device, when it is determined that the standing operation or the sitting operation should be stopped during operation, the input device to the standing operation instruction or the The assistance device according to any one of claims 1 to 3, wherein the standing operation or the sitting operation is stopped even when a sitting operation instruction is input. 前記制御装置は、前記移動装置の前記起立動作または前記着座動作を停止した際に、前記第１荷重検出装置によって検出された荷重値に基づき前記起立動作または前記着座動作を再開してもよいと判断したときは、前記入力装置に操作者からの前記起立動作指示または前記着座動作指示が入力されていることを条件として前記起立動作または前記着座動作を再開する請求項４に記載の介助装置。 When the control device stops the standing operation or the sitting operation of the moving device, the control device may restart the standing operation or the sitting operation based on a load value detected by the first load detection device. The assistance device according to claim 4 , wherein when it is determined, the standing operation or the sitting operation is restarted on condition that the standing operation instruction or the sitting operation instruction is input to the input device from an operator. 前記制御装置は、前記入力装置への前記起立動作指示または前記着座動作指示が前記起立動作または前記着座動作の停止前から継続して入力されていた場合には前記起立動作指示または前記着座動作指示を無視する請求項５に記載の介助装置。   The control device may be configured such that when the standing operation instruction or the sitting operation instruction to the input device is continuously input before the standing operation or the sitting operation is stopped, the standing operation instruction or the sitting operation instruction is performed. 6. The assistance device of claim 5, wherein: 前記基台は被介助者の足を載置する足置き台を有し、
前記足置き台には第２荷重検出装置が設けられ、
前記制御装置は、前記第１荷重検出装置および第２荷重検出装置によって検出された荷重値に基づき、動作中の前記起立動作または前記着座動作を停止する請求項１ないし６に記載の介助装置。 The base has a footrest on which the feet of the care recipient are placed,
A second load detecting device is provided on the footrest;
7. The assistance device according to claim 1, wherein the control device stops the standing operation or the sitting operation during operation based on the load value detected by the first load detection device and the second load detection device. 8.
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