WO2016042771A1 - Motion assist system, control method for motion assist system, robot, and program - Google Patents

Motion assist system, control method for motion assist system, robot, and program Download PDF

Info

Publication number
WO2016042771A1
WO2016042771A1 PCT/JP2015/004745 JP2015004745W WO2016042771A1 WO 2016042771 A1 WO2016042771 A1 WO 2016042771A1 JP 2015004745 W JP2015004745 W JP 2015004745W WO 2016042771 A1 WO2016042771 A1 WO 2016042771A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
support system
motion
care
cared person
Prior art date
Application number
PCT/JP2015/004745
Other languages
French (fr)
Japanese (ja)
Inventor
志方　宣之
寺島　正之
岡崎　安直
津坂　優子
勇大 札場
法上　司
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015149744A external-priority patent/JP2017029237A/en
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2016042771A1 publication Critical patent/WO2016042771A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to an operation support system, a control method for the operation support system, a robot, and a program.
  • a transfer device is used to move care recipients who are difficult to walk on their own.
  • the transfer device can move the cared person while the cared person is lifted by the arm.
  • the transfer device is often used during the movement of the cared person, there is a problem in that the muscle strength of the cared person is reduced and a higher level of care is required in the future.
  • An object of the present invention is to provide a motion support system (motion assist system) or the like that supports the operation of a cared person while utilizing the power generated by the cared person.
  • an operation support system includes a holding unit that holds a care receiver, an arm that supports the holding unit, and the holding state where the care receiver is held. Based on the state of the arm supporting the part, it is estimated that the cared person is standing or sitting, and the holding part or the arm is supported so as to support the estimated movement. And a control unit that operates at least one of them.
  • the operation support system can support the operation of the cared person while utilizing the force generated by the cared person.
  • FIG. 1A is a first external perspective view of an operation support system according to Embodiment 1.
  • FIG. 1B is a second external perspective view of the motion support system according to Embodiment 1.
  • FIG. 2A is a side view schematically showing the configuration of the motion support system according to Embodiment 1 and a cared person in a sitting position.
  • FIG. 2B is a front view schematically showing the configuration of the motion support system according to Embodiment 1 and the care recipient in the sitting position.
  • FIG. 2C is a front view schematically showing the configuration of the motion support system according to Embodiment 1 and the care receiver in a standing posture.
  • FIG. 1A is a first external perspective view of an operation support system according to Embodiment 1.
  • FIG. 1B is a second external perspective view of the motion support system according to Embodiment 1.
  • FIG. 2A is a side view schematically showing the configuration of the motion support system according to Embodiment 1 and a cared person in a sitting position.
  • FIG. 2D is an explanatory diagram illustrating a correspondence relationship between the care belt and the position of the cared person's body in the operation support system according to the first embodiment.
  • FIG. 3 is a block diagram illustrating a detailed configuration of the operation support system according to the first embodiment.
  • FIG. 4A is a first explanatory diagram illustrating an overview of the operation of the operation support system according to the first embodiment.
  • FIG. 4B is a second explanatory diagram illustrating an outline of the operation of the operation support system according to the first embodiment.
  • FIG. 4C is a third explanatory diagram illustrating an outline of the operation of the operation support system according to the first embodiment.
  • FIG. 5A is a front view of a cared person wearing the hold mechanism of the operation support system according to Embodiment 1.
  • FIG. 5B is a side view of the cared person wearing the hold mechanism of the motion support system according to Embodiment 1.
  • FIG. 5C is a rear view of the cared person wearing the hold mechanism of the operation support system according to Embodiment 1.
  • 6A is an external perspective view showing a detailed configuration of a coupling mechanism of the hold mechanism according to Embodiment 1.
  • FIG. 6B is an overview perspective view showing a specific configuration of the coupling mechanism of the hold mechanism according to Embodiment 1.
  • FIG. 6C is a plan view showing a specific configuration of the coupling mechanism of the hold mechanism according to Embodiment 1.
  • FIG. 6D is a side view showing a specific configuration of the coupling mechanism of the hold mechanism according to Embodiment 1.
  • FIG. 6E is a side view showing a connection method using a connection mechanism of the hold mechanism according to Embodiment 1.
  • FIG. 7 is an explanatory diagram showing an operation information database according to the first embodiment.
  • FIG. 8A is a first explanatory diagram illustrating an operation of the operation support system according to the first embodiment.
  • FIG. 8B is a second explanatory diagram illustrating the operation of the operation support system according to the first embodiment.
  • FIG. 8C is a third explanatory diagram illustrating the operation of the operation support system according to the first embodiment.
  • FIG. 8D is a fourth explanatory diagram illustrating the operation of the operation support system according to the first embodiment.
  • FIG. 8E is a fifth explanatory diagram illustrating the operation of the operation support system in the first embodiment.
  • FIG. 8A is a first explanatory diagram illustrating an operation of the operation support system according to the first embodiment.
  • FIG. 8B is a second explanatory diagram illustrating the operation of the operation support system according to the first embodiment.
  • FIG. 9 is a flowchart of the control unit in the first embodiment.
  • FIG. 10 is an explanatory diagram showing an outline of the configuration of the operation support system according to the second embodiment.
  • FIG. 11 is a block diagram illustrating a detailed configuration of the operation support system according to the second embodiment.
  • FIG. 12 is an explanatory diagram illustrating details of the operation information database according to the second embodiment.
  • FIG. 13A is a first explanatory diagram of operation information according to Embodiment 2.
  • FIG. 13B is a second explanatory diagram of operation information in the second exemplary embodiment.
  • FIG. 13C is an explanatory diagram of the trajectory of the connecting portion in the second embodiment.
  • FIG. 14 is a flowchart of the control unit in the second embodiment.
  • FIG. 14 is a flowchart of the control unit in the second embodiment.
  • FIG. 15 is an explanatory diagram showing an outline of the configuration of the operation support system according to the third embodiment.
  • FIG. 16 is a perspective view showing the configuration of the chin rest and the handle in the third embodiment.
  • FIG. 17 is a perspective view showing configurations of an elbow rest and a handle in the third embodiment.
  • FIG. 18 is a first explanatory diagram illustrating a movable range of the elbow rest in the third embodiment.
  • FIG. 19 is a second explanatory diagram showing the movable range of the elbow rest in the third embodiment.
  • FIG. 20A is a schematic diagram illustrating a configuration related to the first driving unit and the first driving unit in the third embodiment.
  • FIG. 20B is a schematic diagram illustrating a configuration related to the second driving unit and the second driving unit in the third embodiment.
  • FIG. 21A is a first explanatory diagram of the directions of the wheels of the walking mechanism in the third embodiment.
  • FIG. 21B is a second explanatory diagram of the direction of the wheels of the walking mechanism in the third embodiment.
  • FIG. 22 is an explanatory diagram of the center of gravity of the motion support system according to the third embodiment.
  • FIG. 23 is a perspective view showing an appearance of the front side of the operation support system according to Embodiment 4.
  • FIG. 24 is a perspective view showing an appearance of the rear side of the operation support system according to Embodiment 4.
  • FIG. 25 is a perspective view showing a state in which the arm mechanism is driven from the state of FIG.
  • FIG. 26 is an enlarged perspective view showing a part of the arm mechanism.
  • FIG. 27A is a front view showing a state where the care receiver's upper body is held on the care belt of the operation support system according to Embodiment 4.
  • FIG. 27B is a side view showing a state where the care receiver's upper body is held on the care belt of the operation support system according to Embodiment 4.
  • FIG. 27C is a rear view showing a state in which the upper half of the care receiver is held on the care belt of the operation support system according to Embodiment 4.
  • FIG. 28 is a diagram illustrating a bottom surface of the operation support system according to the fourth embodiment.
  • FIG. 29 is an enlarged view of the walking mechanism of the motion support system according to Embodiment 4.
  • FIG. 29 is an enlarged view of the walking mechanism of the motion support system according to Embodiment 4.
  • FIG. 30 is a schematic diagram for explaining the positional relationship between the center of gravity and the intermediate wheel of the motion support system according to the fourth embodiment.
  • FIG. 31 is a block diagram illustrating a functional configuration of the operation support system according to the fourth embodiment.
  • FIG. 32 is a flowchart showing an operation flow of the operation support system according to the fourth embodiment.
  • FIG. 33A is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment.
  • FIG. 33B is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment.
  • FIG. 33C is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment.
  • FIG. 33D is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment.
  • FIG. 33A is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment.
  • FIG. 33B is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment.
  • FIG. 33C is a schematic diagram
  • FIG. 33E is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment.
  • FIG. 34 is a perspective view showing an appearance of the rear side of the operation support system according to Embodiment 5.
  • FIG. 35 is an enlarged view of the walking mechanism of the motion support system according to Embodiment 5.
  • FIG. 36 is a schematic diagram for explaining the positional relationship between the center of gravity and the intermediate wheel of the motion support system according to the fifth embodiment.
  • FIG. 37 is a diagram illustrating a bottom surface of the operation support system according to the sixth embodiment.
  • FIG. 38 is a first external view illustrating an external appearance of a connecting portion of the operation support system according to the seventh embodiment.
  • FIG. 39 is a second external view showing the external appearance of the connecting portion of the operation support system according to Embodiment 7.
  • FIG. 38 is a first external view illustrating an external appearance of a connecting portion of the operation support system according to the seventh embodiment.
  • FIG. 39 is a second external view showing the external appearance of the connecting
  • FIG. 40 is an explanatory diagram illustrating a method of connecting the connecting portion of the motion support system according to Embodiment 7 to the care belt.
  • FIG. 41 is an explanatory diagram illustrating a state where a care receiver is wearing a care belt to which a connecting portion of an operation support system according to Embodiment 7 is connected.
  • FIG. 42 is an explanatory diagram showing a state where a care receiver is wearing a care belt that is not connected to the connecting portion of the operation support system according to the seventh embodiment.
  • FIG. 43A is a first explanatory view showing an operation of moving from a sitting posture to a standing posture of a healthy adult person.
  • FIG. 43B is a second explanatory diagram showing an operation of moving from a sitting posture to a standing posture of a healthy adult person.
  • FIG. 43C is a third explanatory diagram illustrating an operation of moving from a sitting posture to a standing posture of a healthy adult person.
  • FIG. 43D is a fourth explanatory diagram illustrating an operation of moving from a sitting posture to a standing posture of a healthy adult person.
  • FIG. 43E is a fifth explanatory diagram showing an operation of moving from a sitting posture to a standing posture of a healthy adult person.
  • FIG. 43F is a sixth explanatory diagram illustrating the movement from the sitting posture to the standing posture of the healthy adult person.
  • FIG. 44A is a first explanatory diagram illustrating an operation of moving from a sitting position of a care receiver to a standing posture.
  • FIG. 44B is a second explanatory diagram illustrating an operation of moving from the sitting posture of the care receiver to the standing posture.
  • FIG. 44C is a third explanatory diagram illustrating the operation of moving from the sitting posture of the care receiver to the standing posture.
  • FIGS. 43A to 43F are explanatory views showing the movement of the healthy adult person 19 from the sitting position to the standing position. Specifically, FIGS. 43A to 43F show an operation in which the healthy adult person 19 sitting on the seat 5 moves from the sitting posture (FIG. 43A) to the standing posture (FIG. 43F).
  • the healthy adult 19 moves the center of gravity forward by tilting the upper body forward from the sitting position.
  • the healthy adult 19 leaves the buttocks from the seat 5.
  • the healthy adult 19 extends his knees and shifts to a standing motion while returning the center of gravity moved forward, as shown in FIGS. 43D to 43F.
  • FIGS. 44A to 44C is an explanatory diagram showing an operation of the cared person 7 from the sitting position to the standing position.
  • the cared person 7 takes a deep forward leaning posture and moves the center of gravity forward as shown in FIG. 44B and FIG. 44C in the initial standing motion (when leaving the buttocks from the sitting posture state). It is necessary to let
  • the buttocks can be removed from the floor, but the distance to the standing is long, and especially the state of the middle waist where the buttocks left the floor continues for a long time, so the burden on the lower body of the care recipient 7 is large.
  • the line of sight often faces the ground, and thus the line of sight moves, for example, the line of sight moves to the front during the standing-up operation, and the care receiver 7 is likely to be dizzy or wobbled.
  • the transfer device assists the cared person to perform an action close to that of an adult healthy person. Specifically, it is desired to assist the care recipient by making the leaning posture of the care recipient as shallow as possible at the initial stage of the movement so as to approach the movement of a healthy adult person.
  • the present invention aims to provide an operation support system that supports the operation of the care recipient while utilizing the force generated by the care recipient.
  • FIGS. 1A and 1B are external perspective views of the operation support system 1 according to the present embodiment. Note that the coordinate axes of the x0 axis, the y0 axis, and the z0 axis described in FIGS. 1A and 1B are commonly used in other drawings.
  • the motion support system 1 includes a care belt 3, an arm mechanism 4, a walking mechanism 14, and a main body cover 40.
  • the care belt 3 is a belt for holding the upper body of the care recipient.
  • the care belt 3 is also referred to as a “holding portion”.
  • the arm mechanism 4 is a robot arm that supports the cared person via the care belt 3 and supports the operation of the cared person.
  • One end of the arm mechanism 4 is attached to a cared person, and the other end of the arm mechanism 4 is fixed to a rectangular base or the like in the main body cover 40.
  • the arm mechanism 4 is driven by rotating the joint using a motor or the like, and supports the operation of the cared person.
  • the arm mechanism 4 is also simply referred to as “arm”.
  • the walking mechanism 14 is a moving mechanism for moving the movement support system 1 in accordance with the walking movement by the care recipient.
  • the main body cover 40 is a cover member in which a part of the components of the operation support system 1 is housed.
  • a part of the arm mechanism 4, a rectangular base, a motor, an encoder, and the like are accommodated in the main body cover 40.
  • the motion support system 1 may be realized as a robot.
  • FIGS. 2A and 2B are a side view and a front view showing a state in which the motion support system 1 according to the present embodiment supports the operation when the cared person 7 moves from the sitting posture to the standing posture.
  • FIG. 2C is a front view of the motion support system 1 when the care receiver 7 reaches a standing posture.
  • FIG. 3 is a block diagram showing a detailed configuration of the operation support system 1 in the present embodiment.
  • 4A to 4C are diagrams showing an outline of the operation of the operation support system 1 in the present embodiment.
  • the cared person 7 takes a sitting posture by sitting on the seat 5 on the floor surface 13.
  • the motion support system 1 shown in FIGS. 2A to 3 supports the standing motion of the cared person 7.
  • the operation support system 1 includes an operation information database 8 outside the operation support system 1, but the operation information database 8 is included in the operation support system 1 although not specifically illustrated. You may do it.
  • the operation support system 1 is placed on a floor surface 13 and includes a main body mechanism 2, a control device 11, and an input interface (input IF) 6.
  • the main body mechanism 2 includes an arm mechanism 4, a care belt 3, and a walking mechanism 14.
  • the arm mechanism 4 has, for example, a robot arm.
  • the care belt 3 includes a hold mechanism 3g and a connecting portion 3c and can be attached to the care receiver 7.
  • the hold mechanism 3g holds at least a first holding portion 3a that can hold the first region R1 that is the neck portion 7a or the back portion 7b of the care receiver 7 and a second region R2 that is the waist portion 7c of the care receiver 7. It has a possible second holding part 3b.
  • FIG. 1 As an example, as shown in FIG.
  • the hold mechanism 3g includes a first holding unit 3a that can hold the chest 7d from the first region R1 of the neck 7a or the back 7b of the cared person 7, and the cared person 7 A second holding portion 3b capable of holding the second region R2 of the waist portion 7c through both side portions 7f of the trunk portion except for the side portions from the chest portion 7d.
  • the connecting portion 3c can be positioned in the vicinity of the chest 7d of the cared person 7 when the hold mechanism 3g is attached, and is connected to the hold mechanism 3g, and is connected to one end (rear end) of the arm mechanism 4 described later. Removably connectable.
  • the connecting portion 3c corresponds to a connecting portion.
  • FIGS. 5A to 5C A more specific example of the hold mechanism 3g is shown in FIGS. 5A to 5C.
  • the first holding portion 3a of the hold mechanism 3g shown in FIGS. 5A to 5C is formed of a sealed tubular member having an inverted U shape when viewed from the front side of the care recipient 7.
  • the first holding part 3a extends downward from the first region R1 of the back part 7b including the neck part 7a through both shoulders, the front part and the chest part 7d from the rear side to the front side of the cared person 7. It extends to the front part of both side parts 7f of the part, and is arranged so as to hold at least the first region R1.
  • the first holding portion 3a is wrapped around the first region R1 of the neck portion 7a or the back portion 7b in order to facilitate the backward bending of the upper body of the care recipient 7 when the care recipient 7 is pulled forward. It is necessary to hold the upper body of the cared person 7 with the 1 holding part 3a. For this reason, after winding the reverse U-shaped sealed cylindrical member, which is the first holding portion 3a, around the first region R1 including the rear side of the neck portion 7a, the respective end portions are the front portions of both shoulders and It arrange
  • the second holding portion 3b is formed of a U-shaped sealed cylindrical member protruding rearward from both sides of the front portion of the cared person 7 when viewed from above the cared person 7. That is, the second holding part 3b is connected to the ends of the U-shaped sealed cylindrical member of the second holding part 3b at both ends 7f of the body part of the cared person 7 at each end of the first holding part 3a.
  • the parts are connected to each other and arranged so as to be wound around the second region R2 near the waist 7c from both side parts 7f of the trunk part.
  • the second holding portion 3b is wrapped around the second region R2 near the waist portion 7c so that the pelvis of the care recipient 7 can easily tilt forward when the care receiver 7 is pulled forward.
  • a U-shaped sealed cylindrical member that is the second holding portion 3b is wound around the second region R2 near the waist 7c from both side portions 7f of the trunk to cover the second region R2 near the waist 7c.
  • maintenance part 3b are mutually connected, and comprise the cylindrical member of sealed space.
  • both sides 7g of the cared person 7 of the second holding portion 3b a sealed cylindrical shape capable of holding both sides 7g.
  • the third holding part 3h may be provided integrally.
  • the third The holding unit 3h can be omitted.
  • 2A shows an example in which the third holding unit 3h is omitted.
  • the first holding part 3a, the second holding part 3b, and the third holding part 3h are made of vinyl chloride or nylon, respectively, and the inside of the sealed cylindrical member is filled with air.
  • each of the first holding unit 3a and the second holding unit 3b includes a valve 3f for supplying and filling air.
  • air is filled in each of the first holding unit 3a, the second holding unit 3b, and the third holding unit 3h.
  • a structure in which a flexible material such as a urethane material is provided in each of the insides may be used. In that case, the valve 3f for filling with air is unnecessary.
  • the connecting portion 3c is connected to one end of the arm mechanism 4 as shown in FIGS. 2A to 2C, near the center of the chest 7d of the cared person 7 and between the first holding portion 3a and the second holding portion 3b. In the vicinity of the middle, the first holding part 3a and the second holding part 3b are provided so as to be bridged in the vicinity where the end parts of the first holding part 3a and the second holding part 3b are connected.
  • the connecting portion 3c and one end (rear end) of the arm mechanism 4 are fixed and connected using screws as an example, but one end (rear end) of the arm mechanism 4 and the connecting portion 3c can be connected. Any method may be used as long as it exists.
  • the buckle 3i at one end (rear end) of the arm mechanism 4 and the buckle receiving portion 3j at the connecting portion 3c can be easily attached and detached. You may make it connect with.
  • the buckle 3i is provided at one of the one end (rear end) of the arm mechanism 4 and the connecting portion 3c, and the buckle receiving portion 3j is provided at a position facing the buckle 3i on the other. ing.
  • each buckle 3i has an operation portion 100 fixed to one end of a cylindrical shaft portion 101, and penetrates the disk-shaped shaft fixing portion 102 so as to be rotatable.
  • a fastener 103 protrudes on both sides and is fixed along the diameter direction of the shaft portion 101.
  • the shaft fixing portion 102 is fixed to one end (rear end) of the arm mechanism 4.
  • Each buckle receiving portion 3j includes a disc-shaped receiving and fixing portion 105 having a through hole 104 through which the shaft portion 101 and the fastener 103 pass.
  • the receiving and fixing part 105 is fixed to the connecting part 3c.
  • the operation unit 100 is further rotated by, for example, 90 degrees so that the phase of the shaft portion 101 and the fastener 103 of the buckle 3i matches the phase of the through hole 104 of the buckle receiving portion 3j, and then the shaft portion of the buckle 3i.
  • the buckle 3i is unlocked from the buckle receiving portion 3j.
  • the buckle 3i at one end (rear end) of the arm mechanism 4 and the buckle receiving portion 3j at the connecting portion 3c are easily and detachably connected.
  • the cared belt 7 is attached to the cared person 7 in advance, and only the buckle 3i and the buckle receiving part 3j are transferred to the toilet and moved. Can be easily attached to and detached from the operation support system 1 in a short time.
  • the first holding portion 3a of the holding mechanism 3g has a symmetrical shape when viewed from the front.
  • maintenance part 3b becomes a left-right symmetric shape seeing from the top.
  • first holding unit 3a and the second holding unit 3b may be separable at arbitrary locations so that the care recipient 7 can easily wear the hold mechanism 3g.
  • the first holding portion 3a and the second holding portion 3b are provided with detachable portions such as hook-and-loop fasteners for the first holding.
  • the hold mechanism 3g may be easily attached to and detached from the body of the care receiver 7 by separating the part 3a and the second holding part 3b by the first attaching / detaching part 3d and the second attaching / detaching part 3e. .
  • the first attachment / detachment portion 3d or the second attachment / detachment portion 3e may be lengthened and attached on either side. Thereby, even when the cared person 7 has difficulty in turning his / her hand to the back, it can be attached / detached by the side.
  • the care belt 3 may be attached to the buttocks instead of being attached to the chest of the care recipient 7. In that case, the care belt 3 has a shape suitable for holding the care receiver's buttocks.
  • the walking mechanism 14 includes a rectangular platform 14e, a pair of front wheels 14a, a pair of rear wheels 14b, a front wheel brake 14c, and a rear wheel brake 14d, and is placed on the floor surface 13.
  • the pair of front wheels 14a is rotatably disposed at a pair of corners at the front end of the rectangular base 14e.
  • the pair of rear wheels 14b are rotatably disposed at a pair of corners at the rear end of the rectangular platform 14e.
  • the front wheel brake 14c brakes the front wheel 14a.
  • the rear wheel brake 14d brakes the rear wheel 14b.
  • An arm mechanism 4 is provided above the walking mechanism 14. That is, the arm mechanism 4 is supported upright at the center of the front portion of the rectangular base 14e.
  • the pair of front wheels 14a and the pair of rear wheels 14b rotate as the cared person 7 applies force in the forward direction (left direction in FIG. 4C) in the state shown in FIG.
  • the walking of the person 7 can be supported.
  • the rectangular base 14e corresponds to the main body.
  • the pair of front wheels 14a and the pair of rear wheels 14b are rotated when the cared person 7 pushes them. It may be configured so that it can move easily by assisting the force.
  • the front wheel brake 14c and the rear wheel brake 14d are configured as electromagnetic brakes as an example so that the front IF 14a or the rear wheel 14b can be turned ON / OFF by the input IF 6.
  • the front wheel 14a or the rear wheel 14b can be braked by turning on the front wheel brake 14c or the rear wheel brake 14d, and the front wheel 14a or the rear wheel 14b can be turned off by turning off the front wheel brake 14c or the rear wheel brake 14d.
  • the brake can be released.
  • an electromagnetic brake is used as an example, a manual brake may be used.
  • a plate-like member having an arbitrary shape may be used instead of the rectangular base 14e.
  • the arm mechanism 4 is provided on the upper part of the walking mechanism 14, and the tip is connected to the hold mechanism 3g via the connecting portion 3c.
  • the arm mechanism 4 includes a first motor 41, a first encoder 43 that detects the rotation speed (rotation angle) of the rotation shaft of the first motor 41, a second motor 42, and a rotation shaft of the second motor 42. Is a two-degree-of-freedom robot arm provided with a second encoder 44 that detects the number of rotations (rotation angle).
  • the controller 11 controls the first motor 41 and the second motor 42 based on the position information obtained by converting the rotation angle information from the first encoder 43 and the second encoder 44 into the position information of the arm mechanism 4.
  • the first encoder 43 and the second encoder 44 are also referred to as a position detection unit (not shown).
  • this operation drives the motion support system 1 so that the buttocks 7e of the cared person 7 in the sitting position assists in getting out of the sitting portion 5.
  • the first holding portion 3a and the second holding portion 3b of the mechanism 3g can be simultaneously pulled toward the front in the front direction of the cared person 7, and then can be pulled upward. Yes.
  • the arm mechanism 4 is a robot arm including a first arm 4c, a second arm 4d, a third arm 4e, a fourth arm 4f, a first drive unit 4a, and a second drive unit 4b. Consists of.
  • the lower end of the first arm 4c is fixed so that the first arm 4c stands upward from the rectangular table 14e at the center of the front portion of the rectangular table 14e.
  • the front end of the second arm 4d is connected to the upper end of the first arm 4c so as to be rotatable in the x0z0 plane via a first joint part incorporating the first drive part 4a.
  • the rear end of the second arm 4d is pivotally connected to the lower end of the third arm 4e via a second joint that incorporates the second drive unit 4b.
  • the upper end of the third arm 4e is fixed to the front end of the fourth arm 4f so that the axial directions of the third arm 4e and the fourth arm 4f are perpendicular to each other and bent in an L shape.
  • the rear end of the fourth arm 4f is detachably connected to the connecting portion 3c of the care belt 3.
  • the second arm 4d is also referred to as a first link.
  • the third arm 4e is also referred to as a second link.
  • the front end of the second arm 4d is specifically connected to the upper end of the first arm 4c so that the second arm 4d can rotate in the x0z0 plane.
  • the rear end of the second arm 4d is connected to the lower end of the third arm 4e through the second joint so that the third arm 4e can rotate in the x0z0 plane.
  • the first drive unit 4a is disposed at a joint between the first arm 4c and the second arm 4d.
  • the first motor 41 that rotates the second arm 4d with respect to the first arm 4c, and the rotation thereof.
  • the first encoder 43 is configured to detect angle information. Therefore, the second arm 4d can be driven to rotate by a predetermined angle with respect to the first arm 4c under the control of the control unit 12 described later.
  • the second drive unit 4b is disposed at a joint between the second arm 4d and the third arm 4e.
  • the second motor 42 that rotates the third arm 4e with respect to the second arm 4d, and the rotation thereof.
  • the second encoder 44 detects angle information.
  • the position where the first motor 41 and the second motor 42 are arranged may not be the joint portion. That is, if the rotational force generated by the first motor 41 and the second motor 42 is appropriately transmitted to the joint portion and the arm mechanism can be operated as described above, the first motor 41 and the second motor 42 are used. May be placed anywhere.
  • Each rotation angle information from the first encoder 43 and the second encoder 44 is converted into position information of the arm mechanism 4 and used by the control unit 12 as position information. Therefore, under the control of the control unit 12 to be described later, the third arm 4e can be driven to rotate to a desired position by rotating the third arm 4e by a predetermined angle with respect to the second arm 4d.
  • An input interface (input IF) 6 such as an operation panel provided with buttons and the like is provided to protrude downward from the front portion of the fourth arm 4f. If the input IF 6 is arranged in this way, the input IF 6 can be operated from the side surface of the arm mechanism 4 with respect to the cared person 7 in the sitting position. Therefore, when the cared person 7 inputs various commands using the input IF 6 (for example, by pressing a button), the brake (front and rear wheels) of the operation support system 1 is braked on or off, and the operation support is performed. It is possible to input ON / OFF of the power source of the system 1 and ON / OFF of a start-up start button. Furthermore, a handle 15 is provided so as to protrude rearward from the middle portion of the third arm 4e (toward the cared person), and the cared person 7 holds and holds with both hands when sitting or standing. it can.
  • the motion support system 1 may further include a pinching sensor (not shown) that detects pinching of an object by the first link and the second link. Then, the motion support system 1 may stop the operation of the arm mechanism 4 when the pinching sensor detects the pinching of the object.
  • a pinching sensor not shown
  • the handle 15 may be installed with a length that allows the elbow of the care recipient 7 to be placed. Thereby, it functions as a handle when standing up, and it becomes possible to walk more stably by placing an elbow when walking.
  • the 4th arm 4f is good also as a structure which equips the upper part with cushioning materials, such as urethane. Thereby, the impact when the cared person 7 falls forward and the face or upper body contacts the fourth arm 4f can be reduced.
  • the cushioning material may be provided with a contact sensor that detects contact with the cared person 7. Then, the operation support system 1 may stop the operation of the arm mechanism 4 when the contact sensor detects contact.
  • the control device 11 includes a database input / output unit 9, a timer 16, and a control unit 12.
  • the control device 11 drives and controls the first drive unit 4a and the second drive unit 4b of the arm mechanism 4 independently, and at least the buttocks 7e of the cared person 7 in the sitting position leaves the seating unit 5.
  • the first holding unit 3a and the second holding unit 3b of the hold mechanism 3g are simultaneously pulled toward the front in the front direction of the cared person 7, and then the cared person 7 is in the standing posture. Until it becomes, the care belt 3 is controlled to be pulled upward toward the care receiver 7, and the standing action of the care receiver 7 is supported.
  • the first holding unit 3 a and the second holding unit 3 b of the hold mechanism 3 g are controlled to be pulled by the arm mechanism 4 at the same time by the control operation of the control device 11.
  • the cared person 7 is pulled forward from the sitting posture under the control of the device 11.
  • the first holding portion 3a and the second holding portion 3b are simultaneously pulled by the arm mechanism 4, first, the first region R1 of the neck portion 7a or the back portion 7b of the care receiver 7 is pulled forward. By doing so, the cared person 7 becomes easy to stand up because the back muscles warp and extend.
  • the cared person 7 can easily move away from the floor due to the pelvis moving forward. Therefore, for example, compared with the case where only the second region R2 of the waist portion 7c is pulled forward, it is easier for the care recipient 7 to pull both the first region R1 and the second region R2 forward simultaneously. It becomes easy to reliably leave 7e from the seat 5.
  • the care receiver 7 is lifted up by lifting the buttocks 7 e from the seat 5 and supports a series of operations until the standing posture of FIG. 4C is reached.
  • the period from the start of the control operation to the time when the buttocks 7e of the care receiver 7 is removed from the seat 5 is the first state.
  • the second state is the time after the first state until the cared person 7 reaches the standing posture.
  • the arm mechanism 4 may operate so that the upper body of the cared person 7 is in a forward leaning posture in a state where the cared person 7 is seated. When the cared person sits on the toilet seat, the cared person can defecate more easily by having the upper body lean forward.
  • the timer 16 outputs a command for executing the database input / output unit 9 and the control unit 12 to the database input / output unit 9 and the control unit 12 after elapse of a certain time (for example, every 1 msec).
  • the input IF 6 is disposed, for example, in the arm mechanism 4 and is an operation for instructing the start and end of the power supply of the operation support system 1, the ON / OFF of the front wheel brake 14 c and the rear wheel brake 14 d, and the start and end of rising An interface, such as a button.
  • Operation Information Database 8 The control unit 12 is executed based on a command from the timer 16, and the position information of the arm mechanism 4 (position information obtained by converting the respective rotation angle information from the first encoder 43 and the second encoder 44 into the position information of the arm mechanism 4. ) Is generated every certain time (for example, every 1 msec) by causing the database input / output unit 9 and the control unit 12 to be executed using the execution command from the timer 16.
  • the generated position information is output as operation information to the operation information database 8 through the database input / output unit 9 and stored in the operation information database 8 as operation information.
  • the operation information is generated and stored in advance by the input IF 6 or the like.
  • FIG. 7 shows an example of the information content of the operation information database 8.
  • the “time” column shows information about the time when the arm mechanism 4 is operating. In the present embodiment, the time is shown in the unit of milliseconds (msec).
  • the “position” column indicates the position information of the arm mechanism 4 obtained by converting the angle information detected by the first encoder 43 and the second encoder 44 of the arm mechanism 4.
  • the position is a biaxial position of the movement support system 1 in the traveling direction (front-rear direction) x-axis and the vertical z-axis.
  • the position is shown in a meter (m) unit system.
  • Database input / output unit 9 The database input / output unit 9 inputs / outputs data (information) between the operation information database 8 and the control unit 12.
  • Control unit 12 moves the first motor 41 and the second motor 42 of the arm mechanism 4 independently so as to follow the operation information input from the database input / output unit 9.
  • the brakes of the front wheel brake 14c and the rear wheel brake 14d are controlled based on the ON / OFF command of the front wheel brake 14c and the rear wheel brake 14d input by the input IF 6.
  • 8A to 8E show the operation procedure of the arm mechanism 4 of the operation support system 1. Further, the operation of the care recipient 7 accompanying the operation of the arm mechanism 4 will be described with reference to the flowchart of FIG.
  • the cared person 7 sits on a seat 5 such as a bed, a chair, or a toilet seat placed on the floor surface 13.
  • a seat 5 such as a bed, a chair, or a toilet seat placed on the floor surface 13.
  • the operation support system 1 is arranged in front of the cared person 7 sitting on the seat 5 by a caregiver or the like.
  • step S101 of FIG. 9 the cared person 7 turns on the power of the operation support system 1 by the input IF 6.
  • step S102 the cared person 7 turns on the front wheel brake 14c and the rear wheel brake 14d by the input IF 6, so that the front wheel 14a and the rear wheel 14b of the walking mechanism 14 are rotated by the control unit 12B.
  • the brake is applied so as not to. In this way, when the arm mechanism 4 pulls the hold mechanism 3g via the connecting portion 3c, the walking mechanism 14 does not move, and the force from the arm mechanism 4 is not transferred via the connecting portion 3c. To ensure that it is communicated.
  • the cared person 7 attaches the hold mechanism 3g of the care belt 3 connected to the arm mechanism 4 to the body, and holds the handle 15 with both hands.
  • step S103 the care receiver 7 presses the rising start button of the input IF 6, and the operation support system 1 starts operation.
  • the operation support system 1 operates only when the rising start button is pressed, and the operation support system 1 stops operating when the rising start button is released.
  • the control device 11 of the motion support system 1 controls the drive of the first drive unit 4a and the second drive unit 4b of the arm mechanism 4 independently of each other. 4C is supported so that the buttocks 7e of the cared person 7 in FIG. 4B can get out of the seat 5 from the sitting posture of the person 7.
  • step S ⁇ b> 104 the control unit 12 acquires operation information from the database input / output unit 9.
  • step S105 the control unit 12 drives the arm mechanism 4 so as to follow the operation information acquired from the database input / output unit 9, so that the first motor 41 and the second motor 42 are independent of each other. Drive control.
  • the arm mechanism 4 is controlled by the control unit 12 so as to move in the forward direction (left direction in FIG. 8A). Then, as shown in FIG. 8B, the first holding portion 3a and the second holding portion 3b of the hold mechanism 3g are simultaneously pulled forward by the arm mechanism 4.
  • the arm mechanism 4 pulls the first holding portion 3a forward via the connecting portion 3c, so that the upper body of the cared person 7 can bend backward as indicated by a dotted arrow A in FIG. 8B. Further, by pulling the second holding portion 3b forward through the connecting portion 3c, the pelvis of the care recipient 7 is tilted forward as shown by a counterclockwise arrow B in FIG. 8B. Is possible. In this way, by assisting the forward tilt of the cared person 7 with the arm mechanism 4, the care receiver 7 is encouraged to get out of the seat part 5 of the buttocks 7 e of the cared person 7, and at the same time, the rearward bending of the upper part of the cared person 7 is promoted. Thus, the cared person 7 can easily stand up from the seat portion 5. Further, by urging the upper body of the cared person 7 to bend backward, the cared person 7 can smoothly transition from the sitting position to the standing position without taking a deep forward leaning position.
  • the first motor 41 and the second motor 42 of the arm mechanism 4 controlled by the control unit 12 can be driven so that the traction speed is gradually accelerated forward. By doing so, it is possible to further promote the backward bending of the upper body of the cared person 7 and the forward tilting of the pelvis, and to support the cared person 7 more smoothly.
  • the arm mechanism 4 is driven and controlled by the control unit 12 so as to move upward. Then, the cared person 7 is assisted upward by the upward movement of the arm mechanism 4, and the cared person 7 completes the rising in FIG. 8E. At this point, the cared person 7 is in a standing posture.
  • step S106 the cared person 7 returns (releases) the input IF 6 that is being pressed, so that the control operation of the rising operation by the control unit 12 and the driving of the arm mechanism 4 are stopped. Even before step S106, the care recipient 7 returns (releases) the input IF 6 being pressed, so that the control operation of the rising motion and the driving of the arm mechanism 4 by the control unit 12 are stopped halfway. Can do.
  • step S107 the cared person 7 turns off the front wheel brake 14c and the rear wheel brake 14d by the input IF 6.
  • step S108 the cared person 7 turns off the power by the input IF 6.
  • the cared person 7 applies the force forward by the cared person 7 so that the front wheel 14 a and the rear wheel 14 b are moved by the force of the cared person 7.
  • Each of them can freely rotate, and the walking mechanism 14 can support the walking of the cared person 7 as a walker.
  • the arm mechanism 4 is provided with a hold mechanism 3g and a connecting portion 3c constituted by the first holding portion 3a and the second holding portion 3b as the care belt 3, and is pulled by the arm mechanism 4 under the control of the control portion 12.
  • the care belt 3 can be moved forward.
  • the forward tilting posture of the cared person 7 is made as shallow as possible so that it can be brought closer to that of an adult healthy person. Can be supported.
  • FIG. 10 shows a state in which the motion support system 1B according to the present embodiment supports the motion when the care recipient 7 changes from the sitting posture to the standing posture.
  • FIG. 11 is a block diagram showing a detailed configuration of the operation support system 1B in the present embodiment.
  • the motion information generating unit 10 instead of acquiring motion information from the database input / output unit 9, the motion information generating unit 10 generates and acquires motion information based on the force and position information detected by the force detection unit 17.
  • the difference from the first embodiment is that the force detection unit 17 and the motion information generation unit 10 are provided.
  • the motion support system 1B is placed on the floor surface 13.
  • the operation support system 1B includes a main body mechanism 2, a control device 11B, an input IF 6, and a force detection unit 17.
  • the main body mechanism 2 includes an arm mechanism 4, a care belt 3, and a walking mechanism 14 as in the first embodiment.
  • the control device 11B includes a database input / output unit 9, a timer 16, a control unit 12B, and an operation information generation unit 10.
  • the walking mechanism 14, the care belt 3, the timer 16, and the input IF 6 are the same as those in the first embodiment, their descriptions are omitted.
  • the cared person 7 is held by the hold mechanism 3g of the care belt 3 and sits on the sitting part 5 (for example, a bed, a chair, or a toilet seat) in a sitting position. Yes.
  • the sitting part 5 for example, a bed, a chair, or a toilet seat
  • an input IF 6 such as an operation panel on which buttons and the like are arranged is arranged in the same manner as in the first embodiment.
  • the arm mechanism 4 includes a force detection unit 17, and the force applied to the arm mechanism 4 by the care recipient 7 is detected by the force detection unit 17.
  • the force detector 17 starts the control operation of the control device 11B of the operation support system 1B when the care receiver 7 inputs the operation start information of the operation support system 1B from the input IF 6 (for example, pressing a button). Then, start detection.
  • the force detection unit 17 detects the force applied to the arm mechanism 4 by the care recipient 7, and generates an operation in the operation information generation unit 10 based on the force detected by the force detection unit 17 and the position of the arm mechanism 4.
  • the operation of the arm mechanism 4 is controlled by the control unit 12B.
  • the force detection unit 17 is provided in the vicinity of a connection portion between the upper end of the third arm 4e of the arm mechanism 4 and the front end of the fourth arm 4f. Force information applied to the arm mechanism 4 from the outside (for example, the cared person 7) is detected by the force detection unit 17. Information detected by the force detection unit 17 is stored in the operation information database 8 together with time via the database input / output unit 9. As an example, the force detection unit 17 is configured by a biaxial force sensor capable of measuring the vertical force and the longitudinal force of the operation support system 1B, or a triaxial force sensor including forward rotation.
  • the force detection unit 17 is configured by a biaxial force sensor capable of measuring the vertical force and the longitudinal force of the operation support system 1B, or a triaxial force sensor including forward rotation.
  • the arm mechanism 4 is provided in the upper part of the walking mechanism 14 as in the first embodiment.
  • the arm mechanism 4 includes the first motor 41 and the first encoder 43 in the first joint portion, and the second motor 42 and the second motor 42. This is a two-degree-of-freedom arm having an encoder 44 at the second joint.
  • the first motor 41 and the second motor 42 are controlled by the control device 11B based on the information from the first encoder 43 and the second encoder 44.
  • FIG. As shown in FIG. 4C, the operation support system 1B can be driven.
  • the handle 15 is provided in the same manner as in the first embodiment, and the cared person 7 can hold and hold it with his hand when sitting or standing.
  • the control unit 12 is executed based on a command from the timer 16, and the position information of the arm mechanism 4 (respective rotation angle information from the first encoder 43 and the second encoder 44 is obtained from the arm mechanism 4.
  • the position information converted into the position information) is generated at regular intervals (for example, every 1 msec) by executing the database input / output unit 9 and the control unit 12 using the execution command from the timer 16. .
  • the generated position information is output together with the time to the operation information database 8 via the database input / output unit 9 and stored in the operation information database 8.
  • the motion information generation unit 10 operates the motion information based on the force information, the position information, and the time information detected by the force detection unit 17 stored in the motion information database 8. Is generated and stored in the motion information database 8.
  • FIG. 12 shows an example of the information content of the operation information database 8.
  • the “time” column shows information about the time when the arm mechanism 4 is operating. In the present embodiment, the time is shown in the unit of milliseconds (msec).
  • the “position” column indicates the position information of the arm mechanism 4 obtained by converting the angle information detected by the first encoder 43 and the second encoder 44 of the arm mechanism 4. Specifically, as shown in FIG. 10, one end of the arm mechanism 4 is set as the origin O, and the two axes of the x axis with the reverse direction of the movement support system 1B as positive and the z axis with the upward direction as positive. The position is shown as relative coordinates from the origin. In the present embodiment, the position is shown in a meter (m) unit system.
  • the column “force” indicates the force applied to the arm mechanism 4 detected by the force detection unit 17 provided in the arm mechanism 4. Specifically, it is information on the force applied to each of the two axes of the x axis with the direction opposite to the traveling direction of the motion support system 1B as positive and the z axis with the upward direction as positive. In the present embodiment, the force is shown in a Newton (N) unit system.
  • Database input / output unit 9 The database input / output unit 9 inputs / outputs data (information) among the motion information database 8, the control unit 12, the force detection unit 17, and the motion information generation unit 10.
  • the motion information generation unit 10 acquires the time, position, and force information stored in the motion information database 8 from the database input / output unit 9, and based on the information on the position and force, the arm mechanism 4 Is generated and stored in the operation information database 8.
  • FIG. 13A shows a graph of motion information generated by the motion information generation unit 10.
  • the horizontal axis represents time
  • the vertical axis represents x-axis position information and z-axis position information
  • x-axis force information and z-axis force information .
  • the cared person 7 starts a rising motion from a sitting posture sitting on the seat 5 (specifically, from step S101 to step S103 in the first embodiment, which will be described later). (See the same steps S201 to S203).
  • the control unit 12B moves the first motor 41 and the second motor so that the arm mechanism 4 is moved in the traveling direction (x-axis negative direction) (see step S205 described later).
  • the operation information generating unit 10 generates operation information for independently driving and controlling the motor 42.
  • step S205 is shown as a section from time 0 to time t1 in FIG. 13A.
  • the force in the x-axis direction and the force in the z-axis direction change greatly.
  • the time t1 is a timing at which the eaves part 7e starts to leave the floor by the pulling operation in the traveling direction.
  • the force in the x-axis direction decreases and the force in the z-axis direction further decreases. Decrease.
  • the operation information generation unit 10 automatically detects the time t1. Specifically, the motion information generation unit 10 detects the force in the x-axis direction and the force in the z-axis direction at the times t1 and t0, and the force in the x-axis direction and the force in the z-axis direction. And the respective differences are detected. Next, the difference between the force in the x-axis direction and the force in the z-axis direction is similarly detected at time t2 and time t1. Thereafter, similarly, the difference between adjacent times is continuously detected.
  • the operation information generation unit 10 detects the time when the sign of the difference is reversed.
  • a time t1 immediately before the time when the sign of the difference is reversed (in this example, time t2) is a changing point at which the force changes greatly.
  • the z-axis position is moved upward at the timing detected by the motion information generation unit 10 (specifically, the z-axis position after time t1 in FIG. 13A is moved upward).
  • the operation information generating unit 10 generates operation information.
  • the motion information generating unit 10 can generate an operation of moving the arm mechanism 4 upward while moving forward as motion information.
  • the backward bending of the upper body of the cared person 7 works effectively and is easy to stand up.
  • the change point between the force in the x-axis direction and the force in the z-axis direction is detected.
  • the force in one direction such as detection only with the force only in the x-axis direction, is used. Also good.
  • the speed at which the cared person 7 is lifted upward is determined by the motion information generation unit 10 based on z-axis force information.
  • the arm mechanism 4 lifts the cared person 7 upward at a predetermined speed sz.
  • the arm mechanism 4 moves the force upward in the z-axis direction until the force becomes zero.
  • the motion information generating unit 10 generates motion information so as to accelerate the lifting speed. As a result, when the lower body has sufficient muscle strength and can stand up with its own muscle strength, it can rise smoothly by accelerating the lifting speed so as to follow the movement.
  • the motion information is generated by the motion information generation unit 10 so as to accelerate to a position where the force becomes zero.
  • the arm mechanism 4 causes the force to be an upward force in the z-axis direction. Since the motion information is generated by the motion information generation unit 10 so as to decelerate, a load is applied to the lower body of the cared person 7, so that it can be used for the rehabilitation purpose of the cared person 7.
  • the position of the end point in FIG. 8E stops at a predetermined position determined in advance by the height of the cared person 7.
  • the motion support system 1B estimates that the cared person 7 performs the standing or sitting motion based on the state of the arm mechanism 4 that supports the caring belt 3 holding the cared person 7. Then, at least one of the care belt 3 and the arm mechanism 4 is operated so as to support the estimated operation.
  • the state of the arm mechanism 4 includes the force detected by the force detection unit and the position detected by the position detection unit. Then, the motion support system 1B operates the arm mechanism based on the state of the arm mechanism 4 so that the body of the care recipient 7 draws a predetermined trajectory.
  • the operation support system 1B can also stop the operation in the middle of the operation for supporting the standing operation or the sitting operation by the care recipient 7.
  • the cared person 7 can take a posture (also referred to as a middle waist posture) between the standing posture and the sitting state. For example, before and after the toilet, it is possible to attach and detach the clothes of the cared person 7 in a middle waist posture, which is useful.
  • the above operation information is generated by the operation information generation unit 10 and stored in the operation information database 8 by the operation information generation unit 10 via the database input / output unit 9.
  • the value of the force detection unit 17 may be displayed on, for example, a monitor installed in the arm mechanism 4 to check how much force is applied to the arm mechanism 4.
  • the more the force is applied the less the body such as the lower body of the cared person 7 can be used.
  • the cared person 7 can confirm the progress of the rehabilitation device. become. Furthermore, by comparing with the stored past force information, it can be confirmed how much rehabilitation has been effective since before.
  • Control unit 12B moves the first motor 41 and the second motor 42 of the arm mechanism 4 so as to follow the position information and force information of the operation information input from the database input / output unit 9.
  • the control unit 12B controls the braking of the front wheel brake 14c and the rear wheel brake 14d based on the ON / OFF command of the front wheel brake 14c and the rear wheel brake 14d input by the input IF 6.
  • the cared person 7 sits on the seat 5 such as a bed arranged on the floor surface 13.
  • the operation support system 1 ⁇ / b> B is arranged in front of the cared person 7 sitting on the seat 5 by a caregiver or the like.
  • step S201 of FIG. 14 the cared person 7 turns on the power of the operation support system 1B by the input IF 6.
  • step S202 the cared person 7 turns on the front wheel brake 14c and the rear wheel brake 14d by the input IF 6, so that the front wheel 14a and the rear wheel 14b of the walking mechanism 14 are rotated by the control unit 12B.
  • the brake is applied so as not to.
  • the cared person 7 attaches the hold mechanism 3g of the care belt 3 connected to the arm mechanism 4 to the body, and holds the handle 15 with both hands.
  • step S203 the care receiver 7 presses the rising start button of the input IF 6, and the operation support system 1B starts operation.
  • the operation support system 1B operates only when the rising start button is pressed, and when the rising start button is released, the operation support system 1B stops operating.
  • the control device 11B of the motion support system 1B controls the drive of the first drive unit 4a and the second drive unit 4b of the arm mechanism 4 independently of each other. 4C is supported so that the buttocks 7e of the cared person 7 in FIG. 4B can get out of the seat 5 from the sitting posture of the person 7.
  • step S204 the force detector 17 detects the force applied by the care recipient 7 to the arm mechanism 4.
  • step S ⁇ b> 205 the motion information generation unit 10 generates motion information based on the force detected by the force detection unit 17 and the position information of the arm mechanism 4, and the motion information via the database input / output unit 9. Store in database 8.
  • step S206 the control unit 12B acquires operation information from the database input / output unit 9, and the control unit 12B follows the operation information acquired by the arm mechanism 4 from the database input / output unit 9. ,
  • the first motor 41 and the second motor 42 are independently driven and controlled.
  • the arm mechanism 4 is controlled by the control unit 12B so as to move forward (leftward in FIG. 8A). Then, as shown in FIG. 8B, the first holding portion 3a and the second holding portion 3b of the hold mechanism 3g are simultaneously pulled forward by the arm mechanism 4. At this time, the arm mechanism 4 pulls the first holding portion 3a forward via the connecting portion 3c, so that the upper body of the cared person 7 can bend backward as indicated by a dotted arrow A in FIG. 8B. Further, by pulling the second holding portion 3b forward through the connecting portion 3c, the pelvis of the care recipient 7 is tilted forward as shown by a counterclockwise arrow B in FIG. 8B. Is possible.
  • the care receiver 7 is encouraged to get out of the seat part 5 of the buttocks 7 e of the cared person 7, and at the same time, the rearward bending of the upper part of the cared person 7 is promoted.
  • the cared person 7 can easily stand up from the seat portion 5.
  • the cared person 7 can smoothly transition from the sitting position to the standing position without taking a deep forward leaning position.
  • the arm mechanism 4 is driven and controlled by the control unit 12B so as to move upward.
  • the motion information is generated by the motion information generation unit 10 based on the force detected by the force detection unit 17 and the position information of the arm mechanism 4, for example, the difference in the back of the cared person 7 or the front
  • the motion information generation unit 10 can generate motion information in a flexible manner according to a difference in tilt speed.
  • FIG. 13C illustrates that the trajectory of the connecting portion 3c connected to the arm mechanism 4 is different depending on the back of the cared person 7.
  • the vertical axis of FIG. 13C indicates the vertical z-axis of the motion support system 1B, and the horizontal axis indicates the traveling direction (front-back direction) x-axis of the motion support system 1B.
  • a trajectory A in FIG. 13C is a trajectory of the connecting portion 3c of the cared person 7 having a height of 180 cm.
  • the trajectory B of FIG. 13C is the trajectory of the connecting portion 3c of the cared person 7 having a height of 167 cm.
  • the trajectory C in FIG. 13C is the trajectory of the connecting portion 3c of the cared person 7 having a height of 155 cm. The higher the height, the higher the trajectory, and the lower the height, the lower the trajectory.
  • the care receiver 7 is assisted upward by the upward movement of the arm mechanism 4, and the care receiver 7 completes the stand-up in FIG. 8E. At this point, the cared person 7 is in a standing posture.
  • step S207 the cared person 7 returns (releases) the input IF 6 that is being pressed, so that the control operation of the rising operation by the control unit 12B and the driving of the arm mechanism 4 are stopped. Even before step S207, the cared person 7 returns (releases) the input IF 6 being pressed, so that the control operation of the rising operation and the driving of the arm mechanism 4 by the control unit 12B are stopped halfway.
  • step S208 the cared person 7 turns off the front wheel brake 14c and the rear wheel brake 14d by the input IF 6.
  • step S209 the cared person 7 turns off the power by the input IF 6.
  • the cared person 7 applies the force forward by the cared person 7 so that the front wheel 14 a and the rear wheel 14 b are moved by the force of the cared person 7.
  • Each of them can freely rotate, and the walking mechanism 14 can support the walking of the cared person 7 as a walker.
  • the motion information generation unit 10 Based on the position information stored in the motion information database 8 and the force detected by the force detection unit 17 and stored in the motion information database 8, the motion information generation unit 10 generates the motion information of the arm mechanism 4, for example,
  • the motion information can be generated by the motion information generator 10 in a flexible manner according to the difference in the back or the forward tilt speed.
  • the forward tilt posture of the cared person 7 can be made as shallow as possible so that it can be approximated to that of an adult healthy person. Can support the operation.
  • Embodiment 3 the structure which supports operation
  • the configuration, the configuration of the walking mechanism, and the gravity center position of the motion support system will be described.
  • FIG. 15 is an explanatory diagram showing an outline of the configuration of the operation support system 1C in the present embodiment.
  • the operation support system 1C is different from the operation support system 1 in the first embodiment in that it includes a main body mechanism 2C and the main body mechanism 2C includes an arm mechanism 4 'and a handle 15'.
  • the arm mechanism 4 ′ includes a second arm 4d ′, a third arm 4e ′, and a fourth arm 4f ′, respectively. Is provided. These are different in length from those in the first embodiment.
  • the handle 15 ′ is provided backward from the middle portion of the third arm 4 e ′.
  • the operation support system 1 ⁇ / b> C can avoid the feet of the care recipient 7 from contacting or colliding with the arm mechanism 4 ′ by providing the above-described configuration. Specifically, since the second arm 4d 'is shorter than the second arm 4d, the distance between the foot of the care recipient 7 and the arm mechanism 4' is increased. Further, the lengths of the third arm 4e 'and the fourth arm 4f' are adjusted so as to compensate for the shortening of the second arm 4d '. Thereby, the operation support system 1 ⁇ / b> C can perform operation support to the care receiver 7, similarly to the operation support system 1 in the first embodiment.
  • FIG. 16 is a perspective view showing the configuration of the chin rest 4k and the handle 4m in the present embodiment.
  • the arm mechanism 4 includes a chin rest 4k and a handle 4m.
  • the chin rest 4k is a rigid member fixed to the arm mechanism 4 and is a pedestal on which the chin of the care recipient 7 is placed.
  • the chin rest 4k is fixed to the fourth arm 4f.
  • the fourth arm 4f or the like is the face of the cared person 7 Risk of collision Therefore, by providing the operation support system 1C with the chin rest 4k having a relatively large area, for example, even when the face of the cared person 7 collides, the impact on the cared person 7 can be reduced.
  • a cushion material etc. are affixed on the surface of the chin rest 4k, the discomfort or pain by the care receiver's 7 chin contacting the chin rest 4k can be relieved further.
  • the handle 4m is a handle that the cared person 7 holds when walking.
  • the handle 4m has a shape that can be easily grasped when the care recipient 7 walks while wearing the operation support system 1C. Thereby, the cared person can perform a more stable walking while wearing the operation support system 1C and being supported by the operation support system 1C.
  • FIG. 17 is a perspective view showing the configuration of the armrest portion 4p and the handle 4r in the present embodiment.
  • the armrest 4p is a rigid member that is fixed to the arm mechanism 4 and is a base on which the elbow of the care recipient 7 is placed.
  • the armrest 4p is fixed to the third arm 4e. The cared person 7 can walk more easily by placing an elbow on the armrest 4p during walking.
  • the armrest portion 4p is useful when the cared person 7 walks, but there is a risk that the armrest portion 4p may hinder the operation when standing or sitting. Therefore, the armrest portion 4p may be configured such that the position is changed so as not to hinder the above-described operation. The position of the armrest 4p will be described in detail later.
  • the handle 4r is a handle that the cared person 7 holds when walking.
  • the handle 4r has a shape that can be easily grasped when the care recipient 7 walks with the elbow placed on the armrest 4p. Thereby, the cared person can perform more stable walking while being supported by the motion support system 1C.
  • FIG. 18 is a first explanatory view showing a movable range of the armrest portion 4p in the present embodiment.
  • the armrest portion 4 p when assisting the walking of the cared person 7, the armrest portion 4 p is arranged to extend in the positive direction of the x0 axis when viewed from the third arm 4 e.
  • the armrest portion 4p rotates about a rotation axis 4s parallel to the z0 axis and is movable to a position 4pa that is parallel to the y0 axis.
  • the armrest part 4p may further be rotated around the rotation axis 4s and moved to a position facing the negative direction of the x0 axis.
  • FIG. 19 is a second explanatory diagram showing the movable range of the elbow rest in the present embodiment.
  • the armrest portion 4 p when assisting the walking of the cared person 7, is arranged to extend in the positive direction of the x0 axis when viewed from the third arm 4 e.
  • the armrest 4p can be disposed at a position 4pb that rotates about a rotation axis 4t parallel to the y0 axis and is parallel to the third arm 4e.
  • the armrest 4p may further be disposed at a position that rotates around the rotation axis 4t and faces the negative direction of the x0 axis.
  • the armrest portion 4p is configured to change its position so as not to hinder the standing motion or the seating motion. Accordingly, the motion support system 1C can avoid the obstacle of the standing motion or the sitting motion while appropriately supporting the walking motion by the care recipient 7.
  • FIG. 20A is a schematic diagram showing a configuration related to the first drive unit 4a and the first drive unit 4a in the present embodiment.
  • the arm mechanism 4 includes a first motor 41 and a transmission mechanism 41a.
  • the first motor 41 is a motor that generates rotational force that rotates the second arm 4d with respect to the first arm 4c.
  • the 1st motor 41 is arrange
  • the second arm 4d can be displaced to the position 4d 'by being rotated.
  • the transmission mechanism 41a is a transmission mechanism that transmits the rotational force generated by the first motor 41 to the first drive unit 4a.
  • the transmission mechanism 41a is realized by a chain or a belt.
  • FIG. 20B is a schematic diagram showing a configuration related to the second drive unit 4b and the second drive unit 4b in the present embodiment.
  • the arm mechanism 4 includes a second motor 42 and transmission mechanisms 42a and 42b.
  • the second motor 42 is a motor that generates a rotational force that rotates the third arm 4e with respect to the second arm 4d.
  • the second motor 42 is disposed on the rectangular base 14e, and rotates the third arm 4e with respect to the second arm 4d by driving the second drive unit 4b through the transmission mechanisms 42a and 42b.
  • the third arm 4e can be displaced to the position 4e 'by being rotated.
  • the transmission mechanism 42a is a transmission mechanism that transmits the rotational force generated by the second motor 42 to the transmission mechanism 42b.
  • the transmission mechanism 42b is a transmission mechanism that transmits the rotational force transmitted from the transmission mechanism 42b to the second drive unit 4b.
  • the transmission mechanisms 42a and 42b are realized by a chain or a belt.
  • the center of gravity of the operation support system 1C can be brought close to the center of the rectangular base 14e.
  • the motion support system 1C can support the motion of the care receiver 7 more stably.
  • the motion support system 1C can avoid the risk of falling because the center of gravity deviates from the center of the rectangular platform 14e. Therefore, the operation support system 1C can support the operation of the care receiver 7 more stably and safely.
  • the motion support system 1 includes a pair of front wheels 14a and a pair of rear wheels 14b.
  • the front wheel 14a and the rear wheel 14b are also simply referred to as wheels.
  • the motion support system 1 When each wheel of the motion support system 1 is turned freely, the motion support system 1 is moved in a direction in which the cared person 7 exerts a force. In this case, the cared person 7 can proceed in the desired direction, but the direction in which the cared person 7 exerts force is not stable, the traveling direction is not stable and the cared person 7 cannot proceed straight. It becomes. Therefore, the direction of each wheel of the operation support system 1 and the operation of the operation support system 1 in that case will be described.
  • FIG. 21A is a first explanatory diagram of the direction of the wheels of the walking mechanism in the present embodiment.
  • the front wheel 14a is attached to a rectangular base 14e so as to be freely turned.
  • the rear wheel 14b is fixed so as to face in a direction parallel to the x0 axis and is attached to the rectangular base 14e.
  • the front wheel 14a can turn freely, it can change the advancing direction of the operation assistance system 1 to the direction where the care receiver 7 exerts force, and at the same time excludes the advancing direction and its opposite direction It is possible to suppress the movement support system 1 from moving in the direction. As a result, the motion support system 1 can proceed stably in the direction desired by the care recipient 7.
  • FIG. 21B is a second explanatory diagram of the direction of the wheels of the walking mechanism in the present embodiment.
  • the 21B includes a pair of middle wheels 14g in addition to the pair of front wheels 14a and the pair of rear wheels 14b. And the front wheel 14a and the rear wheel 14b are attached to the rectangular base 14e so that turning is possible.
  • the middle wheel 14g is fixed so as to face in a direction parallel to the x0 axis and is attached to the rectangular base 14e.
  • the motion support system 1 can stably advance in the direction desired by the care recipient 7 even when moving in the direction of retreating for the care recipient 7 (x0 axis plus direction).
  • the length W (hereinafter also referred to as the width) of the rectangular base 14e in the y0 direction is preferably within 60 cm or 65 cm.
  • the size of a toilet door is often 60 cm or 65 cm. Therefore, in order for the cared person 7 to go to the toilet using the operation support system 1, W is preferably within the above length in order to pass through the toilet door.
  • the movement support system 1 generates a force to support the weight of the cared person 7 and to support the movement of the cared person 7. Therefore, it is desirable that the center of gravity of the motion support system 1 is stable. If the center of gravity of the motion support system 1 is not stable, there is a possibility of falling over while assisting the motion of the cared person 7, which is very dangerous.
  • FIG. 22 is an explanatory diagram of the center of gravity of the motion support system in the present embodiment.
  • FIG. 22 is a schematic diagram when the walking mechanism 14 is viewed from above.
  • the center of gravity of the motion support system 1 is preferably inside a region 14h that is a polygon having the vertex of the contact point of the rectangular platform 14e. Furthermore, when the operation support system 1 supports the operation of the cared person 7, it is desirable that the center of gravity of the operation support system 1 in the state of supporting the operation of the cared person 7 is within the region 14 h. This is because the motion support system 1 needs to support a part of the weight of the cared person 7.
  • a relatively heavy component among the components of the operation support system 1 is in the central portion 14i of the rectangular platform 14e.
  • the thing with comparatively large weight is a power supply part (not shown) provided with a power supply device (for example, storage battery) for supplying a motor (1st motor 41 and 2nd motor 42) and electric power to a motor, for example. is there.
  • first motor 41 and the second motor 42 shown in FIGS. 20A and 20B are preferably arranged in the central portion 14i of the rectangular base 14e. By doing in this way, operation support system 1 can support operation of care recipient 7 more stably, especially avoiding the danger of falling.
  • the operation support system can support the operation more appropriately. Specifically, the configuration of the arm mechanism, the configuration of the care belt, the configuration of the handle mechanism, the configuration of the first drive unit and the second drive unit, the configuration of the walking mechanism, and the operation support system described in the present embodiment. Compared with the first and second embodiments, the operation support system can more appropriately support the operation based on the position of the center of gravity.
  • the motion support system 1 holds the care receiver (the care belt 3), the arm (arm mechanism 4) that supports the support part, and the care receiver. Based on the state of the arm that supports the holding unit in a state that has been performed, it is estimated that a standing or sitting movement is performed by the care recipient, and at least the holding unit or the arm is supported so as to support the estimated movement And a control unit 12 for operating one of them.
  • the motion support system 1 estimates a motion to be performed by the cared person wearing the motion support system 1 and seems to bear a part of the force necessary for the cared person to perform the motion.
  • the arm (arm mechanism 4) or the holding part (care belt 3) is operated. Therefore, the motion support system 1 can support the care receiver's motion by exerting an appropriate magnitude, direction, and timing on the care receiver while utilizing the force generated by the care receiver.
  • the arm also includes a force detection unit 17 that detects a force received from the holding unit that holds the care recipient, and a position detection unit (first encoder 43 and second encoder 44) that detects the position of the arm. Then, the control unit 12 operates the arm so that the cared person's body draws a predetermined trajectory based on the state of the arm including the force detected by the force detection unit 17 and the position detected by the position detection unit. You may let them.
  • the motion support system 1 estimates the motion to be performed by the cared person based on the force that the cared person exerts on the motion support system 1 and the displacement of the arm caused by the movement of the cared person.
  • the arm is moved so as to displace the cared person's body along a predetermined trajectory when performing. Therefore, the motion support system 1 can more specifically estimate the motion to be performed by the care recipient and can support the motion of the care receiver so that the body motion necessary for the motion is performed.
  • control unit 12 may operate the arm so that the upper body of the care recipient is in a forward leaning posture in a state where the care recipient is seated.
  • the cared person can defecate more easily by having the upper body lean forward.
  • the arm may further include an armrest portion on which the elbow of the care recipient is placed.
  • the cared person since the cared person can put the elbow on the armrest, it can take a relatively easy posture or a posture that facilitates work.
  • the armrest portion improves the degree of freedom of the care recipient's posture.
  • the motion support system 1 may further include a walking mechanism 14 that moves the motion support system 1 in accordance with the walking motion of the care recipient.
  • the motion support system 1 can move relatively easily in the direction desired by the care recipient when walking by the care recipient. Therefore, the care recipient can walk using the motion support system 1 more safely.
  • the operation support system 1 further includes a main body (rectangular base 14e) connected to one end of the arm and grounded to the floor, and a connection (connecting portion 3c) connected to the other end of the arm.
  • a connecting portion connected to the holding portion, and the arm has a first link (second arm 4d) having one end connected to the connecting portion, one end rotatably connected to the first link, and the other end Has a second link (third arm 4e) rotatably connected to the main body, and the operation support system 1 further rotates a first link relative to the second link. 4a and a second drive unit 4b for rotating the second link with respect to the main body, and the control unit 12 operates the arm by the rotation of at least one of the first drive unit or the second drive unit. May be.
  • the holding part and the cared person can be supported by the arm having the first and second links being driven by the first and second driving parts.
  • the second link may be provided near the one end of the second link, and may have a cushioning material for reducing an impact caused by contact with the care receiver's foot.
  • the operation support system 1 can more appropriately support the operation of the care recipient.
  • the cushioning material is provided with a contact sensor that detects contact with the care recipient, and the first drive unit and the second drive unit may stop rotating when the contact sensor detects contact. Good.
  • the motion support system 1 stops the motion. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
  • the arm further includes a pinching sensor that detects pinching of an object by the first link and the second link, and the first driving unit and the second driving unit rotate when the pinching sensor detects pinching. May be stopped.
  • the operation support system 1 can support the operation of the care recipient more safely.
  • the gravity center position of the motion support system 1 may be located inside a polygon whose top is the ground contact point of the main body when viewed from above.
  • the center of gravity of the motion support system 1 is stabilized, and the motion support system 1 can be prevented from falling. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
  • the operation support system 1 is further a power supply unit for driving the first drive unit and the second drive unit, and is arranged inside a polygon whose top point is the ground point of the main body unit when viewed from above.
  • a power supply unit may be provided.
  • a relatively heavy power supply unit is positioned at the center of the operation support system 1 in a top view.
  • the center of gravity of the motion support system 1 is stabilized, and the motion support system 1 can be prevented from falling. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
  • first motor 41 that drives the first drive unit and the second motor 42 that drives the second drive unit are located inside a polygon whose apex is the ground contact point of the main body when viewed from above. Also good.
  • the motor that is relatively heavy among the components constituting the operation support system 1 is positioned at the center of the operation support system 1 in a top view. Thereby, the center of gravity of the motion support system 1 is stabilized, and the motion support system 1 can be prevented from falling. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
  • the robot according to the above embodiment is a robot including the motion support system 1 described above.
  • control method of the operation support system 1 is a control method of the operation support system 1 including the holding unit that holds the care receiver and the arm that supports the holding unit, Based on the state of the arm supporting the holding unit in the state where the cared person is held, the estimation step for estimating that the cared person performs the standing or sitting motion, and the estimated motion is supported. And a control step of operating at least one of the holding part or the arm.
  • the program according to the above embodiment is a program for causing a computer to execute the above control method.
  • FIG. 23 is a perspective view illustrating an appearance of the front side of the operation support system 202 according to the fourth embodiment.
  • FIG. 24 is a perspective view showing an appearance of the rear side of the operation support system 202 according to the fourth embodiment.
  • the motion support system 202 includes a main body 204, an arm mechanism 206 (an example of an arm), a care belt 208 (an example of a holding unit), and a walking mechanism 210. ing.
  • the main body 204 is a metal plate for supporting the arm mechanism 206.
  • the arm mechanism 206 is a robot arm for supporting the care receiver 212 (see FIG. 27A described later) via the care belt 208 to assist the care receiver 212 in standing or sitting.
  • the arm mechanism 206 is connected between the main body 204 and the care belt 208.
  • the care belt 208 is a belt for holding the upper body (an example of the body) of the care recipient 212.
  • the care belt 208 is detachably supported at the tip of the arm mechanism 206.
  • FIGS. 23 and 24 show a state in which the care belt 208 is removed from the tip of the arm mechanism 206.
  • the walking mechanism 210 is a moving mechanism for moving the main body 204 in accordance with the walking motion of the care recipient 212.
  • the motion support system 202 according to Embodiment 4 is characterized by the configuration of the walking mechanism 210.
  • the main body unit 204 is formed in a plate shape, for example, and is disposed so as to be substantially parallel to the floor surface 214.
  • a brake mechanism 216 is disposed on the lower surface side of the main body 204.
  • the brake mechanism 216 is rotatable between a brake position (position shown in FIGS. 23 and 24) and a release position (not shown).
  • a brake position position shown in FIGS. 23 and 24
  • a release position not shown.
  • the brake mechanism 216 rotates from the brake position to the release position (or from the release position to the brake position), for example, when a caregiver (not shown) who cares for the care receiver 212 operates with his / her foot.
  • a walking mechanism 210 is further arranged on the lower surface side of the main body 204.
  • the configuration of the walking mechanism 210 will be described later.
  • FIG. 25 is a perspective view showing a state in which the arm mechanism 206 is driven from the state of FIG.
  • FIG. 26 is an enlarged perspective view showing a part of the arm mechanism 206.
  • the arm mechanism 206 is, for example, a robot arm with two degrees of freedom, and includes a first arm 206a, a second arm 206b, a third arm 206c, a fourth arm 206d, and a first drive unit 206e. And a second drive unit 206f.
  • the lower end of the first arm 206a is fixed to the upper surface of the main body 204.
  • the first arm 206a is disposed so as to stand upward from the upper surface of the main body 204 (in the positive direction of the z0 axis).
  • the upper end of the first arm 206a is rotatably connected to the front end of the second arm 206b via the first joint portion 218.
  • the second arm 206b extends from the upper end of the first arm 206a toward the rear side of the main body 204 (the positive side of the x0 axis).
  • the rear end of the second arm 6b is rotatably connected to the lower end of the third arm 206c via the second joint portion 220.
  • the third arm 206c extends upward from the rear end of the second arm 206b.
  • the upper end of the third arm 206c is fixed to the front end of the fourth arm 206d.
  • a pair of fasteners 222 (see FIG. 24) for detachably connecting the care belt 208 is provided at the rear end of the fourth arm 206d.
  • each of the first arm 206a, the second arm 206b, and the fourth arm 206d extends linearly.
  • a first bent portion 224 bent substantially vertically is formed near the lower end of the third arm 206c.
  • a second bent portion 226 that is bent at an angle larger than 90 ° is formed in the vicinity of the upper end of the third arm 206c.
  • the 1st drive part 206e is for rotating the 2nd arm 206b centering on the 1st joint part 218 with respect to the 1st arm 206a.
  • the first drive unit 206e includes a first motor 228, a first transmission mechanism 230 for transmitting the driving force of the first motor 228 to the second arm 206b, and the rotational speed (rotation angle) of the drive shaft of the first motor 228. ) (See FIG. 31 to be described later).
  • the first motor 228, the first transmission mechanism 230, and the first encoder 232 are supported by the first arm 206a.
  • the first transmission mechanism 230 includes, for example, a reduction gear, a sprocket, a drive chain, and the like.
  • the second drive unit 206f is for rotating the third arm 206c about the second joint unit 220 with respect to the second arm 206b.
  • the second drive unit 206f includes a second motor 234, a second transmission mechanism 236 for transmitting the driving force of the second motor 234 to the third arm 206c, and the rotational speed (rotation angle) of the drive shaft of the second motor 234. ) (See FIG. 31 to be described later).
  • the second motor 234 and the second encoder 238 are supported by the first arm 206a, and the second transmission mechanism 236 is supported across the first arm 206a and the second arm 206b.
  • the second transmission mechanism 236 includes, for example, a reduction gear, a sprocket, a drive chain, and the like.
  • the driving force of the first motor 228 is transmitted to the second arm 206b via the first transmission mechanism 230, so that the second arm 206b is compared with the first arm 206a. It rotates around one joint 218. Further, the driving force of the second motor 234 is transmitted to the third arm 206c via the second transmission mechanism 236, whereby the third arm 206c rotates around the second joint portion 220 with respect to the second arm 206b. Move. As described above, by controlling each of the first motor 228 and the second motor 234, the posture of the arm mechanism 206 with respect to the main body 204 can be changed.
  • the first arm 206a, the second arm 206b, the third arm 206c, and the fourth arm 206d are respectively a first arm cover (not shown), a second arm cover 240b, and a third arm cover 240c. And the fourth arm cover 240d.
  • the first arm cover, the second arm cover 240b, the third arm cover 240c, and the fourth arm cover 240d are not shown in FIGS.
  • a notch 242 is formed at the rear end of the second arm cover 240b for allowing the third arm 206c to escape when the third arm 206c rotates relative to the second arm 206b.
  • the first bent portion 224 is formed in the vicinity of the lower end of the third arm 206c, the first bent portion 224 is not formed (that is, the lower end of the third arm 206c).
  • the size of the notch 242 can be kept small compared to the case where the vicinity of is formed in a straight line.
  • a handle 244 for the care receiver 212 to hold with both hands is detachably attached to the third arm cover 240c with screws 246.
  • the handle 244 extends linearly in a substantially horizontal direction (y0 axis direction).
  • a plurality of screw holes 248 through which the screws 246 are inserted are formed in the third arm cover 240c at intervals in the longitudinal direction and the short direction of the third arm cover 240c.
  • an input interface 250 is disposed on the fourth arm 206d.
  • the input interface 250 is an operation panel for the care recipient 212 to operate the operation support system 202, for example.
  • a power button for turning on or off the power of the operation support system 202, a start / end button for starting or ending a start-up operation, and the like are arranged.
  • handle 244 and the input interface 250 are not shown in FIGS.
  • FIG. 27A is a front view showing a state where the upper half of the care receiver 212 is held on the care belt 208 of the operation support system 202 according to Embodiment 4.
  • FIG. 27B is a side view showing a state where the upper half of the care receiver 212 is held on the care belt 208 of the operation support system 202 according to Embodiment 4.
  • FIG. 27C is a rear view showing a state in which the upper half of the care receiver 212 is held on the care belt 208 of the operation support system 202 according to Embodiment 4.
  • the care belt 208 includes a first holding portion 208a, a pair of second holding portions 208b, and a pair of third holding portions 208c.
  • Each of the first holding portion 208a, the pair of second holding portions 208b, and the pair of third holding portions 208c is formed of, for example, vinyl chloride or nylon, and has a sealed bag shape.
  • the interiors of the first holding portion 208a, the pair of second holding portions 208b, and the pair of third holding portions 208c are in communication with each other.
  • the first holding unit 208a is provided with a valve 208d for supplying air.
  • Each of the first holding part 208a, the pair of second holding parts 208b, and the pair of third holding parts 208c is filled with air supplied from the valve 208d.
  • the first holding portion 208a is formed in a substantially inverted U shape and holds the neck 212a (or back portion 212b) of the care receiver 212 over the chest portion 212c.
  • each of the pair of third holding portions 208c extends from both ends of the first holding portion 208a, and holds the chest 212c of the care receiver 212 over both side portions 212d.
  • each of the pair of second holding portions 208b extends from each end of the pair of third holding portions 208c, and holds the waist portion 212e of the care receiver 212.
  • maintenance part 208b is mutually detachable with a hook-and-loop fastener (not shown), for example.
  • a connecting portion 208e is attached to the first holding portion 208a.
  • the connecting portion 208e is disposed so as to be bridged between one end portion and the other end portion of the first holding portion 208a.
  • the connecting portion 208e is disposed near the center of the chest 212c of the care receiver 212.
  • a pair of connecting holes 28f are formed in the connecting portion 208e.
  • the pair of fasteners 222 of the fourth arm 206d described above are detachably inserted into the pair of connection holes 208f, respectively, so that the connecting portion 208e of the care belt 208 is connected to the fourth arm. It is detachably connected to the rear end of 206d.
  • the care belt 208 is disposed on the rear side of the main body 204.
  • FIG. 28 is a diagram illustrating a bottom surface of the operation support system 202 according to the fourth embodiment.
  • FIG. 29 is an enlarged view of the walking mechanism 210 of the motion support system 202 according to the fourth embodiment.
  • FIG. 30 is a schematic diagram for explaining the positional relationship between the center of gravity G1 and the intermediate wheel 256 of the motion support system 202 according to the fourth embodiment.
  • the walking mechanism 210 has a total of five casters including a pair of front wheels 252, a pair of rear wheels 254, and a single intermediate wheel 256.
  • the pair of front wheels 252 are disposed on the front side of the main body 204 (the negative side of the x0 axis). Specifically, each of the pair of front wheels 252 is rotatably supported around the rotation shaft 260 (see FIG. 28) at each tip of a pair of support legs 258 extending from the lower surface of the main body 204 to the front side of the main body 204. ing. Each of the pair of front wheels 252 is a free caster in which the direction of the rotation shaft 260 changes with respect to the main body portion 204, and is rotatable about an axis 262 (see FIG. 24).
  • the pair of rear wheels 254 are disposed on the rear side of the main body 204. Specifically, each of the pair of rear wheels 254 has a rotation shaft 266 (see FIG. 28) at the front ends of a pair of support legs 264 that extend from the lower surface of the main body 204 to the rear side of the main body 204. Is supported rotatably. Each of the pair of rear wheels 254 is a free caster in which the direction of the rotation shaft 266 changes with respect to the main body portion 204 and is rotatable about an axis 268 (see FIG. 24).
  • the arrangement interval W1 between the pair of rear wheels 254 is larger than the arrangement interval W2 between the pair of front wheels 252. Furthermore, as shown in FIG. 29, the diameter D1 of each of the pair of rear wheels 254 is smaller than the diameter D2 of each of the pair of front wheels 252. Further, the diameter D3 of the intermediate wheel 256 is larger than the diameter D1 of each of the pair of rear wheels 254.
  • the intermediate wheel 256 is arranged on a straight line passing through the center part of the pair of front wheels 252 and the center part of the pair of rear wheels 254, and the pair of front wheels 252 and the pair of rear wheels 252. It is arranged between the wheel 254. Specifically, the intermediate wheel 256 is supported on the lower surface of the main body 204 near the pair of front wheels 252 so as to be rotatable about a rotation shaft 270 (see FIG. 28).
  • the intermediate wheel 256 is a fixed caster in which the direction of the rotation shaft 270 is fixed to the main body 204.
  • the ground contact surface 272 of the intermediate wheel 256 is lower than the ground contact surfaces 274 of the pair of front wheels 252 and the pair of rear wheels 254 by a predetermined distance L (for example, about several millimeters). It is arranged so as to be located in the minus direction of the z0 axis).
  • L for example, about several millimeters. It is arranged so as to be located in the minus direction of the z0 axis).
  • the ground contact surface 272 is the surface of the intermediate wheel 256 that is closest to the floor surface 214 when a downward load is not applied to the motion support system 202.
  • the ground contact surface 274 is a surface of each of the pair of front wheels 252 and the pair of rear wheels 254 closest to the floor surface 214 when a downward load is not applied to the motion support system 202.
  • the intermediate wheel 256 has a vertical line 276 (substantially parallel to the z0 axis) passing through the center of gravity G1 of the motion support system 202 in a state where the care belt 208 does not hold the upper body of the care receiver 212. It is arranged on a straight line.
  • the center of gravity G1 is a center of gravity in a posture in which the arm mechanism 206 holds a care receiver 212 (see FIG. 33E described later) in a standing posture.
  • FIG. 31 is a block diagram illustrating a functional configuration of the operation support system 202 according to the fourth embodiment.
  • the operation support system 202 includes a timer 278, a database input / output unit 280, a control unit 282, and an operation information database 284 as functional configurations.
  • the timer 278 outputs a command signal for executing the database input / output unit 280 and the control unit 282 to the database input / output unit 280 and the control unit 282 every predetermined time (for example, 1 msec).
  • the database input / output unit 280 inputs / outputs operation information (described later) between the control unit 282 and the operation information database 284.
  • the control unit 282 controls the first motor 228 and the second motor 234 independently based on the operation information input from the database input / output unit 280. Thereby, the arm mechanism 206 is driven so as to follow the operation information input from the database input / output unit 280.
  • the motion information database 284 includes position information related to the position of the arm mechanism 206 (that is, position information obtained by converting information related to the rotation angle from each of the first encoder 232 and the second encoder 238 into information related to the position of the arm mechanism 206) and the relevant information.
  • the time when the position information is generated is stored as operation information.
  • the control unit 282 generates position information at regular time intervals based on a command signal from the timer 278, and the database input / output unit 280 performs the operation at regular time intervals based on the command signal from the timer 278.
  • the position information is output to the operation information database 284.
  • FIG. 320 is a flowchart showing an operation flow of the operation support system 202 according to the fourth embodiment.
  • FIG. 33A to FIG. 33E is a schematic diagram for explaining the operation of the operation support system 202 according to the fourth embodiment.
  • the operation support system 202 supports the operation of standing up (rising) of the care recipient 212.
  • a seating portion 286 for example, a bed, a chair, or a toilet seat of a toilet
  • the caregiver uses the motion support system 202. It is arranged in front of the cared person 212.
  • the motion support system 202 is arranged so that the care belt 208 is positioned on the care receiver 212 side.
  • the care receiver 212 operates the power button of the input interface 250
  • the power of the operation support system 202 is turned on (S301).
  • the caregiver rotates the brake mechanism 216 from the release position to the brake position by operating the brake mechanism 216 with the foot.
  • the movement of the main body 204 is braked (turned on) (S302), and the main body 204 moves unexpectedly when the nursing belt 208 is pulled by the arm mechanism 206 as will be described later. It is suppressed.
  • the force from the arm mechanism 206 can be reliably transmitted to the care belt 208.
  • the care receiver 212 wears the care belt 208 on the upper body and holds the handle 244 with both hands.
  • the third arm 206c is difficult to enter the field of view of the care receiver 212. Therefore, compared with the case where the vicinity of the upper end of the third arm 206c is bent substantially vertically, the feeling of pressure received by the care receiver 212 can be reduced. Furthermore, since the entire length of the third arm 206c can be reduced compared to the case where the vicinity of the upper end of the third arm 206c is bent substantially vertically, the weight of the arm mechanism 206 can be reduced. .
  • the operation support system 202 starts the operation (that is, an operation for supporting the operation of the care receiver 212 to stand). ).
  • control unit 282 acquires operation information from the database input / output unit 280 (S304).
  • control unit 282 controls the first motor 228 and the second motor 234 independently based on the operation information acquired from the database input / output unit 280.
  • the arm mechanism 206 is driven to follow the operation information acquired from the database input / output unit 280 (S305).
  • the control unit 282 first moves the arm mechanism 206 forward (in the minus direction of the x0 axis) of the main body unit 204 while bending it.
  • the first holding portion 208 a and the second holding portion 208 b of the care belt 208 are simultaneously pulled to the front of the main body portion 204 by the arm mechanism 206.
  • the arm mechanism 206 pulls the first holding portion 208a to the front of the main body portion 204 via the connecting portion 208e, so that the upper body of the cared person 212 is shown as indicated by the broken arrow P in FIG. 33B. Back bending is encouraged. Further, by pulling the second holding portion 208b to the front of the main body portion 204 via the connecting portion 208e by the arm mechanism 206, the front of the pelvis of the cared person 212 as shown by the broken arrow Q in FIG. 33B. Tilt is encouraged. As shown in FIG.
  • the seating portion of the buttocks 212 f of the cared person 212 is obtained by assisting the backward bending of the upper body of the cared person 212 and the forward tilt of the pelvis of the cared person 212 with the arm mechanism 206. You are prompted to leave 286. As a result, the cared person 212 can smoothly transition from the sitting position to the standing position without taking a deep forward leaning position.
  • the controller 282 can also control the first motor 228 and the second motor 234 so that the traction speed is gradually accelerated until the bed is left. Thereby, it is possible to further effectively promote the backward bending of the upper body of the cared person 212 and the forward tilt of the pelvis.
  • the control unit 282 moves the arm mechanism 206 upward as indicated by the solid line arrow in FIG. 33D. Thereby, the rising operation of the care receiver 212 is assisted. Thereafter, as shown in FIG. 33E, the cared person 212 completes the rising motion and assumes a standing posture.
  • the operation support system 202 ends the start-up operation. Thereafter, the caregiver rotates the brake mechanism 216 from the brake position to the release position by operating the brake mechanism 216 with the foot. Thereby, the brake of the movement of the main body 204 is released (off) (S307). Thereafter, when the care receiver 212 operates the power button of the input interface 250, the power of the operation support system 202 is turned off (S308).
  • the cared person 212 can walk while holding the handle 244 with both hands and pushing the motion support system 202 forward (minus direction of the x0 axis). it can.
  • the pair of front wheels 252, the pair of rear wheels 254, and the intermediate wheel 256 rotate about the rotation shafts 260, 266, and 270, respectively, so that the main body unit 204 is moved as indicated by solid arrows in FIG. It moves forward on the floor surface 214.
  • each of the pair of front wheels 252 and the pair of rear wheels 254 is a free caster, the main body portion 204 can turn around when the main body portion 204 turns around the intermediate wheel 256.
  • the motion support system 202 supports the standing motion of the care receiver 212.
  • the motion support system 202 can support the sitting motion of the care receiver 212.
  • the arm mechanism 206 performs the operation of the process opposite to the operation for supporting the standing operation of the care receiver 212.
  • the motion support system 202 is the motion support system 202 that supports the standing or sitting motion of the care recipient 212.
  • the motion support system 202 is connected between the main body 204, a care belt 208 for holding the body of the care recipient 212, and the main body 204 and the care belt 208, and the posture with respect to the main body 204 changes.
  • an arm mechanism 206 for assisting the standing or sitting motion of the cared person 212
  • a walking mechanism 210 that moves the main body 204 in accordance with the walking motion of the cared person 212.
  • the walking mechanism 210 includes a pair of front wheels 252 disposed on the front side of the main body portion 204, a pair of rear wheels 254 disposed on the rear side of the main body portion 204, and a pair of front wheels 252 and a pair of rear wheels 254. And an intermediate ring 256 disposed on the side.
  • the motion support system 202 includes the main body 204 that is connected to the care belt 208 by the arm mechanism 206.
  • the walking mechanism 210 includes a pair of front wheels 252 disposed on the front side of the main body portion 204, a pair of rear wheels 254 disposed on the rear side of the main body portion 204, and a pair of front wheels 252 and a pair of rear wheels 254. It can also be said that it has one intermediate wheel 256 arranged on the side.
  • the motion support system 202 is supported by a total of five casters including a pair of front wheels 252, a pair of rear wheels 254, and one intermediate wheel 256.
  • movement assistance system 202 can be disperse
  • the starting resistance generated in each caster when starting the movement of the main body portion 204 and the turning resistance generated in each caster when changing the direction of the main body portion 204 can be kept small. Conversion can be performed smoothly.
  • the pair of front wheels 252 and the pair of rear wheels 254 are free casters in which the directions of the rotation shafts 260 and 266 change with respect to the main body portion 204, respectively.
  • the intermediate wheel 256 is a fixed caster in which the direction of the rotation shaft 270 is fixed to the main body 204.
  • the main body part 204 when the direction of the main body part 204 is changed, the main body part 204 can be smoothly turned around the intermediate wheel 256. Moreover, since the main body 204 does not move in the direction of the rotation shaft 270 of the intermediate wheel 256 (y0 axis direction), it is possible to improve straightness when the main body 204 moves in the front-rear direction (x0 axis direction). .
  • the intermediate wheel 256 is disposed such that the ground contact surface 272 of the intermediate wheel 256 is positioned below the ground contact surfaces 274 of the pair of front wheels 252 and the pair of rear wheels 254.
  • the load applied to the intermediate wheel 256 is larger than the load applied to each of the pair of front wheels 252 and the pair of rear wheels 254. Thereby, when changing the direction of the main body 204, the main body 204 can be turned more smoothly around the intermediate wheel 256.
  • the arrangement interval W1 between the pair of rear wheels 254 is larger than the arrangement interval W2 between the pair of front wheels 252.
  • the diameter D1 of each of the pair of rear wheels 254 is smaller than the diameter D2 of each of the pair of front wheels 252.
  • the care receiver 212 when the care receiver 212 walks while pushing the motion support system 202 forward, it is possible to prevent the feet of the care receiver 212 from coming into contact with the pair of rear wheels 254. Further, for example, when supporting the standing motion of the cared person 212 sitting on the bed, the pair of rear wheels 254 can be inserted under the bed, so that the motion supporting system 202 can be easily provided to the cared person 212. You can get closer.
  • intermediate wheel 256 is disposed on a vertical line 276 passing through the center of gravity G1 of the motion support system 202.
  • the main body 204 can be turned more smoothly around the intermediate wheel 256.
  • FIG. 34 is a perspective view showing an appearance of the rear side of the operation support system 202A according to the fifth embodiment.
  • FIG. 35 is an enlarged view of the walking mechanism 210A of the motion support system 202A according to the fifth embodiment.
  • FIG. 36 is a schematic diagram for explaining the positional relationship between the center of gravity G2 of the motion support system 202A according to the fifth embodiment and the intermediate wheel 256A.
  • the same components as those in the fourth embodiment are denoted by the same reference numerals, and the description thereof is omitted.
  • the configuration of the intermediate wheel 256A of the walking mechanism 210A is different from that of the fourth embodiment.
  • the intermediate wheel 256 ⁇ / b> A is a fixed caster and a twin-wheel caster having a pair of wheels 288 arranged at intervals in the direction of the rotation shaft 270.
  • the pair of wheels 288 can rotate independently of each other.
  • an adjustment mechanism 290 for adjusting the position of the intermediate wheel 256A relative to the main body portion 204 is disposed on the lower surface side of the main body portion 204.
  • the intermediate wheel 256A has a first position (a position indicated by a one-dot chain line in FIG. 35) in contact with the floor surface 214 and a second position (a position indicated by a solid line in FIG. 35) away from the floor surface 214. ).
  • the intermediate wheel 256A is on a vertical line 276A (second vertical line) passing through the center of gravity G2 of the entire body of the care receiver 212 held by the motion support system 202A and the care belt 208.
  • the center of gravity G2 is the center of gravity when the care receiver 212 held by the care belt 208 is in a standing posture.
  • the vertical line 276A is arranged on the rear side of the main body 204 with respect to the vertical line 276 (first vertical line) (see FIG. 30) passing through the center of gravity G1 described in the fourth embodiment.
  • the motion support system 202A further includes the intermediate wheel 256A between the first position where the intermediate wheel 256A contacts the floor surface 214 and the second position where the intermediate wheel 256A moves away from the floor surface 214.
  • An adjustment mechanism 290 that adjusts the position with respect to the main body 204 is provided.
  • each of the pair of front wheels 252 and the pair of rear wheels 254 is a free caster
  • the main body portion is moved by moving the intermediate wheel 256A, which is a fixed caster, from the first position to the second position.
  • 204 can move not only in the front-rear direction (x0 axis direction) but also in an arbitrary direction such as the left-right direction (y0 axis direction).
  • the degree of freedom in the moving direction of the main body 204 can be increased.
  • the intermediate wheel 256 ⁇ / b> A is a twin wheel caster having a pair of wheels 288 arranged at intervals in the direction of the rotating shaft 270.
  • the pair of wheels 288 rotate in opposite directions.
  • the turning resistance generated in the intermediate wheel 256A when the direction of the main body 204 is changed can be further reduced, and the direction of the main body 204 can be changed more smoothly.
  • the intermediate wheel 256A is disposed on a vertical line 276A disposed on the rear side of the main body 204 with respect to the vertical line 276 passing through the center of gravity G1 of the motion support system 202A.
  • the stability of the operation support system 202A can be improved when the care receiver 212 walks with the care belt 208 holding the upper body of the care receiver 212.
  • FIG. 37 is a diagram illustrating a bottom surface of the operation support system 202B according to the sixth embodiment.
  • the configuration of the intermediate wheel 256B of the walking mechanism 210B is different from that of the fourth embodiment.
  • the intermediate wheel 256 ⁇ / b> B is a free caster in which the direction of the rotation shaft 270 changes with respect to the main body portion 204, and can turn around the axis 292. That is, the pair of front wheels 252, the pair of rear wheels 254 and the intermediate wheel 256 ⁇ / b> B are all free casters.
  • the intermediate wheel 256B may be a twin wheel caster or a single wheel caster.
  • a lock mechanism (not shown) for locking the intermediate wheel 256B from turning about the axis 292 can be provided in the intermediate wheel 256B.
  • the intermediate wheel 256B can be used as a fixed caster.
  • the lock mechanism is unlocked, the intermediate wheel 256B can be used as a free caster.
  • the pair of front wheels 252, the pair of rear wheels 254, and the intermediate wheel 256 ⁇ / b> B are free casters in which the directions of the rotation shafts 260, 266, and 270 change with respect to the main body 204.
  • the main body 204 can move not only in the front-rear direction (x0 axis direction) but also in an arbitrary direction such as the left-right direction (y0 axis direction). Thereby, for example, when the operation support system 202B is used in a narrow place, the degree of freedom in the moving direction of the main body 204 can be increased.
  • the intermediate wheel 256 (256A, 256B) may be constituted by an omni wheel.
  • the main body 204 can move not only in the front-rear direction (x0 axis direction) but also in the left-right direction (y0 axis direction).
  • the arm mechanism 206 is driven by the first motor 228 and the second motor 234. However, the arm mechanism 206 may be driven manually.
  • connection unit of the operation support system according to the seventh embodiment With reference to FIGS. 38 to 42, the connection unit of the operation support system according to the seventh embodiment will be described. Specifically, the connection part of the operation support system according to the present embodiment enables the arm mechanism and the care belt to be easily detached, and obstructs the operation of the care recipient when they are removed. It is configured not to become.
  • FIG. 38 is a first external view showing the external appearance of the connecting portion 300 of the operation support system according to the present embodiment.
  • FIG. 39 is a second external view showing the external appearance of connecting portion 300 of the operation support system according to the present embodiment.
  • This connection part 300 is connected to the care belt 308 of FIG. 40 mentioned later.
  • the connecting portion 300 includes fasteners 302a and 302b, connecting belts 304a and 304b, and plate members 306 (plate members 306a and 306b).
  • the fastener 302a is an attachment that is connected to the fastener (the fastener 316a in FIG. 40 described later) of the care belt 308 and connects the care belt 308 and the arm 206.
  • the fastener 302a is, for example, an insertion buckle (more specifically, a male side of the insertion buckle). Hereinafter, this case will be described as an example. But you can.
  • the insertion buckle as the fastener 302a is connected by fitting the insertion buckle on the male side and the female side to each other.
  • the fastener 302b is an attachment similar to the fastener 302b, but is located on the opposite side of the fastener 302a with the plate members 306a and 306b interposed therebetween.
  • Each of the fastener 302a and the fastener 302b is connected to the fastener of the care belt 308, whereby the arm mechanism 206 and the care belt 308 are fixed to each other.
  • the fastener 302b is further connected to the fastener 302a.
  • the fastener 302a is the male side of the plug-in buckle
  • the fastener 302b is the female side of the plug-in buckle.
  • the connecting belt 304a is a flexible belt-like member having one end fixed to the plate members 306a and 306b and the other end connected to the fastener 302a.
  • the connecting belt 304b is a flexible belt-like member having one end fixed to the plate members 306a and 306b and the other end connected to the fastener 302b.
  • the connection belt 304b is located on the opposite side of the connection belt 304a with the plate members 306a and 306b interposed therebetween.
  • the plate members 306a and 306b are plate-like members that are fixed to one end of the arm mechanism 206 (fourth arm 206d) and fixed by sandwiching the connecting belts 304a and 304b.
  • the arm mechanism 206 and the care belt 308 are fixed via the plate members 306a and 306b, so that the operation of the arm mechanism 206 is appropriately transmitted to the care recipient.
  • the connecting belts 304a and 304b may be realized by a single connecting belt in which the fasteners 302a and 302b are connected to both ends.
  • the above configuration is realized by sandwiching the central portion of the one connecting belt between the plate members 306a and 306b.
  • FIG. 40 is an explanatory diagram showing a method of connecting the connecting portion 300 of the motion support system according to the present embodiment to the care belt 308.
  • FIG. 41 is an explanatory diagram illustrating a state where the care receiver 212 is wearing the care belt 308 to which the connection unit 300 of the motion support system according to the present embodiment is connected.
  • the care belt 308 is a wearing tool that is worn on the upper half of the cared person 212.
  • Fasteners 316a and 316b and connecting belts 312a and 312b are attached to the care belt 308.
  • the fastener 316a is an attachment connected to the fastener 302a of the arm mechanism 206.
  • the fastener 316a needs to be of a mechanism that can be attached to the fastener 302a. For example, if the fastener 302a is the male side of the plug-in buckle, the fastener 316a is the female side of the plug-in buckle.
  • the fastener 316b is an attachment connected to the fastener 302b of the arm mechanism 206.
  • the fastener 316b needs to be of a mechanism that can be attached to the fastener 302b.
  • the fastener 316b is the male side of the plug-in buckle.
  • the connecting belt 312a is a main body portion of the care belt 308, in other words, a portion of the care belt 308 that contacts the body of the care receiver 212, more specifically, near the right armpit of the care receiver 212 wearing the care belt 308. It is a flexible belt-like member attached to the end and connected to the fastener 316a at one end. The length of the connecting belt 312a from the main body portion of the care belt 308 can be adjusted. Of the connecting belt 312a, the portion (the connecting belt 314a) ahead of the fastener 316a serves as an adjustment allowance.
  • the connecting belt 312b is a flexible belt-like member similar to the connecting belt 312a.
  • the position where the connection belt 312b is attached is near the lower left arm of the care receiver 212 wearing the care belt 308.
  • the fasteners 302a and 302b of the connecting part 300 are connected to the fasteners 316a and 316b of the care belt 308, respectively.
  • the waist of the cared person 212 is tightened by the connecting belts 312a and 312b and the main body part of the care belt 308. Power works. Further, by this adjustment, the distance between the connecting portion 300 and the care belt 308 is narrowed, so that the operation of the arm mechanism 206 is appropriately transmitted to the care recipient (FIG. 41).
  • FIG. 42 is an explanatory diagram showing a state where the care receiver is wearing the care belt 308 that is not connected to the connecting portion 300 of the operation support system according to the present embodiment.
  • the fasteners 316a and 316b included in the care belt 308 are freely changed every time the care receiver 212 changes the posture unless fixed. As a result, the cared person 212 may feel uncomfortable.
  • the fasteners 316a and 316b included in the nursing belt 308 are connected to each other, and the lengths of the coupling belts 312a and 312b are appropriately adjusted, so that the fasteners 316a and 316b, the coupling belts 312a and 312b, It is possible to reduce the gap with 308 and prevent the fasteners 316a and 316b from freely changing positions as described above. Further, by passing the connecting belt 314a (314b), which is the portion of the connecting belt 312a (312b) ahead of the fastener 316a (316b), through the passing portion 318a (318b), the connecting belt 314a (314b) is cared for. Positioning 212 in front of the body can be avoided, and discomfort can be further reduced.
  • the fastener 302a is the male side of the plug-in buckle and the fastener 302b is the female side of the plug-in buckle
  • the fastener 302a may be the female side of the insertion buckle and the fastener 302b may be the male side of the insertion buckle.
  • the fastener 316a of the care belt 308 may be on the male side of the insertion buckle, and the fastener 316b may be on the female side of the insertion buckle.
  • both the fasteners 302a and 302b may be the male side of the insertion buckle.
  • both the fasteners 316a and 316b of the care belt 308 may be on the female side of the insertion buckle.
  • the connection (FIG. 42) is not made by fitting the female sides of the insertion buckles as the fasteners 316a and 316b to each other, the fasteners 316a and 316b further have a surface fastener or a string.
  • the fasteners 316a and 316b can be connected to each other by the surface fastener or the like.
  • both the fasteners 302a and 302b may be the female side of the insertion buckle.
  • both the fasteners 316a and 316b of the care belt 308 may be on the male side of the insertion buckle.
  • the connection between the fasteners 316a and 316b is the same as described above.
  • the comprehensive or specific aspect according to the above embodiment may be realized by a recording medium such as a system, a method, an integrated circuit, a computer program, or a computer-readable CD-ROM. You may implement
  • the embodiment can be realized by arbitrarily combining the components and functions in each embodiment without departing from the scope of the present invention, or a form obtained by subjecting each embodiment to various modifications conceived by those skilled in the art. Forms are also included in the present invention.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Nursing (AREA)
  • Rehabilitation Tools (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

A motion assist system (1) that is provided with: a securing belt (3) that holds a person to be secured; an arm (4) that supports the securing belt (3); and a control unit that, on the basis of the state of the arm (4) that supports the securing belt (3) that is holding the person to be secured, infers whether the person to be secured will execute a standing motion or a sitting motion and operates the securing belt (3) and/or the arm (4) so as to assist the inferred motion. For example, the arm (4) has a force detecting unit (17) that detects the force received from the securing belt (3) that is holding the person to be secured and has a position detecting unit that detects the position of the arm (4), and, on the basis of the state of the arm (4), including the force detected by the force detecting unit (17) and the position detected by the position detecting unit, the control unit operates the arm (4) such that the body of the person to be secured describes a prescribed trajectory.

Description

動作支援システム、動作支援システムの制御方法、ロボット、及び、プログラムMotion support system, motion support system control method, robot, and program
　本発明は、動作支援システム、動作支援システムの制御方法、ロボット、及び、プログラムに関する。 The present invention relates to an operation support system, a control method for the operation support system, a robot, and a program.
　自力で歩行することが困難な被介護者を移動させるために移乗装置が用いられている。移乗装置は、アームにより被介護者を持ち上げた状態で、被介護者を移動させることができる。 A transfer device is used to move care recipients who are difficult to walk on their own. The transfer device can move the cared person while the cared person is lifted by the arm.
　また、被介護者の起立動作を支援する際に、起立動作の始点または終点を遵守することが可能な起立動作支援ロボットがある（例えば、特許文献１参照）。 Also, there is a standing motion support robot that can comply with the start point or the end point of the standing motion when assisting the standing motion of the care recipient (see, for example, Patent Document 1).
特開２０１３－１５８３８６号公報JP 2013-158386 A
　被介護者の移動の際に移乗装置を用いることが多いと、被介護者の筋力が低下し、より高度の介護が将来必要となるという問題がある。 If the transfer device is often used during the movement of the cared person, there is a problem in that the muscle strength of the cared person is reduced and a higher level of care is required in the future.
　本発明は、被介護者が発する力を生かしながら被介護者の動作を支援する動作支援システム（motion assist system）等を提供することを目的とする。 An object of the present invention is to provide a motion support system (motion assist system) or the like that supports the operation of a cared person while utilizing the power generated by the cared person.
　上記課題を解決するために、本発明の一態様に係る動作支援システムは、被介護者を保持する保持部と、前記保持部を支持するアームと、前記被介護者を保持した状態の前記保持部を支持している前記アームの状態に基づいて、前記被介護者による起立又は着座の動作が行われることを推定し、推定された前記動作を支援するように、前記保持部又は前記アームの少なくとも一方を動作させる制御部とを備える。 In order to solve the above-described problem, an operation support system according to an aspect of the present invention includes a holding unit that holds a care receiver, an arm that supports the holding unit, and the holding state where the care receiver is held. Based on the state of the arm supporting the part, it is estimated that the cared person is standing or sitting, and the holding part or the arm is supported so as to support the estimated movement. And a control unit that operates at least one of them.
　本発明により、動作支援システムは、被介護者が発する力を生かしながら被介護者の動作を支援することができる。 According to the present invention, the operation support system can support the operation of the cared person while utilizing the force generated by the cared person.
図１Ａは、実施の形態１に係る動作支援システムの第一の外観斜視図である。1A is a first external perspective view of an operation support system according to Embodiment 1. FIG. 図１Ｂは、実施の形態１に係る動作支援システムの第二の外観斜視図である。1B is a second external perspective view of the motion support system according to Embodiment 1. FIG. 図２Ａは、実施の形態１に係る動作支援システムの構成と、座位姿勢の被介護者とを模式的に示す側面図である。FIG. 2A is a side view schematically showing the configuration of the motion support system according to Embodiment 1 and a cared person in a sitting position. 図２Ｂは、実施の形態１に係る動作支援システムの構成と、座位姿勢の被介護者とを模式的に示す正面図である。FIG. 2B is a front view schematically showing the configuration of the motion support system according to Embodiment 1 and the care recipient in the sitting position. 図２Ｃは、実施の形態１に係る動作支援システムの構成と、起立姿勢の被介護者とを模式的に示す正面図である。FIG. 2C is a front view schematically showing the configuration of the motion support system according to Embodiment 1 and the care receiver in a standing posture. 図２Ｄは、実施の形態１に係る動作支援システムの介護ベルトと被介護者の体の位置との対応関係を示す説明図である。FIG. 2D is an explanatory diagram illustrating a correspondence relationship between the care belt and the position of the cared person's body in the operation support system according to the first embodiment. 図３は、実施の形態１に係る動作支援システムの詳細構成を示すブロック図である。FIG. 3 is a block diagram illustrating a detailed configuration of the operation support system according to the first embodiment. 図４Ａは、実施の形態１に係る動作支援システムの動作の概要を示す第一の説明図である。FIG. 4A is a first explanatory diagram illustrating an overview of the operation of the operation support system according to the first embodiment. 図４Ｂは、実施の形態１に係る動作支援システムの動作の概要を示す第二の説明図である。FIG. 4B is a second explanatory diagram illustrating an outline of the operation of the operation support system according to the first embodiment. 図４Ｃは、実施の形態１に係る動作支援システムの動作の概要を示す第三の説明図である。FIG. 4C is a third explanatory diagram illustrating an outline of the operation of the operation support system according to the first embodiment. 図５Ａは、実施の形態１に係る動作支援システムのホールド機構を装着した被介護者の正面図である。FIG. 5A is a front view of a cared person wearing the hold mechanism of the operation support system according to Embodiment 1. 図５Ｂは、実施の形態１に係る動作支援システムのホールド機構を装着した被介護者の側面図である。FIG. 5B is a side view of the cared person wearing the hold mechanism of the motion support system according to Embodiment 1. 図５Ｃは、実施の形態１に係る動作支援システムのホールド機構を装着した被介護者の背面図である。FIG. 5C is a rear view of the cared person wearing the hold mechanism of the operation support system according to Embodiment 1. 図６Ａは、実施の形態１に係るホールド機構の連結機構の詳細な構成を示す外観斜視図である。6A is an external perspective view showing a detailed configuration of a coupling mechanism of the hold mechanism according to Embodiment 1. FIG. 図６Ｂは、実施の形態１に係るホールド機構の連結機構の具体的な構成を示す概観斜視図である。FIG. 6B is an overview perspective view showing a specific configuration of the coupling mechanism of the hold mechanism according to Embodiment 1. 図６Ｃは、実施の形態１に係るホールド機構の連結機構の具体的な構成を示す平面図である。FIG. 6C is a plan view showing a specific configuration of the coupling mechanism of the hold mechanism according to Embodiment 1. 図６Ｄは、実施の形態１に係るホールド機構の連結機構の具体的な構成を示す側面図である。FIG. 6D is a side view showing a specific configuration of the coupling mechanism of the hold mechanism according to Embodiment 1. 図６Ｅは、実施の形態１に係るホールド機構の連結機構による連結方法を示す側面図である。FIG. 6E is a side view showing a connection method using a connection mechanism of the hold mechanism according to Embodiment 1. 図７は、実施の形態１における動作情報データベースを示す説明図である。FIG. 7 is an explanatory diagram showing an operation information database according to the first embodiment. 図８Ａは、実施の形態１における動作支援システムの動作を示す第一の説明図である。FIG. 8A is a first explanatory diagram illustrating an operation of the operation support system according to the first embodiment. 図８Ｂは、実施の形態１における動作支援システムの動作を示す第二の説明図である。FIG. 8B is a second explanatory diagram illustrating the operation of the operation support system according to the first embodiment. 図８Ｃは、実施の形態１における動作支援システムの動作を示す第三の説明図である。FIG. 8C is a third explanatory diagram illustrating the operation of the operation support system according to the first embodiment. 図８Ｄは、実施の形態１における動作支援システムの動作を示す第四の説明図である。FIG. 8D is a fourth explanatory diagram illustrating the operation of the operation support system according to the first embodiment. 図８Ｅは、実施の形態１における動作支援システムの動作を示す第五の説明図である。FIG. 8E is a fifth explanatory diagram illustrating the operation of the operation support system in the first embodiment. 図９は、実施の形態１における制御部のフローチャートである。FIG. 9 is a flowchart of the control unit in the first embodiment. 図１０は、実施の形態２における動作支援システムの構成の概要を示す説明図である。FIG. 10 is an explanatory diagram showing an outline of the configuration of the operation support system according to the second embodiment. 図１１は、実施の形態２における動作支援システムの詳細構成を示すブロック図である。FIG. 11 is a block diagram illustrating a detailed configuration of the operation support system according to the second embodiment. 図１２は、実施の形態２における動作情報データベースの詳細を示す説明図である。FIG. 12 is an explanatory diagram illustrating details of the operation information database according to the second embodiment. 図１３Ａは、実施の形態２における動作情報の第一の説明図である。FIG. 13A is a first explanatory diagram of operation information according to Embodiment 2. 図１３Ｂは、実施の形態２における動作情報の第二の説明図である。FIG. 13B is a second explanatory diagram of operation information in the second exemplary embodiment. 図１３Ｃは、実施の形態２における連結部の軌道の説明図である。FIG. 13C is an explanatory diagram of the trajectory of the connecting portion in the second embodiment. 図１４は、実施の形態２における制御部のフローチャートである。FIG. 14 is a flowchart of the control unit in the second embodiment. 図１５は、実施の形態３における動作支援システムの構成の概要を示す説明図である。FIG. 15 is an explanatory diagram showing an outline of the configuration of the operation support system according to the third embodiment. 図１６は、実施の形態３における顎乗せ台及びハンドルの構成を示す斜視図である。FIG. 16 is a perspective view showing the configuration of the chin rest and the handle in the third embodiment. 図１７は、実施の形態３における肘置き台及びハンドルの構成を示す斜視図である。FIG. 17 is a perspective view showing configurations of an elbow rest and a handle in the third embodiment. 図１８は、実施の形態３における肘置き台の可動範囲を示す第一の説明図である。FIG. 18 is a first explanatory diagram illustrating a movable range of the elbow rest in the third embodiment. 図１９は、実施の形態３における肘置き台の可動範囲を示す第二の説明図である。FIG. 19 is a second explanatory diagram showing the movable range of the elbow rest in the third embodiment. 図２０Ａは、実施の形態３における第１駆動部及び第１駆動部に関連する構成を示す模式図である。FIG. 20A is a schematic diagram illustrating a configuration related to the first driving unit and the first driving unit in the third embodiment. 図２０Ｂは、実施の形態３における第２駆動部及び第２駆動部に関連する構成を示す模式図である。FIG. 20B is a schematic diagram illustrating a configuration related to the second driving unit and the second driving unit in the third embodiment. 図２１Ａは、実施の形態３における歩行機構の車輪の向きの第一の説明図である。FIG. 21A is a first explanatory diagram of the directions of the wheels of the walking mechanism in the third embodiment. 図２１Ｂは、実施の形態３における歩行機構の車輪の向きの第二の説明図である。FIG. 21B is a second explanatory diagram of the direction of the wheels of the walking mechanism in the third embodiment. 図２２は、実施の形態３における動作支援システムの重心の説明図である。FIG. 22 is an explanatory diagram of the center of gravity of the motion support system according to the third embodiment. 図２３は、実施の形態４に係る動作支援システムの前側の外観を示す斜視図である。FIG. 23 is a perspective view showing an appearance of the front side of the operation support system according to Embodiment 4. 図２４は、実施の形態４に係る動作支援システムの後側の外観を示す斜視図である。FIG. 24 is a perspective view showing an appearance of the rear side of the operation support system according to Embodiment 4. 図２５は、図２４の状態からアーム機構を駆動させた状態を示す斜視図である。FIG. 25 is a perspective view showing a state in which the arm mechanism is driven from the state of FIG. 図２６は、アーム機構の一部を拡大して示す斜視図である。FIG. 26 is an enlarged perspective view showing a part of the arm mechanism. 図２７Ａは、実施の形態４に係る動作支援システムの介護ベルトに被介護者の上半身を保持した状態を示す正面図である。FIG. 27A is a front view showing a state where the care receiver's upper body is held on the care belt of the operation support system according to Embodiment 4. 図２７Ｂは、実施の形態４に係る動作支援システムの介護ベルトに被介護者の上半身を保持した状態を示す側面図である。FIG. 27B is a side view showing a state where the care receiver's upper body is held on the care belt of the operation support system according to Embodiment 4. 図２７Ｃは、実施の形態４に係る動作支援システムの介護ベルトに被介護者の上半身を保持した状態を示す背面図である。FIG. 27C is a rear view showing a state in which the upper half of the care receiver is held on the care belt of the operation support system according to Embodiment 4. 図２８は、実施の形態４に係る動作支援システムの底面を示す図である。FIG. 28 is a diagram illustrating a bottom surface of the operation support system according to the fourth embodiment. 図２９は、実施の形態４に係る動作支援システムの歩行機構を拡大して示す図である。FIG. 29 is an enlarged view of the walking mechanism of the motion support system according to Embodiment 4. 図３０は、実施の形態４に係る動作支援システムの重心と中間輪との位置関係を説明するための模式図である。FIG. 30 is a schematic diagram for explaining the positional relationship between the center of gravity and the intermediate wheel of the motion support system according to the fourth embodiment. 図３１は、実施の形態４に係る動作支援システムの機能構成を示すブロック図である。FIG. 31 is a block diagram illustrating a functional configuration of the operation support system according to the fourth embodiment. 図３２は、実施の形態４に係る動作支援システムの動作の流れを示すフローチャートである。FIG. 32 is a flowchart showing an operation flow of the operation support system according to the fourth embodiment. 図３３Ａは、実施の形態４に係る動作支援システムの動作を説明するための模式図である。FIG. 33A is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment. 図３３Ｂは、実施の形態４に係る動作支援システムの動作を説明するための模式図である。FIG. 33B is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment. 図３３Ｃは、実施の形態４に係る動作支援システムの動作を説明するための模式図である。FIG. 33C is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment. 図３３Ｄは、実施の形態４に係る動作支援システムの動作を説明するための模式図である。FIG. 33D is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment. 図３３Ｅは、実施の形態４に係る動作支援システムの動作を説明するための模式図である。FIG. 33E is a schematic diagram for explaining the operation of the operation support system according to the fourth embodiment. 図３４は、実施の形態５に係る動作支援システムの後側の外観を示す斜視図である。FIG. 34 is a perspective view showing an appearance of the rear side of the operation support system according to Embodiment 5. 図３５は、実施の形態５に係る動作支援システムの歩行機構を拡大して示す図である。FIG. 35 is an enlarged view of the walking mechanism of the motion support system according to Embodiment 5. 図３６は、実施の形態５に係る動作支援システムの重心と中間輪との位置関係を説明するための模式図である。FIG. 36 is a schematic diagram for explaining the positional relationship between the center of gravity and the intermediate wheel of the motion support system according to the fifth embodiment. 図３７は、実施の形態６に係る動作支援システムの底面を示す図である。FIG. 37 is a diagram illustrating a bottom surface of the operation support system according to the sixth embodiment. 図３８は、実施の形態７に係る動作支援システムの連結部の外観を示す第一の外観図である。FIG. 38 is a first external view illustrating an external appearance of a connecting portion of the operation support system according to the seventh embodiment. 図３９は、実施の形態７に係る動作支援システムの連結部の外観を示す第二の外観図である。FIG. 39 is a second external view showing the external appearance of the connecting portion of the operation support system according to Embodiment 7. 図４０は、実施の形態７に係る動作支援システムの連結部を介護ベルトに接続する方法を示す説明図である。FIG. 40 is an explanatory diagram illustrating a method of connecting the connecting portion of the motion support system according to Embodiment 7 to the care belt. 図４１は、実施の形態７に係る動作支援システムの連結部を接続した介護ベルトを被介護者が装着している状態を示す説明図である。FIG. 41 is an explanatory diagram illustrating a state where a care receiver is wearing a care belt to which a connecting portion of an operation support system according to Embodiment 7 is connected. 図４２は、実施の形態７に係る動作支援システムの連結部に接続されていない介護ベルトを被介護者が装着している状態を示す説明図である。FIG. 42 is an explanatory diagram showing a state where a care receiver is wearing a care belt that is not connected to the connecting portion of the operation support system according to the seventh embodiment. 図４３Ａは、成人健常者の座位姿勢から起立姿勢に移る動作を示す第一の説明図である。FIG. 43A is a first explanatory view showing an operation of moving from a sitting posture to a standing posture of a healthy adult person. 図４３Ｂは、成人健常者の座位姿勢から起立姿勢に移る動作を示す第二の説明図である。FIG. 43B is a second explanatory diagram showing an operation of moving from a sitting posture to a standing posture of a healthy adult person. 図４３Ｃは、成人健常者の座位姿勢から起立姿勢に移る動作を示す第三の説明図である。FIG. 43C is a third explanatory diagram illustrating an operation of moving from a sitting posture to a standing posture of a healthy adult person. 図４３Ｄは、成人健常者の座位姿勢から起立姿勢に移る動作を示す第四の説明図である。FIG. 43D is a fourth explanatory diagram illustrating an operation of moving from a sitting posture to a standing posture of a healthy adult person. 図４３Ｅは、成人健常者の座位姿勢から起立姿勢に移る動作を示す第五の説明図である。FIG. 43E is a fifth explanatory diagram showing an operation of moving from a sitting posture to a standing posture of a healthy adult person. 図４３Ｆは、成人健常者の座位姿勢から起立姿勢に移る動作を示す第六の説明図である。FIG. 43F is a sixth explanatory diagram illustrating the movement from the sitting posture to the standing posture of the healthy adult person. 図４４Ａは、被介護者の座位姿勢から起立姿勢に移る動作を示す第一の説明図である。FIG. 44A is a first explanatory diagram illustrating an operation of moving from a sitting position of a care receiver to a standing posture. 図４４Ｂは、被介護者の座位姿勢から起立姿勢に移る動作を示す第二の説明図である。FIG. 44B is a second explanatory diagram illustrating an operation of moving from the sitting posture of the care receiver to the standing posture. 図４４Ｃは、被介護者の座位姿勢から起立姿勢に移る動作を示す第三の説明図である。FIG. 44C is a third explanatory diagram illustrating the operation of moving from the sitting posture of the care receiver to the standing posture.
　以下では、本発明の実施の形態に係る動作支援システムについて、図面を用いて詳細に説明する。なお、以下に説明する実施の形態は、いずれも本発明の好ましい一具体例を示すものである。したがって、以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置及び接続形態などは、一例であり、本発明を限定する趣旨ではない。よって、以下の実施の形態における構成要素のうち、本発明の最上位概念を示す独立請求項に記載されていない構成要素については、任意の構成要素として説明される。 Hereinafter, the operation support system according to the embodiment of the present invention will be described in detail with reference to the drawings. Note that each of the embodiments described below shows a preferred specific example of the present invention. Therefore, the numerical values, shapes, materials, components, component arrangements, connection forms, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. Therefore, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims showing the highest concept of the present invention are described as optional constituent elements.
　また、各図は、模式図であり、必ずしも厳密に図示されたものではない。また、各図において、同じ構成部材については同じ符号を付している。 Each figure is a schematic diagram and is not necessarily shown strictly. Moreover, in each figure, the same code | symbol is attached | subjected about the same structural member.
　（実施の形態１）
　本実施の形態において、被介護者が発する力を生かしながら被介護者の動作を支援する動作支援システム等について説明する。 (Embodiment 1)
In this embodiment, an operation support system and the like that supports the operation of the care receiver while utilizing the force generated by the care receiver will be described.
　まず、成人健常者と被介護者とのそれぞれの、座位姿勢から起立姿勢に移る動作における姿勢の変化について説明する。 First, a description will be given of changes in postures in the movements from a sitting posture to a standing posture for each of an adult healthy person and a cared person.
　図４３Ａ～図４３Ｆのそれぞれは、成人健常者１９の座位姿勢から起立姿勢に移る動作を示す説明図である。具体的には、図４３Ａ～図４３Ｆは、腰掛部５に座っている成人健常者１９が座位姿勢（図４３Ａ）から起立姿勢（図４３Ｆ）に移る動作を示す。 43A to 43F are explanatory views showing the movement of the healthy adult person 19 from the sitting position to the standing position. Specifically, FIGS. 43A to 43F show an operation in which the healthy adult person 19 sitting on the seat 5 moves from the sitting posture (FIG. 43A) to the standing posture (FIG. 43F).
　図４３Ａから図４３Ｂに示すように、成人健常者１９は、座位姿勢から、上半身を前傾することで重心を前方へ移動する。次いで、図４３Ｃに示すように、成人健常者１９は、臀部を腰掛部５から離床させる。成人健常者１９は、臀部離床後に、図４３Ｄ～図４３Ｆに示すように、前方へ移動した重心を後方へ戻しながら、膝を伸ばして起立動作に移行する。 43A to 43B, the healthy adult 19 moves the center of gravity forward by tilting the upper body forward from the sitting position. Next, as shown in FIG. 43C, the healthy adult 19 leaves the buttocks from the seat 5. As shown in FIGS. 43D to 43F, the healthy adult 19 extends his knees and shifts to a standing motion while returning the center of gravity moved forward, as shown in FIGS. 43D to 43F.
　図４４Ａ～図４４Ｃのそれぞれは、被介護者７の座位姿勢から起立姿勢に移る動作を示す説明図である。 Each of FIGS. 44A to 44C is an explanatory diagram showing an operation of the cared person 7 from the sitting position to the standing position.
　被介護者の多くは筋力低下のため動作速度が遅い。そのため、被介護者７は、起立動作初期時（着座姿勢の状態から臀部を離床させるとき）には、図４４Ｂ及び図４４Ｃに示すように、深い前傾姿勢をとって、重心を前方へ移動させる必要がある。 Many of the care recipients are slow because of weak muscles. Therefore, the cared person 7 takes a deep forward leaning posture and moves the center of gravity forward as shown in FIG. 44B and FIG. 44C in the initial standing motion (when leaving the buttocks from the sitting posture state). It is necessary to let
　そのため、特許文献１の手動モード時に、被介護者７の動きに合わせて、支持部の移動速度を変更させて、速度を遅めに設定した場合には、前傾姿勢が浅い軌道であると臀部の離床が困難になる。 Therefore, in the manual mode of Patent Document 1, when the moving speed of the support portion is changed according to the movement of the cared person 7 and the speed is set to be slow, the forward leaning posture is a shallow trajectory. Getting out of the buttocks becomes difficult.
　前傾姿勢が深い軌道となる場合、臀部の離床は可能だが、起立までの距離が長く、特に臀部を離床させた中腰の状態が長く続くため、被介護者７の下半身の負担が大きい。さらに、前傾姿勢が深い場合は、視線が地面に向いていることが多いため、起立動作時に視線が正面に移動するなど視線移動が起こり、被介護者７にめまい又はふらつきが起こりやすい。 When the forward leaning posture is a deep trajectory, the buttocks can be removed from the floor, but the distance to the standing is long, and especially the state of the middle waist where the buttocks left the floor continues for a long time, so the burden on the lower body of the care recipient 7 is large. Further, when the forward leaning posture is deep, the line of sight often faces the ground, and thus the line of sight moves, for example, the line of sight moves to the front during the standing-up operation, and the care receiver 7 is likely to be dizzy or wobbled.
　そこで、成人健常者の動作に近い動作を被介護者にさせるように、移乗装置により支援することが望まれる。具体的には、動作初期時に被介護者の前傾姿勢をできるだけ浅くし、成人健常者の動作に近付けるよう支援することが望まれる。 Therefore, it is desired that the transfer device assists the cared person to perform an action close to that of an adult healthy person. Specifically, it is desired to assist the care recipient by making the leaning posture of the care recipient as shallow as possible at the initial stage of the movement so as to approach the movement of a healthy adult person.
　一方、被介護者の移動の際に移乗装置を用いることが多いと、被介護者の筋力が低下し、より高度の介護が将来必要となるという問題がある。 On the other hand, if the transfer device is often used during the movement of the cared person, there is a problem that the cared person's muscular strength is reduced and a higher level of care is required in the future.
　本発明は、被介護者が発する力を生かしながら被介護者の動作を支援する動作支援システム等を提供することを目的とする。 The present invention aims to provide an operation support system that supports the operation of the care recipient while utilizing the force generated by the care recipient.
　図１Ａ及び図１Ｂは、本実施の形態に係る動作支援システム１の外観斜視図である。なお、図１Ａ及び図１Ｂに記載したｘ０軸、ｙ０軸及びｚ０軸の座標軸は、他の図面においても共通に用いられる。 1A and 1B are external perspective views of the operation support system 1 according to the present embodiment. Note that the coordinate axes of the x0 axis, the y0 axis, and the z0 axis described in FIGS. 1A and 1B are commonly used in other drawings.
　図１Ａ及び図１Ｂに示されるように、動作支援システム１は、介護ベルト３と、アーム機構４と、歩行機構１４と、本体カバー４０とを備える。 As shown in FIGS. 1A and 1B, the motion support system 1 includes a care belt 3, an arm mechanism 4, a walking mechanism 14, and a main body cover 40.
　介護ベルト３は、被介護者の上半身を保持するためのベルトである。なお、介護ベルト３のことを、「保持部」ともいう。 The care belt 3 is a belt for holding the upper body of the care recipient. The care belt 3 is also referred to as a “holding portion”.
　アーム機構４は、介護ベルト３を介して被介護者を支持し、また、被介護者の動作を支援するためのロボットアームである。アーム機構４の一端は被介護者に装着され、アーム機構４の他端は、本体カバー４０内において矩形台などに固定される。アーム機構４は、モータなどを用いて関節部を回動させることで駆動し、被介護者の動作を支援する。なお、アーム機構４のことを、単に「アーム」ともいう。 The arm mechanism 4 is a robot arm that supports the cared person via the care belt 3 and supports the operation of the cared person. One end of the arm mechanism 4 is attached to a cared person, and the other end of the arm mechanism 4 is fixed to a rectangular base or the like in the main body cover 40. The arm mechanism 4 is driven by rotating the joint using a motor or the like, and supports the operation of the cared person. The arm mechanism 4 is also simply referred to as “arm”.
　歩行機構１４は、被介護者による歩行動作にあわせて動作支援システム１を移動させるための移動機構である。 The walking mechanism 14 is a moving mechanism for moving the movement support system 1 in accordance with the walking movement by the care recipient.
　本体カバー４０は、内部に動作支援システム１の構成要素の一部が収められるカバー部材である。本体カバー４０の内部には、例えば、アーム機構４の一部、矩形台、モータ及びエンコーダなどが収められる。 The main body cover 40 is a cover member in which a part of the components of the operation support system 1 is housed. For example, a part of the arm mechanism 4, a rectangular base, a motor, an encoder, and the like are accommodated in the main body cover 40.
　なお、動作支援システム１は、ロボットとして実現されてもよい。 Note that the motion support system 1 may be realized as a robot.
　以降において、動作支援システム１の構成を詳細に説明する。 Hereinafter, the configuration of the operation support system 1 will be described in detail.
　図２Ａ及び図２Ｂは、本実施の形態にかかる動作支援システム１が、被介護者７が座位姿勢から起立姿勢に移る際の動作を支援する様子を示す側面図及び正面図である。図２Ｃは、被介護者７が起立姿勢の状態に至ったときの動作支援システム１の正面図である。図３は、本実施の形態における動作支援システム１の詳細構成を示すブロック図である。図４Ａ～図４Ｃは、本実施の形態における動作支援システム１の動作の概要を示す図である。 FIGS. 2A and 2B are a side view and a front view showing a state in which the motion support system 1 according to the present embodiment supports the operation when the cared person 7 moves from the sitting posture to the standing posture. FIG. 2C is a front view of the motion support system 1 when the care receiver 7 reaches a standing posture. FIG. 3 is a block diagram showing a detailed configuration of the operation support system 1 in the present embodiment. 4A to 4C are diagrams showing an outline of the operation of the operation support system 1 in the present embodiment.
　図２Ａにおいて、被介護者７は、床面１３上の腰掛部５に座ることにより、座位姿勢をとっている。 In FIG. 2A, the cared person 7 takes a sitting posture by sitting on the seat 5 on the floor surface 13.
　図２Ａ～図３に示される動作支援システム１は、被介護者７の起立動作を支援する。動作支援システム１は、図３に示すように、動作支援システム１の外部に動作情報データベース８を備えるが、動作情報データベース８は、具体的に図示していないが、動作支援システム１内に備えるようにしてもよい。 The motion support system 1 shown in FIGS. 2A to 3 supports the standing motion of the cared person 7. As shown in FIG. 3, the operation support system 1 includes an operation information database 8 outside the operation support system 1, but the operation information database 8 is included in the operation support system 1 although not specifically illustrated. You may do it.
　動作支援システム１は、床面１３上に置かれており、本体機構２と、制御装置１１と、入力インターフェース（入力ＩＦ）６とを備える。 The operation support system 1 is placed on a floor surface 13 and includes a main body mechanism 2, a control device 11, and an input interface (input IF) 6.
　本体機構２は、アーム機構４と、介護ベルト３と、歩行機構１４とを備える。アーム機構４は、例えば、ロボットアームを有する。 The main body mechanism 2 includes an arm mechanism 4, a care belt 3, and a walking mechanism 14. The arm mechanism 4 has, for example, a robot arm.
　《介護ベルト３》
　介護ベルト３は、図２Ａ～図２Ｃに示すように、ホールド機構３ｇと連結部３ｃとを備えて、被介護者７に装着可能である。ホールド機構３ｇは、少なくとも、被介護者７の首部７ａ又は背中部７ｂである第１領域Ｒ１を保持可能な第１保持部３ａと、被介護者７の腰部７ｃである第２領域Ｒ２を保持可能な第２保持部３ｂとを有している。一例として、ホールド機構３ｇは、図２Ｄに示すように、被介護者７の首部７ａ又は背中部７ｂの第１領域Ｒ１から胸部７ｄを保持可能な第１保持部３ａと、被介護者７の胸部７ｄから脇部を除き胴部の両側部７ｆを経て腰部７ｃの第２領域Ｒ２を保持可能な第２保持部３ｂとを有する。連結部３ｃは、ホールド機構３ｇを装着したときに被介護者７の胸部７ｄ付近に位置可能であり、かつ、ホールド機構３ｇに連結されており、後述するアーム機構４の一端（後端）に着脱可能に連結可能とする。なお、連結部３ｃは、接続部に相当する。 << care belt 3 >>
As shown in FIGS. 2A to 2C, the care belt 3 includes a hold mechanism 3g and a connecting portion 3c and can be attached to the care receiver 7. The hold mechanism 3g holds at least a first holding portion 3a that can hold the first region R1 that is the neck portion 7a or the back portion 7b of the care receiver 7 and a second region R2 that is the waist portion 7c of the care receiver 7. It has a possible second holding part 3b. As an example, as shown in FIG. 2D, the hold mechanism 3g includes a first holding unit 3a that can hold the chest 7d from the first region R1 of the neck 7a or the back 7b of the cared person 7, and the cared person 7 A second holding portion 3b capable of holding the second region R2 of the waist portion 7c through both side portions 7f of the trunk portion except for the side portions from the chest portion 7d. The connecting portion 3c can be positioned in the vicinity of the chest 7d of the cared person 7 when the hold mechanism 3g is attached, and is connected to the hold mechanism 3g, and is connected to one end (rear end) of the arm mechanism 4 described later. Removably connectable. The connecting portion 3c corresponds to a connecting portion.
　ホールド機構３ｇのより具体的な一例を図５Ａ～図５Ｃに示す。 A more specific example of the hold mechanism 3g is shown in FIGS. 5A to 5C.
　図５Ａ～図５Ｃのホールド機構３ｇの第１保持部３ａは、被介護者７の正面側から見て逆Ｕ字状の密閉された筒状部材で構成される。すなわち、第１保持部３ａは、被介護者７の身体後方から前方へ向かって、首部７ａを含む背中部７ｂの第１領域Ｒ１から両肩及びその前部及び胸部７ｄを通って下方に胴部の両側部７ｆの前部まで延在して、少なくとも第１領域Ｒ１を保持可能なように配置される。言い換えれば、被介護者７を前方に牽引するときに被介護者７の上半身の後屈を促しやすくするため、第１保持部３ａを首部７ａ又は背中部７ｂの第１領域Ｒ１に巻き付けて第１保持部３ａで被介護者７の上半身を保持させる必要がある。このため、第１保持部３ａである逆Ｕ字状の密閉された筒状部材を首部７ａの後側を含む第１領域Ｒ１に巻き付けたのち、それぞれの端部が、両肩の前部及び胸部７ｄを通って、下方に、胴部の両側部７ｆの前部まで延在するように配置する。 The first holding portion 3a of the hold mechanism 3g shown in FIGS. 5A to 5C is formed of a sealed tubular member having an inverted U shape when viewed from the front side of the care recipient 7. In other words, the first holding part 3a extends downward from the first region R1 of the back part 7b including the neck part 7a through both shoulders, the front part and the chest part 7d from the rear side to the front side of the cared person 7. It extends to the front part of both side parts 7f of the part, and is arranged so as to hold at least the first region R1. In other words, the first holding portion 3a is wrapped around the first region R1 of the neck portion 7a or the back portion 7b in order to facilitate the backward bending of the upper body of the care recipient 7 when the care recipient 7 is pulled forward. It is necessary to hold the upper body of the cared person 7 with the 1 holding part 3a. For this reason, after winding the reverse U-shaped sealed cylindrical member, which is the first holding portion 3a, around the first region R1 including the rear side of the neck portion 7a, the respective end portions are the front portions of both shoulders and It arrange | positions so that it may extend to the front part of both sides 7f of a trunk | drum through the chest part 7d below.
　一方、第２保持部３ｂは、被介護者７の上方側から見て被介護者７の前部両側から後方に突出したＵ字状の密閉された筒状部材で構成される。すなわち、第２保持部３ｂは、被介護者７の胴部の両側部７ｆで第１保持部３ａのそれぞれの一端に、第２保持部３ｂのＵ字状の密閉された筒状部材の端部がそれぞれ連結されて、胴部の両側部７ｆから腰部７ｃ付近の第２領域Ｒ２に巻き付けるように配置される。言い換えれば、被介護者７を前方に牽引するときに被介護者７の骨盤が前傾しやすくするために、第２保持部３ｂを腰部７ｃ付近の第２領域Ｒ２に巻き付けて第２保持部３ｂで被介護者７の腰付近を保持させる必要がある。このため、第２保持部３ｂであるＵ字状の密閉された筒状部材を、胴部の両側部７ｆから腰部７ｃ付近の第２領域Ｒ２に巻き付けて腰部７ｃ付近の第２領域Ｒ２を覆うように配置する。第１保持部３ａと第２保持部３ｂとは、互いに連通しかつ密閉空間の筒状部材を構成する。 On the other hand, the second holding portion 3b is formed of a U-shaped sealed cylindrical member protruding rearward from both sides of the front portion of the cared person 7 when viewed from above the cared person 7. That is, the second holding part 3b is connected to the ends of the U-shaped sealed cylindrical member of the second holding part 3b at both ends 7f of the body part of the cared person 7 at each end of the first holding part 3a. The parts are connected to each other and arranged so as to be wound around the second region R2 near the waist 7c from both side parts 7f of the trunk part. In other words, the second holding portion 3b is wrapped around the second region R2 near the waist portion 7c so that the pelvis of the care recipient 7 can easily tilt forward when the care receiver 7 is pulled forward. It is necessary to hold around the waist of the cared person 7 in 3b. For this reason, a U-shaped sealed cylindrical member that is the second holding portion 3b is wound around the second region R2 near the waist 7c from both side portions 7f of the trunk to cover the second region R2 near the waist 7c. Arrange so that. The 1st holding | maintenance part 3a and the 2nd holding | maintenance part 3b are mutually connected, and comprise the cylindrical member of sealed space.
　なお、図２Ｂ～図２Ｃ及び図５Ａ～図５Ｃなどに示すように、第２保持部３ｂの被介護者７の両脇７ｇの部分において、両脇７ｇを保持可能な密閉された筒状の第３保持部３ｈを一体的に備えるようにしてもよい。このようにすることにより、被介護者７の牽引動作時に、第３保持部３ｈで両脇７ｇをより確実に保持可能として、被介護者７の上方への牽引時に被介護者７の上方への移動を、より確実にアシスト可能としている。しかしながら、第１保持部３ａと第２保持部３ｂとで被介護者７の身体を保持して、前方への牽引及び上方への牽引などの起立動作支援が十分に行える場合には、第３保持部３ｈを省略することも可能である。なお、図２Ａは、第３保持部３ｈを省略した例を図示している。 As shown in FIGS. 2B to 2C and FIGS. 5A to 5C, etc., in a portion of both sides 7g of the cared person 7 of the second holding portion 3b, a sealed cylindrical shape capable of holding both sides 7g. The third holding part 3h may be provided integrally. By doing in this way, both sides 7g can be hold | maintained more reliably by the 3rd holding | maintenance part 3h at the time of the to-be-cared person's 7 pulling operation, and the to-be-cared person 7 is upwards at the time of the to-be-carried person 7 pulling upward The movement can be assisted more reliably. However, when the body of the cared person 7 is held by the first holding unit 3a and the second holding unit 3b and the standing motion support such as towing forward and towing upward can be sufficiently performed, the third The holding unit 3h can be omitted. 2A shows an example in which the third holding unit 3h is omitted.
　第１保持部３ａと第２保持部３ｂと第３保持部３ｈとは一例として、それぞれ、外装は塩化ビニール又はナイロンなどを使用し、密閉された筒状部材の内部には空気を充填して構成する。さらに、第１保持部３ａと第２保持部３ｂとには、それぞれ、空気をそれぞれ供給して充填するためのバルブ３ｆを備える。 As an example, the first holding part 3a, the second holding part 3b, and the third holding part 3h are made of vinyl chloride or nylon, respectively, and the inside of the sealed cylindrical member is filled with air. Constitute. Further, each of the first holding unit 3a and the second holding unit 3b includes a valve 3f for supplying and filling air.
　なお、この例では、第１保持部３ａと第２保持部３ｂと第３保持部３ｈとのそれぞれの内部に空気を充填する。また、空気を充填する代わりに、ウレタン素材などの柔軟素材をそれぞれの内部に備える構造でも良い。その場合は、空気を充填するためのバルブ３ｆは不要である。 In this example, air is filled in each of the first holding unit 3a, the second holding unit 3b, and the third holding unit 3h. Further, instead of filling with air, a structure in which a flexible material such as a urethane material is provided in each of the insides may be used. In that case, the valve 3f for filling with air is unnecessary.
　連結部３ｃは、一例として図２Ａ～図２Ｃに示すようにアーム機構４の一端に連結され、被介護者７の胸部７ｄの中央付近で且つ第１保持部３ａと第２保持部３ｂとの中間付近に、第１保持部３ａと第２保持部３ｂとのそれぞれの端部が連結される付近に架け渡されるように備えられる。連結部３ｃとアーム機構４の一端（後端）とは、一例としてネジを使って固定して連結しているが、アーム機構４の一端（後端）と連結部３ｃとが連結できる方法であれば、任意の方法でも良い。例えば、図６Ａに示すようなバックル３ｉとバックル受け部３ｊとを利用して、アーム機構４の一端（後端）にあるバックル３ｉと連結部３ｃにあるバックル受け部３ｊとが容易に着脱可能に連結されるようにしてもよい。 As an example, the connecting portion 3c is connected to one end of the arm mechanism 4 as shown in FIGS. 2A to 2C, near the center of the chest 7d of the cared person 7 and between the first holding portion 3a and the second holding portion 3b. In the vicinity of the middle, the first holding part 3a and the second holding part 3b are provided so as to be bridged in the vicinity where the end parts of the first holding part 3a and the second holding part 3b are connected. The connecting portion 3c and one end (rear end) of the arm mechanism 4 are fixed and connected using screws as an example, but one end (rear end) of the arm mechanism 4 and the connecting portion 3c can be connected. Any method may be used as long as it exists. For example, by using a buckle 3i and a buckle receiving portion 3j as shown in FIG. 6A, the buckle 3i at one end (rear end) of the arm mechanism 4 and the buckle receiving portion 3j at the connecting portion 3c can be easily attached and detached. You may make it connect with.
　具体的には、アーム機構４の一端（後端）と連結部３ｃとのいずれか一方にバックル３ｉを設け、いずれか他方に、バックル３ｉと対向する位置に、バックル受け部３ｊを設けるようにしている。 Specifically, the buckle 3i is provided at one of the one end (rear end) of the arm mechanism 4 and the connecting portion 3c, and the buckle receiving portion 3j is provided at a position facing the buckle 3i on the other. ing.
　図６Ａ～図６Ｄに示すように、各バックル３ｉは、円柱状の軸部１０１の一端に操作部１００が固定され、円板状の軸固定部１０２に対して回転自在に貫通し、軸部１０１の他端近傍に、軸部１０１の直径方向沿いに留め具１０３が両側に突出して固定されて構成されている。軸固定部１０２は、アーム機構４の一端（後端）に固定される。 As shown in FIGS. 6A to 6D, each buckle 3i has an operation portion 100 fixed to one end of a cylindrical shaft portion 101, and penetrates the disk-shaped shaft fixing portion 102 so as to be rotatable. In the vicinity of the other end of the shaft 101, a fastener 103 protrudes on both sides and is fixed along the diameter direction of the shaft portion 101. The shaft fixing portion 102 is fixed to one end (rear end) of the arm mechanism 4.
　各バックル受け部３ｊは、軸部１０１と留め具１０３とが貫通する貫通穴１０４を有する円板状の受け固定部１０５で構成されている。受け固定部１０５は、連結部３ｃに固定される。 Each buckle receiving portion 3j includes a disc-shaped receiving and fixing portion 105 having a through hole 104 through which the shaft portion 101 and the fastener 103 pass. The receiving and fixing part 105 is fixed to the connecting part 3c.
　よって、各バックル３ｉの操作部１００を回転させると、軸部１０１が軸固定部１０２に対して回転し、軸部１０１と一緒に留め具１０３が回転する。このため、バックル３ｉの軸部１０１と留め具１０３との位相を、バックル受け部３ｊの貫通穴１０４の位相と一致させたのち、バックル３ｉの軸部１０１と留め具１０３とをバックル受け部３ｊの貫通穴１０４内に貫通させ、その後、操作部１００を例えば９０度回転させると、留め具１０３が受け固定部１０５と係合して貫通穴１０４から抜けず、バックル３ｉがバックル受け部３ｊに係止される（図６Ｅ）。一方、操作部１００を例えばさらに９０度回転させて、バックル３ｉの軸部１０１と留め具１０３との位相を、バックル受け部３ｊの貫通穴１０４の位相と一致させたのち、バックル３ｉの軸部１０１と留め具１０３とをバックル受け部３ｊの貫通穴１０４から抜き去ることにより、バックル３ｉがバックル受け部３ｊから係止解除されることになる。 Therefore, when the operation part 100 of each buckle 3i is rotated, the shaft part 101 rotates with respect to the shaft fixing part 102, and the fastener 103 rotates together with the shaft part 101. For this reason, after making the phase of the shaft part 101 of the buckle 3i and the fastener 103 coincide with the phase of the through hole 104 of the buckle receiving part 3j, the shaft part 101 of the buckle 3i and the fastener 103 are connected to the buckle receiving part 3j. When the operating portion 100 is rotated by 90 degrees, for example, the fastener 103 engages with the receiving and fixing portion 105 and does not come out of the through hole 104, and the buckle 3i becomes the buckle receiving portion 3j. Locked (FIG. 6E). On the other hand, the operation unit 100 is further rotated by, for example, 90 degrees so that the phase of the shaft portion 101 and the fastener 103 of the buckle 3i matches the phase of the through hole 104 of the buckle receiving portion 3j, and then the shaft portion of the buckle 3i. By removing 101 and the fastener 103 from the through hole 104 of the buckle receiving portion 3j, the buckle 3i is unlocked from the buckle receiving portion 3j.
　このようにして、アーム機構４の一端（後端）にあるバックル３ｉと連結部３ｃにあるバックル受け部３ｊとが容易に着脱可能に連結されることになる。 Thus, the buckle 3i at one end (rear end) of the arm mechanism 4 and the buckle receiving portion 3j at the connecting portion 3c are easily and detachably connected.
　これらの構造により、被介護者７が緊急にトイレへ移動したい場合などに、被介護者７に介護ベルト３をあらかじめ装着しておき、トイレへの移乗、移動時にバックル３ｉとバックル受け部３ｊのみを使って動作支援システム１に対して短時間で容易に着脱することができる。 With these structures, when the cared person 7 wants to move to the toilet urgently, the cared belt 7 is attached to the cared person 7 in advance, and only the buckle 3i and the buckle receiving part 3j are transferred to the toilet and moved. Can be easily attached to and detached from the operation support system 1 in a short time.
　なお、連結部３ｃを介してアーム機構４からの力が左右均等にホールド機構３ｇに作用させるため、ホールド機構３ｇの第１保持部３ａは、正面から見て左右対称の形状となっており、かつ、第２保持部３ｂは上から見て左右対称の形状となっている。 In addition, since the force from the arm mechanism 4 acts on the holding mechanism 3g equally to the left and right via the connecting portion 3c, the first holding portion 3a of the holding mechanism 3g has a symmetrical shape when viewed from the front. And the 2nd holding | maintenance part 3b becomes a left-right symmetric shape seeing from the top.
　また、第１保持部３ａと第２保持部３ｂとは、それぞれ、任意の箇所で分離できるようにして、被介護者７がホールド機構３ｇを装着しやすいようにしてもよい。例えば、図５Ｃに示す第１脱着部３ｄ、第２脱着部３ｅなどとして示すように、例えば面ファスナなどの脱着部を第１保持部３ａと第２保持部３ｂとに設けて、第１保持部３ａと第２保持部３ｂとが第１脱着部３ｄ及び第２脱着部３ｅで分離されることにより、被介護者７の体に対してホールド機構３ｇを容易に脱着できるようにしても良い。また、図５Ｃは被介護者７の背中で脱着しているが、第１脱着部３ｄ又は第２脱着部３ｅを長くして、いずれか一方の脇で脱着するようにしても良い。これにより、被介護者７が背中に手が回りにくい場合にでも、脇で脱着が可能となる。 Also, the first holding unit 3a and the second holding unit 3b may be separable at arbitrary locations so that the care recipient 7 can easily wear the hold mechanism 3g. For example, as shown as the first detachable portion 3d and the second detachable portion 3e shown in FIG. 5C, the first holding portion 3a and the second holding portion 3b are provided with detachable portions such as hook-and-loop fasteners for the first holding. The hold mechanism 3g may be easily attached to and detached from the body of the care receiver 7 by separating the part 3a and the second holding part 3b by the first attaching / detaching part 3d and the second attaching / detaching part 3e. . 5C shows the attachment / detachment on the back of the cared person 7, the first attachment / detachment portion 3d or the second attachment / detachment portion 3e may be lengthened and attached on either side. Thereby, even when the cared person 7 has difficulty in turning his / her hand to the back, it can be attached / detached by the side.
　なお、介護ベルト３は、被介護者７の胸部に装着される代わりに、臀部などに装着されてもよい。その場合、介護ベルト３は、被介護者の臀部を保持するのに適切な形状を有する。 The care belt 3 may be attached to the buttocks instead of being attached to the chest of the care recipient 7. In that case, the care belt 3 has a shape suitable for holding the care receiver's buttocks.
　《歩行機構１４》
　歩行機構１４は、矩形台１４ｅと、一対の前輪１４ａと、一対の後輪１４ｂと、前輪ブレーキ１４ｃと、後輪ブレーキ１４ｄとを備え、床面１３上に置かれる。一対の前輪１４ａは、矩形台１４ｅの前端の一対の角部に回転自在に配置される。一対の後輪１４ｂは、矩形台１４ｅの後端の一対の角部に回転自在に配置される。前輪ブレーキ１４ｃは、前輪１４ａにブレーキをかける。後輪ブレーキ１４ｄは、後輪１４ｂにブレーキをかける。歩行機構１４の上部にはアーム機構４が備えられる。すなわち、矩形台１４ｅの前部の中央部には、アーム機構４が起立支持される。一例として一対の前輪１４ａと一対の後輪１４ｂとは、図４Ｃに示す状態で、被介護者７が前方方向（図４Ｃの左方向）に力を加えることで回転し、歩行器として被介護者７の歩行を支援することができる。なお、矩形台１４ｅは、本体部に相当する。 << Walking mechanism 14 >>
The walking mechanism 14 includes a rectangular platform 14e, a pair of front wheels 14a, a pair of rear wheels 14b, a front wheel brake 14c, and a rear wheel brake 14d, and is placed on the floor surface 13. The pair of front wheels 14a is rotatably disposed at a pair of corners at the front end of the rectangular base 14e. The pair of rear wheels 14b are rotatably disposed at a pair of corners at the rear end of the rectangular platform 14e. The front wheel brake 14c brakes the front wheel 14a. The rear wheel brake 14d brakes the rear wheel 14b. An arm mechanism 4 is provided above the walking mechanism 14. That is, the arm mechanism 4 is supported upright at the center of the front portion of the rectangular base 14e. As an example, the pair of front wheels 14a and the pair of rear wheels 14b rotate as the cared person 7 applies force in the forward direction (left direction in FIG. 4C) in the state shown in FIG. The walking of the person 7 can be supported. The rectangular base 14e corresponds to the main body.
　なお、この例では、一対の前輪１４ａと一対の後輪１４ｂとは被介護者７が押すことで回転するようにしたが、例えばモータをそれぞれ又はいずれかに備えて、被介護者７の押す力をアシストすることで、楽に移動できるような構成としても良い。 In this example, the pair of front wheels 14a and the pair of rear wheels 14b are rotated when the cared person 7 pushes them. It may be configured so that it can move easily by assisting the force.
　さらに、前輪ブレーキ１４ｃと後輪ブレーキ１４ｄとは一例として電磁ブレーキで構成し、入力ＩＦ６により前輪１４ａ又は後輪１４ｂのブレーキＯＮ／ＯＦＦを行うことができるようにする。前輪ブレーキ１４ｃ又は後輪ブレーキ１４ｄをＯＮにすることで、前輪１４ａ又は後輪１４ｂにブレーキをかけることができ、前輪ブレーキ１４ｃ又は後輪ブレーキ１４ｄをＯＦＦにすることで、前輪１４ａ又は後輪１４ｂのブレーキを解除することができる。なお、一例として電磁ブレーキとしたが、手動ブレーキとしても良い。 Further, the front wheel brake 14c and the rear wheel brake 14d are configured as electromagnetic brakes as an example so that the front IF 14a or the rear wheel 14b can be turned ON / OFF by the input IF 6. The front wheel 14a or the rear wheel 14b can be braked by turning on the front wheel brake 14c or the rear wheel brake 14d, and the front wheel 14a or the rear wheel 14b can be turned off by turning off the front wheel brake 14c or the rear wheel brake 14d. The brake can be released. Although an electromagnetic brake is used as an example, a manual brake may be used.
　なお、矩形台１４ｅの代わりに任意の形状を有する板状の部材を用いてもよい。 In addition, a plate-like member having an arbitrary shape may be used instead of the rectangular base 14e.
　《アーム機構４》
　アーム機構４は、歩行機構１４の上部に備えられるとともに、先端が連結部３ｃを介してホールド機構３ｇに連結される。アーム機構４は、一例として、第１モータ４１と、第１モータ４１の回転軸の回転数（回転角度）を検出する第１エンコーダ４３と、第２モータ４２と、第２モータ４２の回転軸の回転数（回転角度）を検出する第２エンコーダ４４とを備える２自由度のロボットアームである。第１エンコーダ４３と第２エンコーダ４４とからの回転角度情報をアーム機構４の位置情報に変換した位置情報を基に第１モータ４１と第２モータ４２とを制御装置１１で制御する。なお、第１エンコーダ４３及び第２エンコーダ４４のことを位置検出部（不図示）ともいう。 << Arm mechanism 4 >>
The arm mechanism 4 is provided on the upper part of the walking mechanism 14, and the tip is connected to the hold mechanism 3g via the connecting portion 3c. As an example, the arm mechanism 4 includes a first motor 41, a first encoder 43 that detects the rotation speed (rotation angle) of the rotation shaft of the first motor 41, a second motor 42, and a rotation shaft of the second motor 42. Is a two-degree-of-freedom robot arm provided with a second encoder 44 that detects the number of rotations (rotation angle). The controller 11 controls the first motor 41 and the second motor 42 based on the position information obtained by converting the rotation angle information from the first encoder 43 and the second encoder 44 into the position information of the arm mechanism 4. The first encoder 43 and the second encoder 44 are also referred to as a position detection unit (not shown).
　この制御により、一例として、図４Ａ～図４Ｃに示すように、動作支援システム１を駆動して、座位姿勢にある被介護者７の臀部７ｅが腰掛部５からの離床を支援するため、ホールド機構３ｇの第１保持部３ａと第２保持部３ｂとを、同時に、被介護者７の正面方向の前方に向けて牽引動作可能で、かつ、その後、上方に向けて牽引動作可能となっている。 As an example, as shown in FIG. 4A to FIG. 4C, this operation drives the motion support system 1 so that the buttocks 7e of the cared person 7 in the sitting position assists in getting out of the sitting portion 5. The first holding portion 3a and the second holding portion 3b of the mechanism 3g can be simultaneously pulled toward the front in the front direction of the cared person 7, and then can be pulled upward. Yes.
　より詳しくは、アーム機構４は、第１アーム４ｃと、第２アーム４ｄと、第３アーム４ｅと、第４アーム４ｆと、第１駆動部４ａと、第２駆動部４ｂとを備えるロボットアームで構成される。第１アーム４ｃは、矩形台１４ｅの前部の中央において、矩形台１４ｅから上方に向けて起立するように、下端が固定される。第１アーム４ｃの上端には、第１駆動部４ａを内蔵する第１関節部を介して、第２アーム４ｄの前端が、ｘ０ｚ０面内で回動可能に連結される。第２アーム４ｄの後端は、第２駆動部４ｂを内蔵する第２関節部を介して、第３アーム４ｅの下端に回動可能に連結される。第３アーム４ｅの上端は、第４アーム４ｆの前端に、第３アーム４ｅと第４アーム４ｆとのそれぞれの軸方向が互いに直交してＬ字状に屈曲するように固定される。第４アーム４ｆの後端は、介護ベルト３の連結部３ｃに着脱可能に連結される。なお、第２アーム４ｄのことを第１リンクともいう。また、第３アーム４ｅのことを第２リンクともいう。上記において、第２アーム４ｄの前端は、具体的には、第２アーム４ｄがｘ０ｚ０面内で回動可能なように第１アーム４ｃの上端に連結される。また、第２アーム４ｄの後端は、第２関節部を介して第３アーム４ｅがｘ０ｚ０面内で回動可能なように第３アーム４ｅの下端に連結される。 More specifically, the arm mechanism 4 is a robot arm including a first arm 4c, a second arm 4d, a third arm 4e, a fourth arm 4f, a first drive unit 4a, and a second drive unit 4b. Consists of. The lower end of the first arm 4c is fixed so that the first arm 4c stands upward from the rectangular table 14e at the center of the front portion of the rectangular table 14e. The front end of the second arm 4d is connected to the upper end of the first arm 4c so as to be rotatable in the x0z0 plane via a first joint part incorporating the first drive part 4a. The rear end of the second arm 4d is pivotally connected to the lower end of the third arm 4e via a second joint that incorporates the second drive unit 4b. The upper end of the third arm 4e is fixed to the front end of the fourth arm 4f so that the axial directions of the third arm 4e and the fourth arm 4f are perpendicular to each other and bent in an L shape. The rear end of the fourth arm 4f is detachably connected to the connecting portion 3c of the care belt 3. The second arm 4d is also referred to as a first link. The third arm 4e is also referred to as a second link. In the above, the front end of the second arm 4d is specifically connected to the upper end of the first arm 4c so that the second arm 4d can rotate in the x0z0 plane. The rear end of the second arm 4d is connected to the lower end of the third arm 4e through the second joint so that the third arm 4e can rotate in the x0z0 plane.
　第１駆動部４ａは、第１アーム４ｃと第２アーム４ｄとの間の関節部に配置され、例えば、第１アーム４ｃに対して第２アーム４ｄを回転させる第１モータ４１と、その回転角度情報を検出する第１エンコーダ４３とで構成される。よって、後述する制御部１２での制御の下に、第１アーム４ｃに対して第２アーム４ｄを所定角度だけ回動させるように駆動することができる。第２駆動部４ｂは、第２アーム４ｄと第３アーム４ｅとの間の関節部に配置され、例えば、第２アーム４ｄに対して第３アーム４ｅを回転させる第２モータ４２と、その回転角度情報を検出する第２エンコーダ４４とで構成される。なお、第１モータ４１及び第２モータ４２が配置される位置は、関節部でなくてもよい。つまり、第１モータ４１及び第２モータ４２が発生させる回動力が適切に関節部に伝達され、上記のようにアーム機構を動作させることができるのであれば、第１モータ４１及び第２モータ４２は、どこに配置されてもよい。 The first drive unit 4a is disposed at a joint between the first arm 4c and the second arm 4d. For example, the first motor 41 that rotates the second arm 4d with respect to the first arm 4c, and the rotation thereof. The first encoder 43 is configured to detect angle information. Therefore, the second arm 4d can be driven to rotate by a predetermined angle with respect to the first arm 4c under the control of the control unit 12 described later. The second drive unit 4b is disposed at a joint between the second arm 4d and the third arm 4e. For example, the second motor 42 that rotates the third arm 4e with respect to the second arm 4d, and the rotation thereof. The second encoder 44 detects angle information. The position where the first motor 41 and the second motor 42 are arranged may not be the joint portion. That is, if the rotational force generated by the first motor 41 and the second motor 42 is appropriately transmitted to the joint portion and the arm mechanism can be operated as described above, the first motor 41 and the second motor 42 are used. May be placed anywhere.
　第１エンコーダ４３及び第２エンコーダ４４からのそれぞれの回転角度情報は、アーム機構４の位置情報に変換されて、位置情報として制御部１２で使用される。よって、後述する制御部１２での制御の下に、第２アーム４ｄに対して第３アーム４ｅを所定角度だけ回動させて所望の位置に移動するように駆動することができる。 Each rotation angle information from the first encoder 43 and the second encoder 44 is converted into position information of the arm mechanism 4 and used by the control unit 12 as position information. Therefore, under the control of the control unit 12 to be described later, the third arm 4e can be driven to rotate to a desired position by rotating the third arm 4e by a predetermined angle with respect to the second arm 4d.
　第４アーム４ｆの前部には、ボタンなどが配置された操作盤などの入力インターフェース（入力ＩＦ）６が下向きに突出して設けられる。このように入力ＩＦ６を配置すれば、座位姿勢での被介護者７に対して、アーム機構４の側面から、入力ＩＦ６が操作可能に配置されることになる。よって、被介護者７が入力ＩＦ６を使って種々の指令を入力することで（例えばボタンを押下するなどで）、動作支援システム１の車輪（前輪及び後輪）のブレーキＯＮ又はＯＦＦ、動作支援システム１の電源のＯＮ又はＯＦＦ、及び、立ち上がり開始ボタンのＯＮ又はＯＦＦなどを入力することができる。さらに、第３アーム４ｅの中間部から後ろ向きに（被介護者側に向けて）、持ち手１５が突出して備えられており、被介護者７が、座位又は起立時に両手で握って持つことができる。 An input interface (input IF) 6 such as an operation panel provided with buttons and the like is provided to protrude downward from the front portion of the fourth arm 4f. If the input IF 6 is arranged in this way, the input IF 6 can be operated from the side surface of the arm mechanism 4 with respect to the cared person 7 in the sitting position. Therefore, when the cared person 7 inputs various commands using the input IF 6 (for example, by pressing a button), the brake (front and rear wheels) of the operation support system 1 is braked on or off, and the operation support is performed. It is possible to input ON / OFF of the power source of the system 1 and ON / OFF of a start-up start button. Furthermore, a handle 15 is provided so as to protrude rearward from the middle portion of the third arm 4e (toward the cared person), and the cared person 7 holds and holds with both hands when sitting or standing. it can.
　なお、動作支援システム１は、さらに、第１リンクと第２リンクとによる物体の挟み込みを検出する挟み込みセンサ（不図示）を備えてもよい。そして、動作支援システム１は、挟み込みセンサが物体の挟み込みを検出した場合に、アーム機構４の動作を停止するようにしてもよい。 Note that the motion support system 1 may further include a pinching sensor (not shown) that detects pinching of an object by the first link and the second link. Then, the motion support system 1 may stop the operation of the arm mechanism 4 when the pinching sensor detects the pinching of the object.
　なお、持ち手１５は、被介護者７の肘を置くことができる長さで設置しても良い。これにより、立ち上がり時には持ち手として機能し、歩行時には肘を置くことで、より安定して歩行することが可能となる。さらに、第４アーム４ｆは、上部にウレタンなどの緩衝材を備える構成としても良い。これにより、被介護者７が前方へ転倒するなどして顔又は上半身が第４アーム４ｆに接触した場合の衝撃を、緩和することができる。 Note that the handle 15 may be installed with a length that allows the elbow of the care recipient 7 to be placed. Thereby, it functions as a handle when standing up, and it becomes possible to walk more stably by placing an elbow when walking. Furthermore, the 4th arm 4f is good also as a structure which equips the upper part with cushioning materials, such as urethane. Thereby, the impact when the cared person 7 falls forward and the face or upper body contacts the fourth arm 4f can be reduced.
　また、上記緩衝材には、被介護者７との接触を検出する接触センサが設けられてもよい。そして、動作支援システム１は、接触センサが接触を検出した場合に、アーム機構４の動作を停止するようにしてもよい。 In addition, the cushioning material may be provided with a contact sensor that detects contact with the cared person 7. Then, the operation support system 1 may stop the operation of the arm mechanism 4 when the contact sensor detects contact.
　制御装置１１は、データベース入出力部９と、タイマー１６と、制御部１２とを備える。制御装置１１は、アーム機構４の第１駆動部４ａと第２駆動部４ｂとをそれぞれ独立して駆動制御し、少なくとも、座位姿勢にある被介護者７の臀部７ｅが腰掛部５から離床するように、ホールド機構３ｇの第１保持部３ａと第２保持部３ｂとを、同時に、被介護者７の正面方向の前方に向けて牽引動作するとともに、その後、被介護者７が起立姿勢となるまで、介護ベルト３を、被介護者７の上方に向けて牽引動作するように制御して、被介護者７の起立動作を支援する。 The control device 11 includes a database input / output unit 9, a timer 16, and a control unit 12. The control device 11 drives and controls the first drive unit 4a and the second drive unit 4b of the arm mechanism 4 independently, and at least the buttocks 7e of the cared person 7 in the sitting position leaves the seating unit 5. As described above, the first holding unit 3a and the second holding unit 3b of the hold mechanism 3g are simultaneously pulled toward the front in the front direction of the cared person 7, and then the cared person 7 is in the standing posture. Until it becomes, the care belt 3 is controlled to be pulled upward toward the care receiver 7, and the standing action of the care receiver 7 is supported.
　より詳しくは、制御装置１１の制御動作により、図４Ａに矢印で示すように、ホールド機構３ｇの第１保持部３ａと第２保持部３ｂとを、同時に、アーム機構４で牽引するように制御装置１１で制御して、被介護者７をその座位姿勢から前方に牽引する。このように、第１保持部３ａと第２保持部３ｂとを、同時に、アーム機構４で牽引するとき、まず、被介護者７の首部７ａ又は背中部７ｂの第１領域Ｒ１を前方に牽引することにより、被介護者７は、背筋が反って伸びることで立ち上がりやすくなる。また、この牽引と同時に、被介護者７の腰部７ｃの第２領域Ｒ２を前方に牽引することにより、被介護者７は、骨盤が前方方向に移動して離床しやすくなる。よって、例えば、腰部７ｃの第２領域Ｒ２のみを前方に牽引する場合と比較して、第１領域Ｒ１と第２領域Ｒ２との両方を同時に前方に牽引するほうが、被介護者７にとって、臀部７ｅを腰掛部５から確実に離床させやすくなる。次いで、図４Ｂに矢印で示すように上方に牽引して被介護者７の臀部７ｅを腰掛部５から離床させ、図４Ｃの起立姿勢に至るまで、一連の動作を支援する。ここで、制御動作を開始してから被介護者７の臀部７ｅを腰掛部５から離床させるまでが、第１の状態である。この第１の状態以降で被介護者７が起立姿勢に至るまでが、第２の状態である。 More specifically, as shown by the arrow in FIG. 4A, the first holding unit 3 a and the second holding unit 3 b of the hold mechanism 3 g are controlled to be pulled by the arm mechanism 4 at the same time by the control operation of the control device 11. The cared person 7 is pulled forward from the sitting posture under the control of the device 11. As described above, when the first holding portion 3a and the second holding portion 3b are simultaneously pulled by the arm mechanism 4, first, the first region R1 of the neck portion 7a or the back portion 7b of the care receiver 7 is pulled forward. By doing so, the cared person 7 becomes easy to stand up because the back muscles warp and extend. Simultaneously with this towing, by pulling the second region R2 of the waist 7c of the cared person 7 forward, the cared person 7 can easily move away from the floor due to the pelvis moving forward. Therefore, for example, compared with the case where only the second region R2 of the waist portion 7c is pulled forward, it is easier for the care recipient 7 to pull both the first region R1 and the second region R2 forward simultaneously. It becomes easy to reliably leave 7e from the seat 5. Next, as shown by an arrow in FIG. 4B, the care receiver 7 is lifted up by lifting the buttocks 7 e from the seat 5 and supports a series of operations until the standing posture of FIG. 4C is reached. Here, the period from the start of the control operation to the time when the buttocks 7e of the care receiver 7 is removed from the seat 5 is the first state. The second state is the time after the first state until the cared person 7 reaches the standing posture.
　なお、アーム機構４は、被介護者７が着座した状態において、被介護者７の上半身が前傾姿勢になるよう動作してもよい。被介護者がトイレの便座に座った場合などには、上半身が前傾姿勢となることで、被介護者がより楽に排便が行えるようになる。 The arm mechanism 4 may operate so that the upper body of the cared person 7 is in a forward leaning posture in a state where the cared person 7 is seated. When the cared person sits on the toilet seat, the cared person can defecate more easily by having the upper body lean forward.
　《タイマー１６》
　タイマー１６は、ある一定時間（例えば、１ｍｓｅｃ毎）の経過後に、データベース入出力部９及び制御部１２を実行させるための指令を、データベース入出力部９及び制御部１２に出力する。 <Timer 16>
The timer 16 outputs a command for executing the database input / output unit 9 and the control unit 12 to the database input / output unit 9 and the control unit 12 after elapse of a certain time (for example, every 1 msec).
　《入力ＩＦ６》
　また、入力ＩＦ６は、例えばアーム機構４に配置され、動作支援システム１の電源の開始及び終了、前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄのＯＮ／ＯＦＦ、及び、立ち上がり開始及び終了を指示するための操作インターフェースで、例えばボタンなどで構成される。 << Input IF6 >>
The input IF 6 is disposed, for example, in the arm mechanism 4 and is an operation for instructing the start and end of the power supply of the operation support system 1, the ON / OFF of the front wheel brake 14 c and the rear wheel brake 14 d, and the start and end of rising An interface, such as a button.
　《動作情報データベース８》
　タイマー１６からの指令に基づいて制御部１２が実行され、アーム機構４の位置情報（第１エンコーダ４３及び第２エンコーダ４４からのそれぞれの回転角度情報をアーム機構４の位置情報に変換した位置情報）が、タイマー１６からの実行指令を利用してデータベース入出力部９及び制御部１２を実行させて、ある一定時間毎（例えば、１ｍｓｅｃ毎）に生成される。これらの生成された位置情報が、時刻と共に、本実施の形態では動作情報としてデータベース入出力部９を介して動作情報データベース８に出力されて、動作情報として動作情報データベース８に記憶される。なお、本実施の形態では、動作情報は、入力ＩＦ６などにより、予め生成されて記憶される。 << Operation Information Database 8 >>
The control unit 12 is executed based on a command from the timer 16, and the position information of the arm mechanism 4 (position information obtained by converting the respective rotation angle information from the first encoder 43 and the second encoder 44 into the position information of the arm mechanism 4. ) Is generated every certain time (for example, every 1 msec) by causing the database input / output unit 9 and the control unit 12 to be executed using the execution command from the timer 16. In the present embodiment, the generated position information is output as operation information to the operation information database 8 through the database input / output unit 9 and stored in the operation information database 8 as operation information. In the present embodiment, the operation information is generated and stored in advance by the input IF 6 or the like.
　図７は、動作情報データベース８の情報内容の一例を示す。 FIG. 7 shows an example of the information content of the operation information database 8.
　（１）「時刻」の欄は、アーム機構４が動作している際の時刻に関する情報を示す。本実施の形態では、時刻についてはミリ秒（ｍｓｅｃ）単位系で示す。 (1) The “time” column shows information about the time when the arm mechanism 4 is operating. In the present embodiment, the time is shown in the unit of milliseconds (msec).
　（２）「位置」の欄は、アーム機構４の第１エンコーダ４３及び第２エンコーダ４４などで検出される角度情報を変換したアーム機構４の位置情報を示す。具体的には、動作支援システム１の進行方向（前後方向）ｘ軸と上下方向ｚ軸との２軸の位置である。なお、本実施の形態では、位置についてはメートル（ｍ）単位系で示す。 (2) The “position” column indicates the position information of the arm mechanism 4 obtained by converting the angle information detected by the first encoder 43 and the second encoder 44 of the arm mechanism 4. Specifically, the position is a biaxial position of the movement support system 1 in the traveling direction (front-rear direction) x-axis and the vertical z-axis. In the present embodiment, the position is shown in a meter (m) unit system.
　《データベース入出力部９》
　データベース入出力部９は、動作情報データベース８と、制御部１２との間で、データ（情報）の入出力を行う。 << Database input / output unit 9 >>
The database input / output unit 9 inputs / outputs data (information) between the operation information database 8 and the control unit 12.
　《制御部１２》
　制御部１２は、データベース入出力部９から入力された動作情報に追従するように、アーム機構４の第１モータ４１と第２モータ４２とをそれぞれ独立して動かす。加えて、入力ＩＦ６により入力された前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄのＯＮ／ＯＦＦの指令に基づいて、前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄのブレーキを制御する。 <Control unit 12>
The control unit 12 moves the first motor 41 and the second motor 42 of the arm mechanism 4 independently so as to follow the operation information input from the database input / output unit 9. In addition, the brakes of the front wheel brake 14c and the rear wheel brake 14d are controlled based on the ON / OFF command of the front wheel brake 14c and the rear wheel brake 14d input by the input IF 6.
　以下、制御部１２で制御される動作支援システム１の動作について説明する。 Hereinafter, the operation of the operation support system 1 controlled by the control unit 12 will be described.
　図８Ａ～図８Ｅに動作支援システム１のアーム機構４の動作手順を示す。また、アーム機構４の動作に伴う被介護者７の動作を、図９のフローチャートを用いて説明する。 8A to 8E show the operation procedure of the arm mechanism 4 of the operation support system 1. Further, the operation of the care recipient 7 accompanying the operation of the arm mechanism 4 will be described with reference to the flowchart of FIG.
　まず、図８Ａに示すように、被介護者７は、床面１３上に配置された、ベッド、椅子、又は、トイレの便座などの腰掛部５に座る。次に、介護者などにより、動作支援システム１が、腰掛部５に座った被介護者７の正面に配置される。 First, as shown in FIG. 8A, the cared person 7 sits on a seat 5 such as a bed, a chair, or a toilet seat placed on the floor surface 13. Next, the operation support system 1 is arranged in front of the cared person 7 sitting on the seat 5 by a caregiver or the like.
　次に、図９のステップＳ１０１で、被介護者７が、入力ＩＦ６により動作支援システム１の電源をＯＮにする。 Next, in step S101 of FIG. 9, the cared person 7 turns on the power of the operation support system 1 by the input IF 6.
　次に、ステップＳ１０２で、被介護者７が、入力ＩＦ６により前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄをＯＮにすることで、制御部１２Ｂにより、歩行機構１４の前輪１４ａと後輪１４ｂとがそれぞれ回転しないようにブレーキがかけられる。このようにすることにより、アーム機構４で連結部３ｃを介してホールド機構３ｇを牽引するとき、歩行機構１４が移動せず、アーム機構４からの力が、連結部３ｃを介してホールド機構３ｇに確実に伝達されるようにしている。 Next, in step S102, the cared person 7 turns on the front wheel brake 14c and the rear wheel brake 14d by the input IF 6, so that the front wheel 14a and the rear wheel 14b of the walking mechanism 14 are rotated by the control unit 12B. The brake is applied so as not to. In this way, when the arm mechanism 4 pulls the hold mechanism 3g via the connecting portion 3c, the walking mechanism 14 does not move, and the force from the arm mechanism 4 is not transferred via the connecting portion 3c. To ensure that it is communicated.
　次に、被介護者７は、アーム機構４に連結された介護ベルト３のホールド機構３ｇを体に装着し、持ち手１５を両手で把持する。 Next, the cared person 7 attaches the hold mechanism 3g of the care belt 3 connected to the arm mechanism 4 to the body, and holds the handle 15 with both hands.
　次に、ステップＳ１０３で、被介護者７が、入力ＩＦ６の立ち上がり開始ボタンを押下することで、動作支援システム１が動作を開始する。この例では、立ち上がり開始ボタンを押した状態でのみ動作し、立ち上がり開始ボタンを離すと、動作支援システム１が動作を停止する。これ以降のステップＳ１０４～ステップＳ１０６では、動作支援システム１の制御装置１１により、アーム機構４の第１駆動部４ａと第２駆動部４ｂとをそれぞれ独立して駆動制御し、図４Ａの被介護者７の座位姿勢から図４Ｂの被介護者７の臀部７ｅを腰掛部５から離床させるように、図４Ｃの起立動作を支援する。 Next, in step S103, the care receiver 7 presses the rising start button of the input IF 6, and the operation support system 1 starts operation. In this example, the operation support system 1 operates only when the rising start button is pressed, and the operation support system 1 stops operating when the rising start button is released. In subsequent steps S104 to S106, the control device 11 of the motion support system 1 controls the drive of the first drive unit 4a and the second drive unit 4b of the arm mechanism 4 independently of each other. 4C is supported so that the buttocks 7e of the cared person 7 in FIG. 4B can get out of the seat 5 from the sitting posture of the person 7.
　次に、ステップＳ１０４で、制御部１２は、データベース入出力部９から動作情報を取得する。 Next, in step S <b> 104, the control unit 12 acquires operation information from the database input / output unit 9.
　次に、ステップＳ１０５で、制御部１２は、データベース入出力部９から取得した動作情報に追従するようにアーム機構４を駆動するため、第１モータ４１と第２モータ４２とをそれぞれ独立して駆動制御する。一例として、制御部１２の制御の下で、図８Ａから図８Ｂに示すように、前方方向（図８Ａの左方向）に移動するようにアーム機構４を制御部１２で制御する。すると、図８Ｂに示すように、ホールド機構３ｇの第１保持部３ａと第２保持部３ｂとが同時に前方方向へアーム機構４により牽引される。このとき、アーム機構４により連結部３ｃを介して第１保持部３ａを前方へ牽引することで、図８Ｂに点線で時計回りの矢印Ａで示すように被介護者７の上半身の後屈を促し、さらに、連結部３ｃを介して第２保持部３ｂを前方へ牽引することで、図８Ｂに点線で反時計回りの矢印Ｂで示すように被介護者７の骨盤の前傾を促すことが可能となる。このように被介護者７の前傾をアーム機構４でアシストすることで、被介護者７の臀部７ｅの腰掛部５からの離床を促し、同時に被介護者７の上半身の後屈を促すことで、被介護者７が腰掛部５から立ち上がり易くなる。また、被介護者７の上半身の後屈を促すことで、被介護者７は、前傾姿勢を深く取ることなく、座位姿勢から立位姿勢へスムーズに移行することが可能となる。 Next, in step S105, the control unit 12 drives the arm mechanism 4 so as to follow the operation information acquired from the database input / output unit 9, so that the first motor 41 and the second motor 42 are independent of each other. Drive control. As an example, under the control of the control unit 12, as shown in FIGS. 8A to 8B, the arm mechanism 4 is controlled by the control unit 12 so as to move in the forward direction (left direction in FIG. 8A). Then, as shown in FIG. 8B, the first holding portion 3a and the second holding portion 3b of the hold mechanism 3g are simultaneously pulled forward by the arm mechanism 4. At this time, the arm mechanism 4 pulls the first holding portion 3a forward via the connecting portion 3c, so that the upper body of the cared person 7 can bend backward as indicated by a dotted arrow A in FIG. 8B. Further, by pulling the second holding portion 3b forward through the connecting portion 3c, the pelvis of the care recipient 7 is tilted forward as shown by a counterclockwise arrow B in FIG. 8B. Is possible. In this way, by assisting the forward tilt of the cared person 7 with the arm mechanism 4, the care receiver 7 is encouraged to get out of the seat part 5 of the buttocks 7 e of the cared person 7, and at the same time, the rearward bending of the upper part of the cared person 7 is promoted. Thus, the cared person 7 can easily stand up from the seat portion 5. Further, by urging the upper body of the cared person 7 to bend backward, the cared person 7 can smoothly transition from the sitting position to the standing position without taking a deep forward leaning position.
　なお、アーム機構４により連結部３ｃを介して第１保持部３ａを前方へ牽引するとき（言い換えれば、牽引動作を開始してから被介護者７の臀部７ｅを腰掛部５から離床させるまでの第１の状態において）、制御部１２の制御によるアーム機構４の第１モータ４１と第２モータ４２との駆動により、前方に対して牽引速度が徐々に加速するように牽引することもできる。このようにすれば、被介護者７の上半身の後屈と骨盤の前傾とを、より一層促すことができて、被介護者７の起立動作をより円滑に支援することができる。 When the first holding portion 3a is pulled forward by the arm mechanism 4 via the connecting portion 3c (in other words, from the start of the pulling operation until the buttocks 7e of the care receiver 7 is lifted from the seat 5). In the first state), the first motor 41 and the second motor 42 of the arm mechanism 4 controlled by the control unit 12 can be driven so that the traction speed is gradually accelerated forward. By doing so, it is possible to further promote the backward bending of the upper body of the cared person 7 and the forward tilting of the pelvis, and to support the cared person 7 more smoothly.
　次に、図８Ｃに示すように被介護者７の臀部７ｅの腰掛部５からの離床の段階（第１の状態の終了時点）で、図８Ｄに上向きの矢印で示すように、アーム機構４を上方へ移動するように制御部１２でアーム機構４を駆動制御する。すると、アーム機構４の上向きの移動により被介護者７は上方にアシストされ、図８Ｅにて被介護者７は立ち上がりを完了する。この時点で、被介護者７は立位姿勢の状態となっている。 Next, as shown in FIG. 8C, at the stage of getting out of the seat portion 5 of the buttocks 7 e of the cared person 7 (at the end of the first state), as shown by the upward arrow in FIG. 8D, the arm mechanism 4 The arm mechanism 4 is driven and controlled by the control unit 12 so as to move upward. Then, the cared person 7 is assisted upward by the upward movement of the arm mechanism 4, and the cared person 7 completes the rising in FIG. 8E. At this point, the cared person 7 is in a standing posture.
　次に、ステップＳ１０６で、被介護者７は、押下している入力ＩＦ６を戻す（離す）ことで、制御部１２による立ち上がり動作の制御動作及びアーム機構４の駆動は停止する。なお、ステップＳ１０６以前においても、被介護者７は、押下している入力ＩＦ６を戻す（離す）ことで、制御部１２による立ち上がり動作の制御動作及びアーム機構４の駆動は、途中で停止することができる。 Next, in step S106, the cared person 7 returns (releases) the input IF 6 that is being pressed, so that the control operation of the rising operation by the control unit 12 and the driving of the arm mechanism 4 are stopped. Even before step S106, the care recipient 7 returns (releases) the input IF 6 being pressed, so that the control operation of the rising motion and the driving of the arm mechanism 4 by the control unit 12 are stopped halfway. Can do.
　次に、ステップＳ１０７で、被介護者７は、入力ＩＦ６により、前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄをＯＦＦにする。 Next, in step S107, the cared person 7 turns off the front wheel brake 14c and the rear wheel brake 14d by the input IF 6.
　さらに、ステップＳ１０８で、被介護者７は、入力ＩＦ６により電源をＯＦＦにする。被介護者７は、図８Ｅに示すように立位姿勢の状態となった後、被介護者７が前方へ力を加えることで、被介護者７の力で前輪１４ａと後輪１４ｂとがそれぞれ自在に回転し、歩行機構１４は、歩行器として被介護者７の歩行を支援することができる。 Further, in step S108, the cared person 7 turns off the power by the input IF 6. As shown in FIG. 8E, the cared person 7 applies the force forward by the cared person 7 so that the front wheel 14 a and the rear wheel 14 b are moved by the force of the cared person 7. Each of them can freely rotate, and the walking mechanism 14 can support the walking of the cared person 7 as a walker.
　《実施の形態１の効果》
　アーム機構４に第１保持部３ａと第２保持部３ｂとで構成されるホールド機構３ｇと連結部３ｃとを介護ベルト３として備えて、制御部１２の制御の下にアーム機構４で牽引動作するように介護ベルト３を前方に移動させることができる。この結果、起立動作初期時に（着座姿勢の状態から臀部７ｅを離床させる第１の状態において）、被介護者７の前傾姿勢をできるだけ浅くし、成人健常者の動作に近づけることができるよう動作を支援することが可能となる。 << Effect of Embodiment 1 >>
The arm mechanism 4 is provided with a hold mechanism 3g and a connecting portion 3c constituted by the first holding portion 3a and the second holding portion 3b as the care belt 3, and is pulled by the arm mechanism 4 under the control of the control portion 12. Thus, the care belt 3 can be moved forward. As a result, at the initial stage of the standing motion (in the first state in which the buttocks 7e are lifted from the sitting posture), the forward tilting posture of the cared person 7 is made as shallow as possible so that it can be brought closer to that of an adult healthy person. Can be supported.
　（実施の形態２）
　本実施の形態において、データベース入出力部から動作情報を取得する代わりに、力検出部で検出した力と位置情報とを基に動作情報を生成して取得する動作支援システムについて説明する。 (Embodiment 2)
In this embodiment, an operation support system that generates and acquires operation information based on the force and position information detected by the force detection unit instead of acquiring operation information from the database input / output unit will be described.
　図１０は、本実施の形態にかかる動作支援システム１Ｂが、被介護者７が座位姿勢から起立姿勢へ変わる際の動作を支援する様子を示す。図１１は、本実施の形態における動作支援システム１Ｂの詳細構成を示すブロック図である。 FIG. 10 shows a state in which the motion support system 1B according to the present embodiment supports the motion when the care recipient 7 changes from the sitting posture to the standing posture. FIG. 11 is a block diagram showing a detailed configuration of the operation support system 1B in the present embodiment.
　動作支援システム１Ｂでは、データベース入出力部９から動作情報を取得する代わりに、力検出部１７で検出した力と位置情報とを基に動作情報生成部１０で動作情報を生成して取得するものであり、力検出部１７と動作情報生成部１０とを備えることが、実施の形態１と大きく異なる。 In the motion support system 1B, instead of acquiring motion information from the database input / output unit 9, the motion information generating unit 10 generates and acquires motion information based on the force and position information detected by the force detection unit 17. The difference from the first embodiment is that the force detection unit 17 and the motion information generation unit 10 are provided.
　実施の形態１の図２Ａ～図３と同様に、動作支援システム１Ｂは、床面１３上に置かれている。動作支援システム１Ｂは、本体機構２と、制御装置１１Ｂと、入力ＩＦ６と、力検出部１７とを備える。 2A to 3 of the first embodiment, the motion support system 1B is placed on the floor surface 13. The operation support system 1B includes a main body mechanism 2, a control device 11B, an input IF 6, and a force detection unit 17.
　本体機構２は、実施の形態１におけるものと同様に、アーム機構４と、介護ベルト３と、歩行機構１４とを備える。 The main body mechanism 2 includes an arm mechanism 4, a care belt 3, and a walking mechanism 14 as in the first embodiment.
　制御装置１１Ｂは、データベース入出力部９と、タイマー１６と、制御部１２Ｂと、動作情報生成部１０とを備える。 The control device 11B includes a database input / output unit 9, a timer 16, a control unit 12B, and an operation information generation unit 10.
　歩行機構１４と介護ベルト３とタイマー１６と入力ＩＦ６とは、実施の形態１におけるものと同様であるため、これらの説明を省略する。 Since the walking mechanism 14, the care belt 3, the timer 16, and the input IF 6 are the same as those in the first embodiment, their descriptions are omitted.
　被介護者７は、実施の形態１と同様に、介護ベルト３のホールド機構３ｇにより保持されていて、座位姿勢時に腰掛部５（例えば、ベッド、椅子、又は、トイレの便座など）に座っている。アーム機構４の側面には、ボタンなどが配置された操作盤などの入力ＩＦ６を実施の形態１と同様に配置する。 As in the first embodiment, the cared person 7 is held by the hold mechanism 3g of the care belt 3 and sits on the sitting part 5 (for example, a bed, a chair, or a toilet seat) in a sitting position. Yes. On the side surface of the arm mechanism 4, an input IF 6 such as an operation panel on which buttons and the like are arranged is arranged in the same manner as in the first embodiment.
　実施の形態１と異なる点について、以下、詳細に説明する。 Differences from Embodiment 1 will be described in detail below.
　《力検出部１７》
　まず、アーム機構４に力検出部１７を備えて、被介護者７がアーム機構４に加える力を力検出部１７により検出する。力検出部１７は、被介護者７が、入力ＩＦ６から動作支援システム１Ｂの動作開始情報を入力することで（例えばボタンを押下するなど）、動作支援システム１Ｂの制御装置１１Ｂの制御動作を開始させたのち、検出を開始する。力検出部１７により、被介護者７がアーム機構４に加える力を検出し、力検出部１７で検出した力とアーム機構４の位置とに基づいて、動作情報生成部１０で動作を生成し、制御部１２Ｂによりアーム機構４の動作を制御する。 << Force detection unit 17 >>
First, the arm mechanism 4 includes a force detection unit 17, and the force applied to the arm mechanism 4 by the care recipient 7 is detected by the force detection unit 17. The force detector 17 starts the control operation of the control device 11B of the operation support system 1B when the care receiver 7 inputs the operation start information of the operation support system 1B from the input IF 6 (for example, pressing a button). Then, start detection. The force detection unit 17 detects the force applied to the arm mechanism 4 by the care recipient 7, and generates an operation in the operation information generation unit 10 based on the force detected by the force detection unit 17 and the position of the arm mechanism 4. The operation of the arm mechanism 4 is controlled by the control unit 12B.
　具体的には、図１０に示すように、力検出部１７は、アーム機構４の第３アーム４ｅの上端と第４アーム４ｆの前端との連結部分付近に備えられる。アーム機構４に外部（例えば、被介護者７）から加えられた力情報を力検出部１７で検出する。力検出部１７で検出した情報は、データベース入出力部９を介して、時刻とともに動作情報データベース８に記憶される。一例として、力検出部１７は、動作支援システム１Ｂの上下方向の力と前後方向の力が計測可能な２軸の力センサ、又は、手前方向の回転も含めた３軸力センサなどで構成される。 Specifically, as shown in FIG. 10, the force detection unit 17 is provided in the vicinity of a connection portion between the upper end of the third arm 4e of the arm mechanism 4 and the front end of the fourth arm 4f. Force information applied to the arm mechanism 4 from the outside (for example, the cared person 7) is detected by the force detection unit 17. Information detected by the force detection unit 17 is stored in the operation information database 8 together with time via the database input / output unit 9. As an example, the force detection unit 17 is configured by a biaxial force sensor capable of measuring the vertical force and the longitudinal force of the operation support system 1B, or a triaxial force sensor including forward rotation. The
　《アーム機構４》
　アーム機構４は、実施の形態１と同様に、歩行機構１４の上部に備えられ、一例として、第１モータ４１と第１エンコーダ４３とを第１関節部に有するとともに第２モータ４２と第２エンコーダ４４とを第２関節部に有する２自由度アームである。実施の形態１と同様に、第１エンコーダ４３と第２エンコーダ４４とからの情報を基に第１モータ４１と第２モータ４２とを制御装置１１Ｂで制御することで、一例として、図４Ａ～図４Ｃに示すように動作支援システム１Ｂを駆動することができる。さらに、持ち手１５が実施の形態１と同様に備えられており、被介護者７が座位又は起立時に手で握って持つことができる。 << Arm mechanism 4 >>
The arm mechanism 4 is provided in the upper part of the walking mechanism 14 as in the first embodiment. As an example, the arm mechanism 4 includes the first motor 41 and the first encoder 43 in the first joint portion, and the second motor 42 and the second motor 42. This is a two-degree-of-freedom arm having an encoder 44 at the second joint. As in the first embodiment, the first motor 41 and the second motor 42 are controlled by the control device 11B based on the information from the first encoder 43 and the second encoder 44. As an example, FIG. As shown in FIG. 4C, the operation support system 1B can be driven. Further, the handle 15 is provided in the same manner as in the first embodiment, and the cared person 7 can hold and hold it with his hand when sitting or standing.
　《動作情報データベース８》
　実施の形態１と同様に、タイマー１６からの指令に基づいて制御部１２が実行され、アーム機構４の位置情報（第１エンコーダ４３及び第２エンコーダ４４からのそれぞれの回転角度情報をアーム機構４の位置情報に変換した位置情報）が、タイマー１６からの実行指令を利用して、データベース入出力部９及び制御部１２を実行させて、ある一定時間毎（例えば、１ｍｓｅｃ毎）に生成される。これらの生成された位置情報が、時刻と共に、データベース入出力部９を介して動作情報データベース８に出力されて、動作情報データベース８に記憶される。本実施の形態では、後述するように、動作情報データベース８に記憶された力検出部１７で検出された力の情報と位置情報と時刻の情報を基にして、動作情報生成部１０で動作情報が生成されて動作情報データベース８に記憶される。 << Operation Information Database 8 >>
As in the first embodiment, the control unit 12 is executed based on a command from the timer 16, and the position information of the arm mechanism 4 (respective rotation angle information from the first encoder 43 and the second encoder 44 is obtained from the arm mechanism 4. The position information converted into the position information) is generated at regular intervals (for example, every 1 msec) by executing the database input / output unit 9 and the control unit 12 using the execution command from the timer 16. . The generated position information is output together with the time to the operation information database 8 via the database input / output unit 9 and stored in the operation information database 8. In the present embodiment, as will be described later, the motion information generation unit 10 operates the motion information based on the force information, the position information, and the time information detected by the force detection unit 17 stored in the motion information database 8. Is generated and stored in the motion information database 8.
　図１２は、動作情報データベース８の情報内容の一例を示す。 FIG. 12 shows an example of the information content of the operation information database 8.
　（１）「時刻」の欄は、アーム機構４が動作している際の時刻に関する情報を示す。本実施の形態では、時刻についてはミリ秒（ｍｓｅｃ）単位系で示す。 (1) The “time” column shows information about the time when the arm mechanism 4 is operating. In the present embodiment, the time is shown in the unit of milliseconds (msec).
　（２）「位置」の欄は、アーム機構４の第１エンコーダ４３及び第２エンコーダ４４などで検出される角度情報を変換したアーム機構４の位置情報を示す。具体的には、図１０に示すように、アーム機構４の一端を原点Ｏとし、動作支援システム１Ｂの進行方向逆向きを正としたｘ軸と上向きを正としたｚ軸との２軸の位置とし、原点からの相対座標として示す。なお、本実施の形態では、位置についてはメートル（ｍ）単位系で示す。 (2) The “position” column indicates the position information of the arm mechanism 4 obtained by converting the angle information detected by the first encoder 43 and the second encoder 44 of the arm mechanism 4. Specifically, as shown in FIG. 10, one end of the arm mechanism 4 is set as the origin O, and the two axes of the x axis with the reverse direction of the movement support system 1B as positive and the z axis with the upward direction as positive. The position is shown as relative coordinates from the origin. In the present embodiment, the position is shown in a meter (m) unit system.
　（３）「力」の欄は、アーム機構４に備えられた力検出部１７で検出される、アーム機構４にかかる力を示す。具体的には、動作支援システム１Ｂの進行方向逆向きを正としたｘ軸と上向きを正としたｚ軸との２軸のそれぞれにかかる力の情報である。本実施の形態では、力についてはニュートン（Ｎ）単位系で示す。 (3) The column “force” indicates the force applied to the arm mechanism 4 detected by the force detection unit 17 provided in the arm mechanism 4. Specifically, it is information on the force applied to each of the two axes of the x axis with the direction opposite to the traveling direction of the motion support system 1B as positive and the z axis with the upward direction as positive. In the present embodiment, the force is shown in a Newton (N) unit system.
　《データベース入出力部９》
　データベース入出力部９は、動作情報データベース８と、制御部１２と、力検出部１７と、動作情報生成部１０との間で、データ（情報）の入出力を行う。 << Database input / output unit 9 >>
The database input / output unit 9 inputs / outputs data (information) among the motion information database 8, the control unit 12, the force detection unit 17, and the motion information generation unit 10.
　《動作情報生成部１０》
　動作情報生成部１０は、動作情報データベース８に記憶された時刻と位置と力との情報を、データベース入出力部９より取得して、これらの位置と力との情報に基づいて、アーム機構４の動作情報を生成して、動作情報データベース８に記憶する。 << Operation Information Generation Unit 10 >>
The motion information generation unit 10 acquires the time, position, and force information stored in the motion information database 8 from the database input / output unit 9, and based on the information on the position and force, the arm mechanism 4 Is generated and stored in the operation information database 8.
　この動作情報の生成について、図１３Ａを利用しながら説明する。図１３Ａは、動作情報生成部１０で生成した動作情報のグラフを示す。図１３Ａは、横軸に時間を示し、縦軸にｘ軸の位置の情報とｚ軸の位置の情報とを示し、加えて、ｘ軸の力の情報とｚ軸の力の情報とを示す。 The generation of the operation information will be described with reference to FIG. 13A. FIG. 13A shows a graph of motion information generated by the motion information generation unit 10. In FIG. 13A, the horizontal axis represents time, the vertical axis represents x-axis position information and z-axis position information, and in addition, x-axis force information and z-axis force information. .
　まず、図８Ａに示すように、被介護者７は、腰掛部５に座った座位姿勢からの立ち上がり動作を開始する（具体的には、後述する、実施の形態１のステップＳ１０１からステップＳ１０３と同様なステップＳ２０１からステップＳ２０３を参照）。次に、図８Ｂに左向きの矢印で示すように、進行方向（ｘ軸負方向）にアーム機構４を移動させる（後述するステップＳ２０５参照）ように、制御部１２Ｂで第１モータ４１と第２モータ４２とをそれぞれ独立して駆動制御するための動作情報を動作情報生成部１０で生成する。 First, as shown in FIG. 8A, the cared person 7 starts a rising motion from a sitting posture sitting on the seat 5 (specifically, from step S101 to step S103 in the first embodiment, which will be described later). (See the same steps S201 to S203). Next, as shown by the left-pointing arrow in FIG. 8B, the control unit 12B moves the first motor 41 and the second motor so that the arm mechanism 4 is moved in the traveling direction (x-axis negative direction) (see step S205 described later). The operation information generating unit 10 generates operation information for independently driving and controlling the motor 42.
　このステップＳ２０５の動作は、図１３Ａでは、時刻０から時刻ｔ１までの区間として示される。この時刻ｔ１でｘ軸方向の力とｚ軸方向の力とが大きく変化する。これは、時刻ｔ１が、進行方向に引く動作により臀部７ｅが離床を始めるタイミングであることを意味し、臀部７ｅが離床することで、ｘ軸方向の力が減少し、さらにｚ軸方向の力が減少する。 The operation of step S205 is shown as a section from time 0 to time t1 in FIG. 13A. At this time t1, the force in the x-axis direction and the force in the z-axis direction change greatly. This means that the time t1 is a timing at which the eaves part 7e starts to leave the floor by the pulling operation in the traveling direction. When the eaves part 7e gets out of the floor, the force in the x-axis direction decreases and the force in the z-axis direction further decreases. Decrease.
　動作情報生成部１０は、このｔ１の時刻を自動的に検出する。具体的には、動作情報生成部１０は、時刻ｔ１と時刻ｔ０とのそれぞれの時刻のｘ軸方向の力とｚ軸方向の力とを検出し、ｘ軸方向の力とｚ軸方向の力とのそれぞれの差分を検出する。次いで、時刻ｔ２と時刻ｔ１とでも同様に、ｘ軸方向の力とｚ軸方向の力とのそれぞれの差分を検出する。以後同様に、隣接する時刻間での差分を検出し続ける。 The operation information generation unit 10 automatically detects the time t1. Specifically, the motion information generation unit 10 detects the force in the x-axis direction and the force in the z-axis direction at the times t1 and t0, and the force in the x-axis direction and the force in the z-axis direction. And the respective differences are detected. Next, the difference between the force in the x-axis direction and the force in the z-axis direction is similarly detected at time t2 and time t1. Thereafter, similarly, the difference between adjacent times is continuously detected.
　次いで、差分の符号が逆転した時点を動作情報生成部１０で検出する。差分の符号が逆転した時点（この例では、時刻ｔ２）の直前の時刻ｔ１が、力が大きく変化する変化点である。この変化点を、動作情報生成部１０で検出したタイミングで、ｚ軸の位置を上方に移動させる（具体的には、図１３Ａの時刻ｔ１以降のｚ軸の位置を上方に移動させる）ように動作情報生成部１０で動作情報を生成する。これにより、図８Ｃに示すように、アーム機構４を、前方へ移動しつつ上方へ移動する動作を、動作情報生成部１０で動作情報として生成することが可能となる。また、ホールド機構３ｇの第１保持部３ａで被介護者７の上半身を保持しているために、被介護者７の上半身の後屈が有効に働き、立ち上がりやすくなっている。なおこの例では、ｘ軸方向の力とｚ軸方向の力との変化点を検出しているが、ｘ軸方向のみの力だけで検出するなど、どちらか一方向の力を使うようにしても良い。 Next, the operation information generation unit 10 detects the time when the sign of the difference is reversed. A time t1 immediately before the time when the sign of the difference is reversed (in this example, time t2) is a changing point at which the force changes greatly. The z-axis position is moved upward at the timing detected by the motion information generation unit 10 (specifically, the z-axis position after time t1 in FIG. 13A is moved upward). The operation information generating unit 10 generates operation information. As a result, as shown in FIG. 8C, the motion information generating unit 10 can generate an operation of moving the arm mechanism 4 upward while moving forward as motion information. In addition, since the upper body of the cared person 7 is held by the first holding part 3a of the hold mechanism 3g, the backward bending of the upper body of the cared person 7 works effectively and is easy to stand up. In this example, the change point between the force in the x-axis direction and the force in the z-axis direction is detected. However, the force in one direction, such as detection only with the force only in the x-axis direction, is used. Also good.
　次に、図８Ｄに示すように、被介護者７を上方へ持ち上げる際の速度を、ｚ軸の力の情報で動作情報生成部１０で決定する。 Next, as shown in FIG. 8D, the speed at which the cared person 7 is lifted upward is determined by the motion information generation unit 10 based on z-axis force information.
　具体的には、図１３Ａの時刻ｔ１以降に示すようにｚ軸の力が下方向に加わっている場合は、アーム機構４により所定の速度ｓｚで被介護者７を上方に持ち上げる。しかしながら、図１３Ｂに示すように、ｔ１時刻以降のｚ軸方向の力がｚ軸上方向に加わっている場合は、その力が０となる位置まで、アーム機構４によりｚ軸方向の上方への持ち上げ速度を加速するよう動作情報を動作情報生成部１０で生成する。これにより、下半身の筋力が十分有り自らの筋力で上方に立ち上がることができる場合には、その動きに追従するよう持ち上げ速度を加速することで、スムーズに立ち上がることができる。 Specifically, as shown after time t1 in FIG. 13A, when the z-axis force is applied downward, the arm mechanism 4 lifts the cared person 7 upward at a predetermined speed sz. However, as shown in FIG. 13B, when a force in the z-axis direction after time t1 is applied in the z-axis upward direction, the arm mechanism 4 moves the force upward in the z-axis direction until the force becomes zero. The motion information generating unit 10 generates motion information so as to accelerate the lifting speed. As a result, when the lower body has sufficient muscle strength and can stand up with its own muscle strength, it can rise smoothly by accelerating the lifting speed so as to follow the movement.
　なお、この例では、力が０となる位置まで加速するように動作情報を動作情報生成部１０で生成しているが、例えば、アーム機構４によりｚ軸方向の上方向の力になるように減速するように動作情報を動作情報生成部１０で生成することで、被介護者７の下半身に負荷を与えられるため、被介護者７のリハビリ目的にも利用できる。図８Ｅの終了地点の位置は、被介護者７の身長で予め決められた所定の位置で停止する。ｔ１時刻以降のｚ軸方向の力がｚ軸下方向に加わっている場合は、ｚ軸方向の力が上方向の力になる位置まで、ｚ軸方向の上方への持ち上げ速度を加速する。ｚ軸方向の力が上方向の力になった時点で、ｚ軸方向の上方への持ち上げ速度を加速せず、一定速度で上方に移動させる。これにより、下半身の筋力が低下し、自らの筋力で上方に立ち上がることができない場合には、上方向に加速することで、楽に立ち上がることができるようになる。さらに上方向の力になった時点で加速しないようにすることで、必要以上のアシストをしないようにできる。これにより、被介護者の下半身の筋力を使いながら、足りない力のみアシストすることができるようになる。 In this example, the motion information is generated by the motion information generation unit 10 so as to accelerate to a position where the force becomes zero. For example, the arm mechanism 4 causes the force to be an upward force in the z-axis direction. Since the motion information is generated by the motion information generation unit 10 so as to decelerate, a load is applied to the lower body of the cared person 7, so that it can be used for the rehabilitation purpose of the cared person 7. The position of the end point in FIG. 8E stops at a predetermined position determined in advance by the height of the cared person 7. When a force in the z-axis direction after time t1 is applied in the z-axis downward direction, the upward lifting speed in the z-axis direction is accelerated to a position where the z-axis direction force becomes an upward force. When the force in the z-axis direction becomes an upward force, the upward lifting speed in the z-axis direction is not accelerated and moved upward at a constant speed. As a result, when the muscle strength of the lower body is reduced and it is impossible to stand up with its own muscle strength, it is possible to stand up easily by accelerating upward. Furthermore, by not accelerating when the upward force is reached, it is possible to prevent more than necessary assistance. Thereby, it becomes possible to assist only the insufficient force while using the muscle strength of the lower body of the care recipient.
　つまり、動作支援システム１Ｂは、被介護者７を保持した状態の介護ベルト３を支持しているアーム機構４の状態に基づいて、被介護者７による起立又は着座の動作が行われることを推定し、推定された動作を支援するように、介護ベルト３及びアーム機構４の少なくとも一方を動作させる。 That is, the motion support system 1B estimates that the cared person 7 performs the standing or sitting motion based on the state of the arm mechanism 4 that supports the caring belt 3 holding the cared person 7. Then, at least one of the care belt 3 and the arm mechanism 4 is operated so as to support the estimated operation.
　上記のアーム機構４の状態とは、力検出部が検出した力と、位置検出部が検出した位置とを含む。そして、動作支援システム１Ｂは、アーム機構４の状態に基づいて、被介護者７の身体が所定の軌道を描くようにアーム機構を動作させる。 The state of the arm mechanism 4 includes the force detected by the force detection unit and the position detected by the position detection unit. Then, the motion support system 1B operates the arm mechanism based on the state of the arm mechanism 4 so that the body of the care recipient 7 draws a predetermined trajectory.
　なお、動作支援システム１Ｂは、被介護者７による起立動作又は着座動作を支援するための動作の途中で動作を停止することも可能である。このように動作を停止すると、被介護者７は、起立姿勢と着座状態との間の姿勢（中腰姿勢ともいう）をとることができる。例えば、トイレの前後において、中腰姿勢において被介護者７の着衣の着脱を行うことができ、有用である。 The operation support system 1B can also stop the operation in the middle of the operation for supporting the standing operation or the sitting operation by the care recipient 7. When the operation is stopped in this manner, the cared person 7 can take a posture (also referred to as a middle waist posture) between the standing posture and the sitting state. For example, before and after the toilet, it is possible to attach and detach the clothes of the cared person 7 in a middle waist posture, which is useful.
　以上の動作情報を動作情報生成部１０で生成し、データベース入出力部９を介して、動作情報生成部１０で動作情報データベース８に記憶する。 The above operation information is generated by the operation information generation unit 10 and stored in the operation information database 8 by the operation information generation unit 10 via the database input / output unit 9.
　なお、力検出部１７の値を、例えばアーム機構４に設置されたモニタなどに提示することで、どれぐらいアーム機構４に力を加えているかを確認できるようにしても良い。その場合は、多くの力をかけているほど、被介護者７自身の下半身などの身体を使えていないということなので、例えば、リハビリ装置の進捗を被介護者７自身で確認することができるようになる。さらに、記憶された過去の力情報と比較することで、以前からどれぐらいリハビリの効果があるのかを確認することができる。 It should be noted that the value of the force detection unit 17 may be displayed on, for example, a monitor installed in the arm mechanism 4 to check how much force is applied to the arm mechanism 4. In that case, the more the force is applied, the less the body such as the lower body of the cared person 7 can be used. For example, the cared person 7 can confirm the progress of the rehabilitation device. become. Furthermore, by comparing with the stored past force information, it can be confirmed how much rehabilitation has been effective since before.
　《制御部１２Ｂ》
　制御部１２Ｂは、データベース入出力部９から入力された動作情報の位置情報と力情報に追従するようにアーム機構４の第１モータ４１と第２モータ４２とを動かす。加えて、制御部１２Ｂは、入力ＩＦ６により入力された前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄのＯＮ／ＯＦＦの指令に基づいて、前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄのブレーキを制御する。 << Control unit 12B >>
The control unit 12B moves the first motor 41 and the second motor 42 of the arm mechanism 4 so as to follow the position information and force information of the operation information input from the database input / output unit 9. In addition, the control unit 12B controls the braking of the front wheel brake 14c and the rear wheel brake 14d based on the ON / OFF command of the front wheel brake 14c and the rear wheel brake 14d input by the input IF 6.
　以下、動作情報生成部１０で生成された動作情報を制御部１２Ｂで制御される動作支援システム１Ｂの動作について説明する。 Hereinafter, the operation of the operation support system 1B in which the operation information generated by the operation information generation unit 10 is controlled by the control unit 12B will be described.
　図８Ａ～図８Ｅに動作支援システム１Ｂのアーム機構４の動作手順とそれに伴う被介護者の動作とを図１４のフローチャートを用いて説明する。 8A to 8E, the operation procedure of the arm mechanism 4 of the operation support system 1B and the accompanying operation of the care recipient will be described with reference to the flowchart of FIG.
　図８Ａに示すように、被介護者７は、床面１３上に配置された、ベッドなどの腰掛部５に座る。次に、介護者などにより、動作支援システム１Ｂが、腰掛部５に座った被介護者７の正面に配置される。 As shown in FIG. 8A, the cared person 7 sits on the seat 5 such as a bed arranged on the floor surface 13. Next, the operation support system 1 </ b> B is arranged in front of the cared person 7 sitting on the seat 5 by a caregiver or the like.
　次に、図１４のステップＳ２０１で、被介護者７が、入力ＩＦ６により動作支援システム１Ｂの電源をＯＮにする。 Next, in step S201 of FIG. 14, the cared person 7 turns on the power of the operation support system 1B by the input IF 6.
　次に、ステップＳ２０２で、被介護者７が、入力ＩＦ６により前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄをＯＮにすることで、制御部１２Ｂにより、歩行機構１４の前輪１４ａと後輪１４ｂとがそれぞれ回転しないようにブレーキがかけられる。 Next, in step S202, the cared person 7 turns on the front wheel brake 14c and the rear wheel brake 14d by the input IF 6, so that the front wheel 14a and the rear wheel 14b of the walking mechanism 14 are rotated by the control unit 12B. The brake is applied so as not to.
　次に、被介護者７は、アーム機構４に連結された介護ベルト３のホールド機構３ｇを体に装着し、持ち手１５を両手で把持する。 Next, the cared person 7 attaches the hold mechanism 3g of the care belt 3 connected to the arm mechanism 4 to the body, and holds the handle 15 with both hands.
　次に、ステップＳ２０３で、被介護者７が、入力ＩＦ６の立ち上がり開始ボタンを押下することで、動作支援システム１Ｂが動作を開始する。この例では、立ち上がり開始ボタンを押した状態でのみ動作し、立ち上がり開始ボタンを離すと、動作支援システム１Ｂが動作を停止する。これ以降のステップＳ２０４～ステップＳ２０６では、動作支援システム１Ｂの制御装置１１Ｂにより、アーム機構４の第１駆動部４ａと第２駆動部４ｂとをそれぞれ独立して駆動制御し、図４Ａの被介護者７の座位姿勢から図４Ｂの被介護者７の臀部７ｅを腰掛部５から離床させるように、図４Ｃの起立動作を支援する。 Next, in step S203, the care receiver 7 presses the rising start button of the input IF 6, and the operation support system 1B starts operation. In this example, the operation support system 1B operates only when the rising start button is pressed, and when the rising start button is released, the operation support system 1B stops operating. In subsequent steps S204 to S206, the control device 11B of the motion support system 1B controls the drive of the first drive unit 4a and the second drive unit 4b of the arm mechanism 4 independently of each other. 4C is supported so that the buttocks 7e of the cared person 7 in FIG. 4B can get out of the seat 5 from the sitting posture of the person 7.
　次に、ステップＳ２０４で、力検出部１７で、被介護者７がアーム機構４に加える力を検出する。 Next, in step S204, the force detector 17 detects the force applied by the care recipient 7 to the arm mechanism 4.
　次に、ステップＳ２０５で、動作情報生成部１０は、力検出部１７で検出した力とアーム機構４の位置情報とに基づいて、動作情報を生成し、データベース入出力部９を介して動作情報データベース８に記憶する。 Next, in step S <b> 205, the motion information generation unit 10 generates motion information based on the force detected by the force detection unit 17 and the position information of the arm mechanism 4, and the motion information via the database input / output unit 9. Store in database 8.
　次に、ステップＳ２０６で、制御部１２Ｂはデータベース入出力部９から動作情報を取得し、制御部１２Ｂは、アーム機構４がデータベース入出力部９から取得した動作情報に追従するようにアーム機構４を駆動するため、第１モータ４１と第２モータ４２とをそれぞれ独立して駆動して制御する。 Next, in step S206, the control unit 12B acquires operation information from the database input / output unit 9, and the control unit 12B follows the operation information acquired by the arm mechanism 4 from the database input / output unit 9. , The first motor 41 and the second motor 42 are independently driven and controlled.
　一例として、制御部１２の制御の下で、図８Ａから図８Ｂに示すように、前方方向（図８Ａの左方向）に移動するようにアーム機構４を制御部１２Ｂで制御する。すると、図８Ｂに示すように、ホールド機構３ｇの第１保持部３ａと第２保持部３ｂとが同時に前方方向へアーム機構４により牽引される。このとき、アーム機構４により連結部３ｃを介して第１保持部３ａを前方へ牽引することで、図８Ｂに点線で時計回りの矢印Ａで示すように被介護者７の上半身の後屈を促し、さらに、連結部３ｃを介して第２保持部３ｂを前方へ牽引することで、図８Ｂに点線で反時計回りの矢印Ｂで示すように被介護者７の骨盤の前傾を促すことが可能となる。 As an example, under the control of the control unit 12, as shown in FIGS. 8A to 8B, the arm mechanism 4 is controlled by the control unit 12B so as to move forward (leftward in FIG. 8A). Then, as shown in FIG. 8B, the first holding portion 3a and the second holding portion 3b of the hold mechanism 3g are simultaneously pulled forward by the arm mechanism 4. At this time, the arm mechanism 4 pulls the first holding portion 3a forward via the connecting portion 3c, so that the upper body of the cared person 7 can bend backward as indicated by a dotted arrow A in FIG. 8B. Further, by pulling the second holding portion 3b forward through the connecting portion 3c, the pelvis of the care recipient 7 is tilted forward as shown by a counterclockwise arrow B in FIG. 8B. Is possible.
　このように被介護者７の前傾をアーム機構４でアシストすることで、被介護者７の臀部７ｅの腰掛部５からの離床を促し、同時に被介護者７の上半身の後屈を促すことで、被介護者７が腰掛部５から立ち上がり易くなる。また、被介護者７の上半身の後屈を促すことで、被介護者７は、前傾姿勢を深く取ることなく、座位姿勢から立位姿勢へスムーズに移行することが可能となる。 In this way, by assisting the forward tilt of the cared person 7 with the arm mechanism 4, the care receiver 7 is encouraged to get out of the seat part 5 of the buttocks 7 e of the cared person 7, and at the same time, the rearward bending of the upper part of the cared person 7 is promoted. Thus, the cared person 7 can easily stand up from the seat portion 5. Further, by urging the upper body of the cared person 7 to bend backward, the cared person 7 can smoothly transition from the sitting position to the standing position without taking a deep forward leaning position.
　次に、図８Ｃに示すように被介護者７の臀部７ｅの腰掛部５からの離床の段階（第１の状態の終了時点）で、図８Ｄに上向きの矢印で示すように、アーム機構４を上方へ移動するように制御部１２Ｂでアーム機構４を駆動制御する。 Next, as shown in FIG. 8C, at the stage of getting out of the seat portion 5 of the buttocks 7 e of the cared person 7 (at the end of the first state), as shown by the upward arrow in FIG. 8D, the arm mechanism 4 The arm mechanism 4 is driven and controlled by the control unit 12B so as to move upward.
　本実施の形態では、力検出部１７で検出した力とアーム機構４の位置情報とに基づいて、動作情報を動作情報生成部１０で生成するため、例えば被介護者７の背の違い又は前傾速度の違いなどに応じて、臨機応変に動作情報を動作情報生成部１０で生成することができる。 In the present embodiment, since the motion information is generated by the motion information generation unit 10 based on the force detected by the force detection unit 17 and the position information of the arm mechanism 4, for example, the difference in the back of the cared person 7 or the front The motion information generation unit 10 can generate motion information in a flexible manner according to a difference in tilt speed.
　一例として、図１３Ｃに、被介護者７の背の違いにより、アーム機構４と連結される連結部３ｃの軌道が違うことを説明する。図１３Ｃの縦軸は動作支援システム１Ｂの上下方向ｚ軸を示し、横軸は動作支援システム１Ｂの進行方向（前後方向）ｘ軸を示す。図１３Ｃの軌道Ａは、身長１８０ｃｍの被介護者７の連結部３ｃの軌道である。図１３Ｃの軌道Ｂは、身長１６７ｃｍの被介護者７の連結部３ｃの軌道である。図１３Ｃの軌道Ｃは、身長１５５ｃｍの被介護者７の連結部３ｃの軌道である。身長が高い人ほど軌道が高く、逆に、身長が低い人ほど軌道が低くなっている。 As an example, FIG. 13C illustrates that the trajectory of the connecting portion 3c connected to the arm mechanism 4 is different depending on the back of the cared person 7. The vertical axis of FIG. 13C indicates the vertical z-axis of the motion support system 1B, and the horizontal axis indicates the traveling direction (front-back direction) x-axis of the motion support system 1B. A trajectory A in FIG. 13C is a trajectory of the connecting portion 3c of the cared person 7 having a height of 180 cm. The trajectory B of FIG. 13C is the trajectory of the connecting portion 3c of the cared person 7 having a height of 167 cm. The trajectory C in FIG. 13C is the trajectory of the connecting portion 3c of the cared person 7 having a height of 155 cm. The higher the height, the higher the trajectory, and the lower the height, the lower the trajectory.
　上記のように、アーム機構４の上向きの移動により、被介護者７は上方にアシストされ、図８Ｅにて被介護者７は立ち上がりを完了する。この時点で、被介護者７は立位姿勢の状態となっている。 As described above, the care receiver 7 is assisted upward by the upward movement of the arm mechanism 4, and the care receiver 7 completes the stand-up in FIG. 8E. At this point, the cared person 7 is in a standing posture.
　次に、ステップＳ２０７にて、被介護者７は、押下している入力ＩＦ６を戻す（離す）ことで、制御部１２Ｂによる立ち上がり動作の制御動作及びアーム機構４の駆動は停止する。なお、ステップＳ２０７以前においても、被介護者７は、押下している入力ＩＦ６を戻す（離す）ことで、制御部１２Ｂによる立ち上がり動作の制御動作及びアーム機構４の駆動は、途中で停止する。 Next, in step S207, the cared person 7 returns (releases) the input IF 6 that is being pressed, so that the control operation of the rising operation by the control unit 12B and the driving of the arm mechanism 4 are stopped. Even before step S207, the cared person 7 returns (releases) the input IF 6 being pressed, so that the control operation of the rising operation and the driving of the arm mechanism 4 by the control unit 12B are stopped halfway.
　次に、ステップＳ２０８で、被介護者７は、入力ＩＦ６により、前輪ブレーキ１４ｃ及び後輪ブレーキ１４ｄをＯＦＦにする。 Next, in step S208, the cared person 7 turns off the front wheel brake 14c and the rear wheel brake 14d by the input IF 6.
　さらに、ステップＳ２０９で、被介護者７は、入力ＩＦ６により電源をＯＦＦにする。被介護者７は、図８Ｅに示すように立位姿勢の状態となった後、被介護者７が前方へ力を加えることで、被介護者７の力で前輪１４ａと後輪１４ｂとがそれぞれ自在に回転し、歩行機構１４は、歩行器として被介護者７の歩行を支援することができる。 Further, in step S209, the cared person 7 turns off the power by the input IF 6. As shown in FIG. 8E, the cared person 7 applies the force forward by the cared person 7 so that the front wheel 14 a and the rear wheel 14 b are moved by the force of the cared person 7. Each of them can freely rotate, and the walking mechanism 14 can support the walking of the cared person 7 as a walker.
　《実施の形態２の効果》
　動作情報データベース８に記憶された位置情報と力検出部１７で検出し動作情報データベース８に記憶された力とに基づいて、動作情報生成部１０でアーム機構４の動作情報を生成するため、例えば背の違い又は前傾速度の違いなどに応じて、臨機応変に動作情報を動作情報生成部１０で生成することができる。この結果、起立動作初期時に（着座姿勢の状態から臀部７ｅを離床させる第１の状態において）、被介護者７の前傾姿勢をできるだけ浅くし、成人健常者の動作に近づけることができるように動作を支援することができる。 << Effect of Embodiment 2 >>
Based on the position information stored in the motion information database 8 and the force detected by the force detection unit 17 and stored in the motion information database 8, the motion information generation unit 10 generates the motion information of the arm mechanism 4, for example, The motion information can be generated by the motion information generator 10 in a flexible manner according to the difference in the back or the forward tilt speed. As a result, at the initial stage of standing motion (in the first state in which the buttocks 7e are removed from the sitting posture state), the forward tilt posture of the cared person 7 can be made as shallow as possible so that it can be approximated to that of an adult healthy person. Can support the operation.
　（実施の形態３）
　本実施の形態において、被介護者が発する力を生かしながら被介護者の動作を支援する動作支援システムにおいて、より適切に動作を支援する構成について説明する。具体的には、本実施の形態において、動作支援システムがより適切に動作の支援するための、アーム機構の構成、介護ベルトの構成、ハンドル機構の構成、第１駆動部及び第２駆動部の構成、歩行機構の構成、及び、動作支援システムの重心位置について説明する。 (Embodiment 3)
In this Embodiment, the structure which supports operation | movement more appropriately is demonstrated in the operation | movement assistance system which supports operation | movement of a care receiver, making use of the force which a care receiver generates. Specifically, in the present embodiment, the configuration of the arm mechanism, the configuration of the care belt, the configuration of the handle mechanism, the configuration of the first drive unit and the second drive unit for the operation support system to support the operation more appropriately. The configuration, the configuration of the walking mechanism, and the gravity center position of the motion support system will be described.
　なお、実施の形態１又は２と同様の構成要素については、同一の符号を付し、詳細な説明を省略する。 The same components as those in the first or second embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
　《アーム機構》
　まず、アーム機構の構成について説明する。 <Arm mechanism>
First, the configuration of the arm mechanism will be described.
　図１５は、本実施の形態における動作支援システム１Ｃの構成の概要を示す説明図である。 FIG. 15 is an explanatory diagram showing an outline of the configuration of the operation support system 1C in the present embodiment.
　動作支援システム１Ｃが、実施の形態１における動作支援システム１に対して異なる点は、本体機構２Ｃを備える点、及び、本体機構２Ｃがアーム機構４’及び持ち手１５’を有する点である。 The operation support system 1C is different from the operation support system 1 in the first embodiment in that it includes a main body mechanism 2C and the main body mechanism 2C includes an arm mechanism 4 'and a handle 15'.
　アーム機構４’は、実施の形態１における第２アーム４ｄと第３アーム４ｅと第４アーム４ｆとの代わりに、それぞれ、第２アーム４ｄ’と第３アーム４ｅ’と第４アーム４ｆ’とを備える。これらは、実施の形態１におけるものと長さが異なる。 Instead of the second arm 4d, the third arm 4e, and the fourth arm 4f in the first embodiment, the arm mechanism 4 ′ includes a second arm 4d ′, a third arm 4e ′, and a fourth arm 4f ′, respectively. Is provided. These are different in length from those in the first embodiment.
　持ち手１５’は、実施の形態１における持ち手１５と同様に、第３アーム４ｅ’の中間部から後ろ向きに設けられる。 Similarly to the handle 15 in the first embodiment, the handle 15 ′ is provided backward from the middle portion of the third arm 4 e ′.
　動作支援システム１Ｃは、上記のような構成を備えることで、被介護者７の足がアーム機構４’に接触又は衝突することを回避することができる。具体的には、第２アーム４ｄ’が第２アーム４ｄより短いので、被介護者７の足とアーム機構４’との離間距離が大きくなる。また、第２アーム４ｄ’を短くした分を補うように、第３アーム４ｅ’と第４アーム４ｆ’との長さが調整されている。これにより、動作支援システム１Ｃは、実施の形態１における動作支援システム１と同様に、被介護者７への動作支援を行うことができる。 The operation support system 1 </ b> C can avoid the feet of the care recipient 7 from contacting or colliding with the arm mechanism 4 ′ by providing the above-described configuration. Specifically, since the second arm 4d 'is shorter than the second arm 4d, the distance between the foot of the care recipient 7 and the arm mechanism 4' is increased. Further, the lengths of the third arm 4e 'and the fourth arm 4f' are adjusted so as to compensate for the shortening of the second arm 4d '. Thereby, the operation support system 1 </ b> C can perform operation support to the care receiver 7, similarly to the operation support system 1 in the first embodiment.
　《ハンドル機構》
　次に、ハンドル機構の構成の第一例について説明する。 《Handle mechanism》
Next, a first example of the configuration of the handle mechanism will be described.
　図１６は、本実施の形態における顎乗せ台４ｋ及びハンドル４ｍの構成を示す斜視図である。 FIG. 16 is a perspective view showing the configuration of the chin rest 4k and the handle 4m in the present embodiment.
　図１６に示されるように、アーム機構４は、顎乗せ台４ｋ及びハンドル４ｍを備える。 As shown in FIG. 16, the arm mechanism 4 includes a chin rest 4k and a handle 4m.
　顎乗せ台４ｋは、アーム機構４に固定される剛性部材であり、被介護者７の顎が乗せられるための台である。例えば、顎乗せ台４ｋは、第４アーム４ｆに固定される。アーム機構４が第１モータ４１及び第２モータ４２等により動作するとき、又は、動作支援システム１Ｃを装着した被介護者７が歩行する際に、第４アーム４ｆ等が被介護者７の顔などに衝突する危険がある。そこで、比較的面積が大きい顎乗せ台４ｋを動作支援システム１Ｃが備えることにより、例えば被介護者７の顔が衝突した場合であっても、被介護者７への衝撃を和らげることができる。 The chin rest 4k is a rigid member fixed to the arm mechanism 4 and is a pedestal on which the chin of the care recipient 7 is placed. For example, the chin rest 4k is fixed to the fourth arm 4f. When the arm mechanism 4 is operated by the first motor 41, the second motor 42, or the like, or when the cared person 7 wearing the operation support system 1C walks, the fourth arm 4f or the like is the face of the cared person 7 Risk of collision Therefore, by providing the operation support system 1C with the chin rest 4k having a relatively large area, for example, even when the face of the cared person 7 collides, the impact on the cared person 7 can be reduced.
　なお、顎乗せ台４ｋの表面にクッション材などが貼り付けられていれば、被介護者７の顎が顎乗せ台４ｋに接触していることによる違和感又は痛みをさらに和らげることができる。 In addition, if a cushion material etc. are affixed on the surface of the chin rest 4k, the discomfort or pain by the care receiver's 7 chin contacting the chin rest 4k can be relieved further.
　ハンドル４ｍは、歩行の際に被介護者７が把持する持ち手である。ハンドル４ｍは、被介護者７が動作支援システム１Ｃを装着して歩行する際に把持しやすい形状を有する。これにより、被介護者は、動作支援システム１Ｃを装着し、動作支援システム１Ｃにより支援されながら、より安定した歩行を行うことができる。 The handle 4m is a handle that the cared person 7 holds when walking. The handle 4m has a shape that can be easily grasped when the care recipient 7 walks while wearing the operation support system 1C. Thereby, the cared person can perform a more stable walking while wearing the operation support system 1C and being supported by the operation support system 1C.
　次に、ハンドル機構の構成の第二例について説明する。 Next, a second example of the configuration of the handle mechanism will be described.
　図１７は、本実施の形態における肘掛け部４ｐ及びハンドル４ｒの構成を示す斜視図である。 FIG. 17 is a perspective view showing the configuration of the armrest portion 4p and the handle 4r in the present embodiment.
　肘掛け部４ｐは、アーム機構４に固定される剛性部材であり、被介護者７の肘が乗せられるための台である。例えば、肘掛け部４ｐは、第３アーム４ｅに固定される。被介護者７は、歩行の際に肘掛け部４ｐに肘を乗せることで、より楽に歩行を行うことができる。 The armrest 4p is a rigid member that is fixed to the arm mechanism 4 and is a base on which the elbow of the care recipient 7 is placed. For example, the armrest 4p is fixed to the third arm 4e. The cared person 7 can walk more easily by placing an elbow on the armrest 4p during walking.
　肘掛け部４ｐは、被介護者７の歩行の際には有用であるが、起立動作又は着座動作の際には動作の妨げになるおそれがある。そのため、肘掛け部４ｐは、上記動作の妨げにならないよう位置が変更されるように構成されてもよい。肘掛け部４ｐの位置については、後で詳しく説明する。 The armrest portion 4p is useful when the cared person 7 walks, but there is a risk that the armrest portion 4p may hinder the operation when standing or sitting. Therefore, the armrest portion 4p may be configured such that the position is changed so as not to hinder the above-described operation. The position of the armrest 4p will be described in detail later.
　ハンドル４ｒは、歩行の際に被介護者７が把持する持ち手である。ハンドル４ｒは、被介護者７が肘掛け部４ｐに肘を置いた状態で歩行する際に把持しやすい形状を有する。これにより、被介護者は、動作支援システム１Ｃにより支援されながら、より安定した歩行を行うことができる。 The handle 4r is a handle that the cared person 7 holds when walking. The handle 4r has a shape that can be easily grasped when the care recipient 7 walks with the elbow placed on the armrest 4p. Thereby, the cared person can perform more stable walking while being supported by the motion support system 1C.
　以降において、肘掛け部４ｐが位置し得る範囲、つまり、可動範囲について説明する。 Hereinafter, the range in which the armrest 4p can be located, that is, the movable range will be described.
　図１８は、本実施の形態における肘掛け部４ｐの可動範囲を示す第一の説明図である。 FIG. 18 is a first explanatory view showing a movable range of the armrest portion 4p in the present embodiment.
　図１８に示されるように、被介護者７の歩行を支援する時には、肘掛け部４ｐは、第３アーム４ｅから見て、ｘ０軸正方向に向いて延びて配置される。肘掛け部４ｐは、ｚ０軸に平行な回動軸４ｓ回りに回動し、ｙ０軸に平行になる位置４ｐａに移動可能である。なお、肘掛け部４ｐは、さらに、回動軸４ｓ回りに回動し、ｘ０軸の負方向に向く位置に移動されてもよい。 As shown in FIG. 18, when assisting the walking of the cared person 7, the armrest portion 4 p is arranged to extend in the positive direction of the x0 axis when viewed from the third arm 4 e. The armrest portion 4p rotates about a rotation axis 4s parallel to the z0 axis and is movable to a position 4pa that is parallel to the y0 axis. In addition, the armrest part 4p may further be rotated around the rotation axis 4s and moved to a position facing the negative direction of the x0 axis.
　図１９は、本実施の形態における肘置き台の可動範囲を示す第二の説明図である。 FIG. 19 is a second explanatory diagram showing the movable range of the elbow rest in the present embodiment.
　図１９に示されるように、被介護者７の歩行を支援する時には、肘掛け部４ｐは、第３アーム４ｅから見て、ｘ０軸正方向に向いて延びて配置される。肘掛け部４ｐは、ｙ０軸に平行な回動軸４ｔ回りに回動し、第３アーム４ｅに平行になる位置４ｐｂに配置され得る。なお、肘掛け部４ｐは、さらに、回動軸４ｔ回りに回動し、ｘ０軸の負方向に向く位置に配置されてもよい。 As shown in FIG. 19, when assisting the walking of the cared person 7, the armrest portion 4 p is arranged to extend in the positive direction of the x0 axis when viewed from the third arm 4 e. The armrest 4p can be disposed at a position 4pb that rotates about a rotation axis 4t parallel to the y0 axis and is parallel to the third arm 4e. The armrest 4p may further be disposed at a position that rotates around the rotation axis 4t and faces the negative direction of the x0 axis.
　このように、肘掛け部４ｐは、起立動作又は着座動作の妨げにならないよう位置が変更されるように構成される。これにより、動作支援システム１Ｃは、被介護者７による歩行動作を適切に支援しながら、起立動作又は着座動作の妨げになることを回避することができる。 Thus, the armrest portion 4p is configured to change its position so as not to hinder the standing motion or the seating motion. Accordingly, the motion support system 1C can avoid the obstacle of the standing motion or the sitting motion while appropriately supporting the walking motion by the care recipient 7.
　《第１駆動部及び第２駆動部》
　次に、第１駆動部４ａ及び第２駆動部４ｂの構成について説明する。 << First Drive Unit and Second Drive Unit >>
Next, the structure of the 1st drive part 4a and the 2nd drive part 4b is demonstrated.
　図２０Ａは、本実施の形態における第１駆動部４ａ及び第１駆動部４ａに関連する構成を示す模式図である。 FIG. 20A is a schematic diagram showing a configuration related to the first drive unit 4a and the first drive unit 4a in the present embodiment.
　図２０Ａに示されるように、アーム機構４は、第１モータ４１と、伝達機構４１ａとを備える。 As shown in FIG. 20A, the arm mechanism 4 includes a first motor 41 and a transmission mechanism 41a.
　第１モータ４１は、第１アーム４ｃに対して第２アーム４ｄを回動させる回動力を発生させるモータである。第１モータ４１は、矩形台１４ｅ上に配置されており、伝達機構４１ａを通じて第１駆動部４ａを駆動させることで、第１アーム４ｃに対して第２アーム４ｄを回動させる。例えば、第２アーム４ｄは、回動されることで位置４ｄ’に変位可能である。 The first motor 41 is a motor that generates rotational force that rotates the second arm 4d with respect to the first arm 4c. The 1st motor 41 is arrange | positioned on the rectangular base 14e, and rotates the 2nd arm 4d with respect to the 1st arm 4c by driving the 1st drive part 4a through the transmission mechanism 41a. For example, the second arm 4d can be displaced to the position 4d 'by being rotated.
　伝達機構４１ａは、第１モータ４１が発生させた回動力を第１駆動部４ａに伝達する伝達機構である。伝達機構４１ａは、チェーン又はベルト等により実現される。 The transmission mechanism 41a is a transmission mechanism that transmits the rotational force generated by the first motor 41 to the first drive unit 4a. The transmission mechanism 41a is realized by a chain or a belt.
　図２０Ｂは、本実施の形態における第２駆動部４ｂ及び第２駆動部４ｂに関連する構成を示す模式図である。 FIG. 20B is a schematic diagram showing a configuration related to the second drive unit 4b and the second drive unit 4b in the present embodiment.
　図２０Ｂに示されるように、アーム機構４は、第２モータ４２と、伝達機構４２ａ及び４２ｂとを備える。 As shown in FIG. 20B, the arm mechanism 4 includes a second motor 42 and transmission mechanisms 42a and 42b.
　第２モータ４２は、第２アーム４ｄに対して第３アーム４ｅを回動させる回動力を発生させるモータである。第２モータ４２は、矩形台１４ｅ上に配置されており、伝達機構４２ａ及び４２ｂを通じて第２駆動部４ｂを駆動させることで、第２アーム４ｄに対して第３アーム４ｅを回動させる。例えば、第３アーム４ｅは、回動されることで位置４ｅ’に変位可能である。 The second motor 42 is a motor that generates a rotational force that rotates the third arm 4e with respect to the second arm 4d. The second motor 42 is disposed on the rectangular base 14e, and rotates the third arm 4e with respect to the second arm 4d by driving the second drive unit 4b through the transmission mechanisms 42a and 42b. For example, the third arm 4e can be displaced to the position 4e 'by being rotated.
　伝達機構４２ａは、第２モータ４２が発生させた回動力を伝達機構４２ｂに伝達する伝達機構である。また、伝達機構４２ｂは、伝達機構４２ｂから伝達される回動力を第２駆動部４ｂに伝達する伝達機構である。伝達機構４２ａ及び４２ｂは、チェーン又はベルト等により実現される。 The transmission mechanism 42a is a transmission mechanism that transmits the rotational force generated by the second motor 42 to the transmission mechanism 42b. The transmission mechanism 42b is a transmission mechanism that transmits the rotational force transmitted from the transmission mechanism 42b to the second drive unit 4b. The transmission mechanisms 42a and 42b are realized by a chain or a belt.
　このように、第１モータ４１及び第２モータ４２を、アーム機構上ではなく、矩形台１４ｅ上に配置することで、動作支援システム１Ｃの重心を矩形台１４ｅの中央に近付けることができる。動作支援システム１Ｃの重心を矩形台１４ｅの中央に近付けることで、動作支援システム１Ｃは、より安定的に被介護者７の動作を支援することができる。また、動作支援システム１Ｃは、重心が矩形台１４ｅの中央から外れることで転倒する危険を回避することができる。よって、動作支援システム１Ｃは、より安定かつ安全に被介護者７の動作を支援することができる。 Thus, by arranging the first motor 41 and the second motor 42 not on the arm mechanism but on the rectangular base 14e, the center of gravity of the operation support system 1C can be brought close to the center of the rectangular base 14e. By bringing the center of gravity of the motion support system 1C closer to the center of the rectangular platform 14e, the motion support system 1C can support the motion of the care receiver 7 more stably. In addition, the motion support system 1C can avoid the risk of falling because the center of gravity deviates from the center of the rectangular platform 14e. Therefore, the operation support system 1C can support the operation of the care receiver 7 more stably and safely.
　《歩行機構》
　次に、歩行機構の構成について説明する。 《Walking mechanism》
Next, the configuration of the walking mechanism will be described.
　実施の形態１で説明したように、動作支援システム１は、一対の前輪１４ａと、一対の後輪１４ｂとを備える。前輪１４ａ及び後輪１４ｂのことを単に車輪ともいう。 As described in the first embodiment, the motion support system 1 includes a pair of front wheels 14a and a pair of rear wheels 14b. The front wheel 14a and the rear wheel 14b are also simply referred to as wheels.
　動作支援システム１の車輪のそれぞれを転向自在にすると、動作支援システム１は、被介護者７が力を及ぼす方向へ移動される。この場合、被介護者７が所望する方向へ進行することができる半面、被介護者７が力を及ぼす方向が安定しない場合には、進行方向が安定せず、まっすぐに進行することができない事態となる。そこで、動作支援システム１のそれぞれの車輪の向きと、その場合の動作支援システム１の動作について説明する。 When each wheel of the motion support system 1 is turned freely, the motion support system 1 is moved in a direction in which the cared person 7 exerts a force. In this case, the cared person 7 can proceed in the desired direction, but the direction in which the cared person 7 exerts force is not stable, the traveling direction is not stable and the cared person 7 cannot proceed straight. It becomes. Therefore, the direction of each wheel of the operation support system 1 and the operation of the operation support system 1 in that case will be described.
　図２１Ａは、本実施の形態における歩行機構の車輪の向きの第一の説明図である。 FIG. 21A is a first explanatory diagram of the direction of the wheels of the walking mechanism in the present embodiment.
　図２１Ａに示されるように、歩行機構１４において、前輪１４ａは、転向自在に矩形台１４ｅに取り付けられている。また、後輪１４ｂは、ｘ０軸に平行な方向に向くように固定されて矩形台１４ｅに取り付けられている。 As shown in FIG. 21A, in the walking mechanism 14, the front wheel 14a is attached to a rectangular base 14e so as to be freely turned. The rear wheel 14b is fixed so as to face in a direction parallel to the x0 axis and is attached to the rectangular base 14e.
　このようにすると、前輪１４ａが転向自在であることにより、被介護者７が力を及ぼす方向へ、動作支援システム１の進行方向を変更することができると同時に、進行方向及びその反対方向を除く方向へ動作支援システム１が移動することを抑制することができる。その結果、動作支援システム１は、被介護者７が所望する方向へ安定的に進行することができる。 If it does in this way, since the front wheel 14a can turn freely, it can change the advancing direction of the operation assistance system 1 to the direction where the care receiver 7 exerts force, and at the same time excludes the advancing direction and its opposite direction It is possible to suppress the movement support system 1 from moving in the direction. As a result, the motion support system 1 can proceed stably in the direction desired by the care recipient 7.
　図２１Ｂは、本実施の形態における歩行機構の車輪の向きの第二の説明図である。 FIG. 21B is a second explanatory diagram of the direction of the wheels of the walking mechanism in the present embodiment.
　図２１Ｂに示される歩行機構１４’は、一対の前輪１４ａ及び一対の後輪１４ｂの他に、一対の中輪１４ｇを備える。そして、前輪１４ａ及び後輪１４ｂは、転向自在に矩形台１４ｅに取り付けられている。また、中輪１４ｇは、ｘ０軸に平行な方向に向くように固定されて矩形台１４ｅに取り付けられている。 21B includes a pair of middle wheels 14g in addition to the pair of front wheels 14a and the pair of rear wheels 14b. And the front wheel 14a and the rear wheel 14b are attached to the rectangular base 14e so that turning is possible. The middle wheel 14g is fixed so as to face in a direction parallel to the x0 axis and is attached to the rectangular base 14e.
　このようにすると、動作支援システム１は、被介護者７にとって後退する方向（ｘ０軸プラス方向）へ移動する際にも、被介護者７が所望する方向へ安定的に進行することができる。 In this way, the motion support system 1 can stably advance in the direction desired by the care recipient 7 even when moving in the direction of retreating for the care recipient 7 (x0 axis plus direction).
　なお、ｙ０方向における矩形台１４ｅの長さＷ（以降、幅ともいう）は、６０ｃｍ又は６５ｃｍ以内であることが望ましい。一般に、Ｗが大きいほど動作支援システム１が安定する一方、Ｗが大きいほど動作支援システム１により移動できる場所の制限が大きくなる。一般的な住宅において、トイレのドアの寸法が６０ｃｍ又は６５ｃｍになっていることが多い。よって、動作支援システム１を用いて被介護者７がトイレに行くには、トイレのドアを通過するために、Ｗが上記の長さ以内であることが望ましい。 It should be noted that the length W (hereinafter also referred to as the width) of the rectangular base 14e in the y0 direction is preferably within 60 cm or 65 cm. In general, the larger the W is, the more stable the operation support system 1 is. On the other hand, the larger the W is, the greater the restriction on the places where the operation support system 1 can move. In a typical house, the size of a toilet door is often 60 cm or 65 cm. Therefore, in order for the cared person 7 to go to the toilet using the operation support system 1, W is preferably within the above length in order to pass through the toilet door.
　《動作支援システムの重心位置》
　次に、動作支援システムの重心位置について説明する。 << Center of gravity of motion support system >>
Next, the position of the center of gravity of the motion support system will be described.
　動作支援システム１は、被介護者７の体重を支え、かつ、被介護者７の動作を支援するために力を発生させる。そのため、動作支援システム１の重心が安定的であることが望ましい。動作支援システム１の重心が安定しない場合、被介護者７の動作の支援を行っている最中に転倒する可能性があり大変危険である。 The movement support system 1 generates a force to support the weight of the cared person 7 and to support the movement of the cared person 7. Therefore, it is desirable that the center of gravity of the motion support system 1 is stable. If the center of gravity of the motion support system 1 is not stable, there is a possibility of falling over while assisting the motion of the cared person 7, which is very dangerous.
　図２２は、本実施の形態における動作支援システムの重心の説明図である。図２２は、歩行機構１４を上面視した場合の模式図である。 FIG. 22 is an explanatory diagram of the center of gravity of the motion support system in the present embodiment. FIG. 22 is a schematic diagram when the walking mechanism 14 is viewed from above.
　図２２に示されるように、動作支援システム１の重心は、矩形台１４ｅの接地点を頂点とする多角形である領域１４ｈの内部にあることが望ましい。さらに、動作支援システム１が被介護者７の動作を支援しているときには、被介護者７の動作を支援している状態の動作支援システム１の重心が領域１４ｈの内部にあることが望ましい。被介護者７の体重の一部を動作支援システム１が支持する必要があるからである。 As shown in FIG. 22, the center of gravity of the motion support system 1 is preferably inside a region 14h that is a polygon having the vertex of the contact point of the rectangular platform 14e. Furthermore, when the operation support system 1 supports the operation of the cared person 7, it is desirable that the center of gravity of the operation support system 1 in the state of supporting the operation of the cared person 7 is within the region 14 h. This is because the motion support system 1 needs to support a part of the weight of the cared person 7.
　また、動作支援システム１の構成要素のうち重量が比較的大きいものは、矩形台１４ｅの中央部分１４ｉにあることが望ましい。重量が比較的大きいものとは、例えば、モータ（第１モータ４１及び第２モータ４２）、及び、モータに電力を供給するための電源装置（例えば、蓄電池）を備える電源部（不図示）がある。 In addition, it is desirable that a relatively heavy component among the components of the operation support system 1 is in the central portion 14i of the rectangular platform 14e. The thing with comparatively large weight is a power supply part (not shown) provided with a power supply device (for example, storage battery) for supplying a motor (1st motor 41 and 2nd motor 42) and electric power to a motor, for example. is there.
　なお、図２０Ａ及び図２０Ｂで示した第１モータ４１及び第２モータ４２は、矩形台１４ｅの中央部分１４ｉに配置されることが望ましい。このようにすることで、動作支援システム１は、より安定的に、特に転倒する危険を回避しながら、被介護者７の動作を支援することができる。 It should be noted that the first motor 41 and the second motor 42 shown in FIGS. 20A and 20B are preferably arranged in the central portion 14i of the rectangular base 14e. By doing in this way, operation support system 1 can support operation of care recipient 7 more stably, especially avoiding the danger of falling.
　《実施の形態３の効果》
　以上のように、本実施の形態に係る動作支援システムは、より適切に動作を支援することができる。具体的には、本実施の形態で説明したアーム機構の構成、介護ベルトの構成、ハンドル機構の構成、第１駆動部及び第２駆動部の構成、歩行機構の構成、及び、動作支援システムの重心位置により、実施の形態１及び２と比較して、動作支援システムがより適切に動作の支援することができる。 << Effect of Embodiment 3 >>
As described above, the operation support system according to the present embodiment can support the operation more appropriately. Specifically, the configuration of the arm mechanism, the configuration of the care belt, the configuration of the handle mechanism, the configuration of the first drive unit and the second drive unit, the configuration of the walking mechanism, and the operation support system described in the present embodiment. Compared with the first and second embodiments, the operation support system can more appropriately support the operation based on the position of the center of gravity.
　《実施の形態１～３のまとめ》
　以上のように、上記実施の形態に係る動作支援システム１は、被介護者を保持する保持部（介護ベルト３）と、保持部を支持するアーム（アーム機構４）と、被介護者を保持した状態の保持部を支持しているアームの状態に基づいて、被介護者による起立又は着座の動作が行われることを推定し、推定された動作を支援するように、保持部又はアームの少なくとも一方を動作させる制御部１２とを備える。 << Summary of Embodiments 1 to 3 >>
As described above, the motion support system 1 according to the above embodiment holds the care receiver (the care belt 3), the arm (arm mechanism 4) that supports the support part, and the care receiver. Based on the state of the arm that supports the holding unit in a state that has been performed, it is estimated that a standing or sitting movement is performed by the care recipient, and at least the holding unit or the arm is supported so as to support the estimated movement And a control unit 12 for operating one of them.
　これによれば、動作支援システム１は、動作支援システム１を装着した被介護者が行おうとする動作を推定し、その動作を被介護者が行うのに必要な力の一部を負担するようにアーム（アーム機構４）、又は、保持部（介護ベルト３）を動作させる。よって、動作支援システム１は、被介護者が発する力を生かしながら、適切な大きさ、方向及びタイミングの力を被介護者に及ぼすことにより、被介護者の動作を支援することができる。 According to this, the motion support system 1 estimates a motion to be performed by the cared person wearing the motion support system 1 and seems to bear a part of the force necessary for the cared person to perform the motion. The arm (arm mechanism 4) or the holding part (care belt 3) is operated. Therefore, the motion support system 1 can support the care receiver's motion by exerting an appropriate magnitude, direction, and timing on the care receiver while utilizing the force generated by the care receiver.
　また、アームは、被介護者を保持している保持部から受ける力を検出する力検出部１７と、アームの位置を検出する位置検出部（第１エンコーダ４３及び第２エンコーダ４４）とを有し、制御部１２は、力検出部１７が検出した力と、位置検出部が検出した位置とを含むアームの状態に基づいて、被介護者の身体が所定の軌道を描くようにアームを動作させてもよい。 The arm also includes a force detection unit 17 that detects a force received from the holding unit that holds the care recipient, and a position detection unit (first encoder 43 and second encoder 44) that detects the position of the arm. Then, the control unit 12 operates the arm so that the cared person's body draws a predetermined trajectory based on the state of the arm including the force detected by the force detection unit 17 and the position detected by the position detection unit. You may let them.
　これによれば、動作支援システム１は、被介護者が動作支援システム１に及ぼす力と、被介護者が動くことによるアームの変位とにより被介護者が行おうとする動作を推定し、その動作を行う際の所定の軌道に沿って被介護者の身体を変位させるようにアームを動作させる。よって、動作支援システム１は、被介護者が行おうとする動作をより具体的に推定し、その動作に必要な身体の動きをするように、被介護者の動作を支援することができる。 According to this, the motion support system 1 estimates the motion to be performed by the cared person based on the force that the cared person exerts on the motion support system 1 and the displacement of the arm caused by the movement of the cared person. The arm is moved so as to displace the cared person's body along a predetermined trajectory when performing. Therefore, the motion support system 1 can more specifically estimate the motion to be performed by the care recipient and can support the motion of the care receiver so that the body motion necessary for the motion is performed.
　また、制御部１２は、被介護者が着座した状態において、被介護者の上半身が前傾姿勢になるようにアームを動作させてもよい。 Further, the control unit 12 may operate the arm so that the upper body of the care recipient is in a forward leaning posture in a state where the care recipient is seated.
　これによれば、被介護者は、座位姿勢において上半身が前傾する。被介護者がトイレの便座に座った場合などには、上半身が前傾姿勢となることで、被介護者がより楽に排便が行えるようになる。 According to this, in the care recipient, the upper body leans forward in the sitting position. When the cared person sits on the toilet seat, the cared person can defecate more easily by having the upper body lean forward.
　また、アームは、さらに、被介護者の肘が乗せられるための肘掛け部を備えてもよい。 Further, the arm may further include an armrest portion on which the elbow of the care recipient is placed.
　これによれば、被介護者は、肘掛け部に肘を乗せることができるので、比較的楽な姿勢をとったり、作業を行いやすい姿勢をとったりすることができる。このように、肘掛け部により、被介護者の姿勢の自由度が向上する。 According to this, since the cared person can put the elbow on the armrest, it can take a relatively easy posture or a posture that facilitates work. Thus, the armrest portion improves the degree of freedom of the care recipient's posture.
　また、動作支援システム１は、さらに、被介護者の歩行の動作に伴い動作支援システム１を移動させる歩行機構１４を備えてもよい。 Further, the motion support system 1 may further include a walking mechanism 14 that moves the motion support system 1 in accordance with the walking motion of the care recipient.
　これによれば、動作支援システム１は、被介護者による歩行の際に、被介護者が所望する方向へ比較的容易に移動することができる。よって、被介護者は、より安全に動作支援システム１を用いて歩行を行うことができる。 According to this, the motion support system 1 can move relatively easily in the direction desired by the care recipient when walking by the care recipient. Therefore, the care recipient can walk using the motion support system 1 more safely.
　また、動作支援システム１は、さらに、床面に接地され、アームの一端が接続される本体部（矩形台１４ｅ）と、アームの他端が接続される接続部（連結部３ｃ）であって、保持部に接続される接続部とを備え、アームは、一端が接続部と接続される第１リンク（第２アーム４ｄ）と、一端が第１リンクと回動可能に接続され、他端が本体部と回動可能に接続される第２リンク（第３アーム４ｅ）とを有し、動作支援システム１は、さらに、第２リンクに対して第１リンクを回動させる第１駆動部４ａと、本体部に対して第２リンクを回動させる第２駆動部４ｂとを備え、制御部１２は、第１駆動部又は第２駆動部の少なくとも一方による回動により、アームを動作させてもよい。 The operation support system 1 further includes a main body (rectangular base 14e) connected to one end of the arm and grounded to the floor, and a connection (connecting portion 3c) connected to the other end of the arm. A connecting portion connected to the holding portion, and the arm has a first link (second arm 4d) having one end connected to the connecting portion, one end rotatably connected to the first link, and the other end Has a second link (third arm 4e) rotatably connected to the main body, and the operation support system 1 further rotates a first link relative to the second link. 4a and a second drive unit 4b for rotating the second link with respect to the main body, and the control unit 12 operates the arm by the rotation of at least one of the first drive unit or the second drive unit. May be.
　これによれば、第１及び第２リンクを有するアームが、第１及び第２駆動部により駆動されることで、保持部及び被介護者を支持することができる。 According to this, the holding part and the cared person can be supported by the arm having the first and second links being driven by the first and second driving parts.
　また、第２リンクは、第２リンクの上記一端の近傍に設けられ、被介護者の足との接触による衝撃を和らげるための緩衝材を有してもよい。 The second link may be provided near the one end of the second link, and may have a cushioning material for reducing an impact caused by contact with the care receiver's foot.
　これによれば、被介護者の身体（例えば、足）がアームに接触した場合に被介護者が感じる不快感を軽減することができる。よって、動作支援システム１は、より適切に被介護者の動作を支援することができる。 According to this, the discomfort felt by the cared person when the cared person's body (for example, a foot) contacts the arm can be reduced. Therefore, the operation support system 1 can more appropriately support the operation of the care recipient.
　また、緩衝材には、被介護者との接触を検出する接触センサが設けられ、第１駆動部及び第２駆動部は、接触センサが接触を検出した場合に、回動を停止してもよい。 In addition, the cushioning material is provided with a contact sensor that detects contact with the care recipient, and the first drive unit and the second drive unit may stop rotating when the contact sensor detects contact. Good.
　これによれば、被介護者の身体（例えば、足）がアームに接触した場合に、動作支援システム１が動作を停止する。よって、動作支援システム１は、より安全に被介護者の動作を支援することができる。 According to this, when the cared person's body (for example, a foot) contacts the arm, the motion support system 1 stops the motion. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
　また、アームは、さらに、第１リンクと第２リンクとによる物体の挟み込みを検出する挟み込みセンサを備え、第１駆動部及び第２駆動部は、挟み込みセンサが挟み込みを検出した場合に、回動を停止してもよい。 The arm further includes a pinching sensor that detects pinching of an object by the first link and the second link, and the first driving unit and the second driving unit rotate when the pinching sensor detects pinching. May be stopped.
　これによれば、動作支援システム１において、アームが何らかの物体を挟んだ場合に、アームの動作を停止させることができる。よって、動作支援システム１は、より安全に被介護者の動作を支援することができる。 According to this, in the movement support system 1, when the arm sandwiches some object, the movement of the arm can be stopped. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
　また、動作支援システム１の重心位置は、上面視において、本体部の接地点を頂点とする多角形の内部に位置するとしてもよい。 Further, the gravity center position of the motion support system 1 may be located inside a polygon whose top is the ground contact point of the main body when viewed from above.
　これによれば、動作支援システム１の重心が安定し、動作支援システム１が転倒することを回避することができる。よって、動作支援システム１は、より安全に被介護者の動作を支援することができる。 According to this, the center of gravity of the motion support system 1 is stabilized, and the motion support system 1 can be prevented from falling. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
　また、動作支援システム１は、さらに、第１駆動部及び第２駆動部を駆動するための電源部であって、上面視において、本体部の接地点を頂点とする多角形の内部に配置される電源部を備えるとしてもよい。 The operation support system 1 is further a power supply unit for driving the first drive unit and the second drive unit, and is arranged inside a polygon whose top point is the ground point of the main body unit when viewed from above. A power supply unit may be provided.
　これによれば、動作支援システム１を構成するもののうち比較的重量が大きい電源部を、上面視において動作支援システム１の中央部に位置させる。これにより、動作支援システム１の重心が安定し、動作支援システム１が転倒することを回避することができる。よって、動作支援システム１は、より安全に被介護者の動作を支援することができる。 According to this, among the constituents of the operation support system 1, a relatively heavy power supply unit is positioned at the center of the operation support system 1 in a top view. Thereby, the center of gravity of the motion support system 1 is stabilized, and the motion support system 1 can be prevented from falling. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
　また、第１駆動部を駆動させる第１モータ４１、及び、第２駆動部を駆動させる第２モータ４２は、上面視において、本体部の接地点を頂点とする多角形の内部に位置するとしてもよい。 In addition, the first motor 41 that drives the first drive unit and the second motor 42 that drives the second drive unit are located inside a polygon whose apex is the ground contact point of the main body when viewed from above. Also good.
　これによれば、動作支援システム１を構成するもののうち比較的重量が大きいモータを、上面視において動作支援システム１の中央部に位置させる。これにより、動作支援システム１の重心が安定し、動作支援システム１が転倒することを回避することができる。よって、動作支援システム１は、より安全に被介護者の動作を支援することができる。 According to this, the motor that is relatively heavy among the components constituting the operation support system 1 is positioned at the center of the operation support system 1 in a top view. Thereby, the center of gravity of the motion support system 1 is stabilized, and the motion support system 1 can be prevented from falling. Therefore, the operation support system 1 can support the operation of the care recipient more safely.
　以上のように、上記実施の形態に係るロボットは、上記の動作支援システム１を備えるロボットである。 As described above, the robot according to the above embodiment is a robot including the motion support system 1 described above.
　これにより、上記と同様の効果を奏する。 This produces the same effect as above.
　以上のように、上記実施の形態に係る動作支援システム１の制御方法は、被介護者を保持する保持部と、保持部を支持するアームとを備える動作支援システム１の制御方法であって、被介護者を保持した状態の保持部を支持しているアームの状態に基づいて、被介護者による起立又は着座の動作が行われることを推定する推定ステップと、推定された動作を支援するように、保持部又はアームの少なくとも一方を動作させる制御ステップとを含む。 As described above, the control method of the operation support system 1 according to the embodiment is a control method of the operation support system 1 including the holding unit that holds the care receiver and the arm that supports the holding unit, Based on the state of the arm supporting the holding unit in the state where the cared person is held, the estimation step for estimating that the cared person performs the standing or sitting motion, and the estimated motion is supported. And a control step of operating at least one of the holding part or the arm.
　これにより、上記と同様の効果を奏する。 This produces the same effect as above.
　以上のように、上記実施の形態に係るプログラムは、上記の制御方法をコンピュータに実行させるためのプログラムである。 As described above, the program according to the above embodiment is a program for causing a computer to execute the above control method.
　これにより、上記と同様の効果を奏する。 This produces the same effect as above.
　（実施の形態４）
　以下、実施の形態４に係る動作支援システム２０２について説明する。 (Embodiment 4)
Hereinafter, the operation support system 202 according to the fourth embodiment will be described.
　《動作支援システムの全体構成》
　図２３及び図２４を参照しながら、実施の形態４に係る動作支援システム２０２の全体構成について説明する。図２３は、実施の形態４に係る動作支援システム２０２の前側の外観を示す斜視図である。図２４は、実施の形態４に係る動作支援システム２０２の後側の外観を示す斜視図である。 << Overall configuration of motion support system >>
With reference to FIGS. 23 and 24, the overall configuration of the operation support system 202 according to Embodiment 4 will be described. FIG. 23 is a perspective view illustrating an appearance of the front side of the operation support system 202 according to the fourth embodiment. FIG. 24 is a perspective view showing an appearance of the rear side of the operation support system 202 according to the fourth embodiment.
　図２３及び図２４に示すように、実施の形態４に係る動作支援システム２０２は、本体部２０４、アーム機構２０６（アームの一例）、介護ベルト２０８（保持部の一例）及び歩行機構２１０を備えている。 As shown in FIGS. 23 and 24, the motion support system 202 according to the fourth embodiment includes a main body 204, an arm mechanism 206 (an example of an arm), a care belt 208 (an example of a holding unit), and a walking mechanism 210. ing.
　本体部２０４は、アーム機構２０６を支持するための金属製のプレートである。 The main body 204 is a metal plate for supporting the arm mechanism 206.
　アーム機構２０６は、介護ベルト２０８を介して被介護者２１２（後述する図２７Ａ参照）を支持することにより、被介護者２１２の起立又は着座の動作を支援するためのロボットアームである。アーム機構２０６は、本体部２０４と介護ベルト２０８との間に連結されている。 The arm mechanism 206 is a robot arm for supporting the care receiver 212 (see FIG. 27A described later) via the care belt 208 to assist the care receiver 212 in standing or sitting. The arm mechanism 206 is connected between the main body 204 and the care belt 208.
　介護ベルト２０８は、被介護者２１２の上半身（身体の一例）を保持するためのベルトである。介護ベルト２０８は、アーム機構２０６の先端に着脱自在に支持されている。なお、説明の都合上、図２３及び図２４では、介護ベルト２０８がアーム機構２０６の先端から取り外された状態を図示してある。 The care belt 208 is a belt for holding the upper body (an example of the body) of the care recipient 212. The care belt 208 is detachably supported at the tip of the arm mechanism 206. For convenience of explanation, FIGS. 23 and 24 show a state in which the care belt 208 is removed from the tip of the arm mechanism 206.
　歩行機構２１０は、被介護者２１２の歩行の動作に伴い本体部２０４を移動させるための移動機構である。実施の形態４に係る動作支援システム２０２では、歩行機構２１０の構成に特徴がある。 The walking mechanism 210 is a moving mechanism for moving the main body 204 in accordance with the walking motion of the care recipient 212. The motion support system 202 according to Embodiment 4 is characterized by the configuration of the walking mechanism 210.
　以下、動作支援システム２０２の上記各構成要素について詳細に説明する。 Hereinafter, each of the above components of the operation support system 202 will be described in detail.
　《本体部の構成》
　まず、図２３及び図２４を参照しながら、本体部２０４の構成について説明する。図２３及び図２４に示すように、本体部２０４は、例えばプレート状に形成されており、床面２１４に対して略平行な姿勢となるように配置されている。 <Main body configuration>
First, the configuration of the main body unit 204 will be described with reference to FIGS. 23 and 24. As shown in FIGS. 23 and 24, the main body 204 is formed in a plate shape, for example, and is disposed so as to be substantially parallel to the floor surface 214.
　本体部２０４の下面側には、ブレーキ機構２１６が配置されている。ブレーキ機構２１６は、ブレーキ位置（図２３及び図２４に示す位置）と解除位置（図示せず）との間を回動自在である。ブレーキ機構２１６がブレーキ位置に位置している際には、本体部２０４の移動にブレーキがかかる。一方、ブレーキ機構２１６が解除位置に位置している際には、本体部２０４の移動のブレーキが解除される。このブレーキ機構２１６は、例えば被介護者２１２を介護する介護者（図示せず）が足で操作することにより、ブレーキ位置から解除位置に（又は解除位置からブレーキ位置に）回動する。 A brake mechanism 216 is disposed on the lower surface side of the main body 204. The brake mechanism 216 is rotatable between a brake position (position shown in FIGS. 23 and 24) and a release position (not shown). When the brake mechanism 216 is located at the brake position, the brake is applied to the movement of the main body 204. On the other hand, when the brake mechanism 216 is located at the release position, the movement brake of the main body 204 is released. The brake mechanism 216 rotates from the brake position to the release position (or from the release position to the brake position), for example, when a caregiver (not shown) who cares for the care receiver 212 operates with his / her foot.
　本体部２０４の下面側には、さらに、歩行機構２１０が配置されている。歩行機構２１０の構成については後述する。 A walking mechanism 210 is further arranged on the lower surface side of the main body 204. The configuration of the walking mechanism 210 will be described later.
　《アーム機構の構成》
　次に、図２３～図２６を参照しながら、アーム機構２０６の構成について説明する。図２５は、図２４の状態からアーム機構２０６を駆動させた状態を示す斜視図である。図２６は、アーム機構２０６の一部を拡大して示す斜視図である。 <Configuration of arm mechanism>
Next, the configuration of the arm mechanism 206 will be described with reference to FIGS. FIG. 25 is a perspective view showing a state in which the arm mechanism 206 is driven from the state of FIG. FIG. 26 is an enlarged perspective view showing a part of the arm mechanism 206.
　図２３～図２５に示すように、アーム機構２０６は、例えば２自由度のロボットアームであり、第１アーム２０６ａ、第２アーム２０６ｂ、第３アーム２０６ｃ、第４アーム２０６ｄ、第１駆動部２０６ｅ及び第２駆動部２０６ｆを有している。 As shown in FIGS. 23 to 25, the arm mechanism 206 is, for example, a robot arm with two degrees of freedom, and includes a first arm 206a, a second arm 206b, a third arm 206c, a fourth arm 206d, and a first drive unit 206e. And a second drive unit 206f.
　第１アーム２０６ａの下端は、本体部２０４の上面に固定されている。これにより、第１アーム２０６ａは、本体部２０４の上面から上方（ｚ０軸のプラス方向）に向けて起立するように配置される。第１アーム２０６ａの上端は、第１関節部２１８を介して第２アーム２０６ｂの前端に回動自在に連結されている。第２アーム２０６ｂは、第１アーム２０６ａの上端から本体部２０４の後側（ｘ０軸のプラス側）に向けて延びている。第２アーム６ｂの後端は、第２関節部２２０を介して第３アーム２０６ｃの下端に回動自在に連結されている。第３アーム２０６ｃは、第２アーム２０６ｂの後端から上方に向けて延びている。第３アーム２０６ｃの上端は、第４アーム２０６ｄの前端に固定されている。第４アーム２０６ｄの後端には、介護ベルト２０８を着脱自在に連結するための一対の留め具２２２（図２４参照）が設けられている。 The lower end of the first arm 206a is fixed to the upper surface of the main body 204. Thus, the first arm 206a is disposed so as to stand upward from the upper surface of the main body 204 (in the positive direction of the z0 axis). The upper end of the first arm 206a is rotatably connected to the front end of the second arm 206b via the first joint portion 218. The second arm 206b extends from the upper end of the first arm 206a toward the rear side of the main body 204 (the positive side of the x0 axis). The rear end of the second arm 6b is rotatably connected to the lower end of the third arm 206c via the second joint portion 220. The third arm 206c extends upward from the rear end of the second arm 206b. The upper end of the third arm 206c is fixed to the front end of the fourth arm 206d. A pair of fasteners 222 (see FIG. 24) for detachably connecting the care belt 208 is provided at the rear end of the fourth arm 206d.
　なお、第１アーム２０６ａ、第２アーム２０６ｂ及び第４アーム２０６ｄの各々は直線状に延びている。第３アーム２０６ｃの下端の近傍には、略垂直に屈曲された第１の屈曲部２２４が形成されている。また、第３アーム２０６ｃの上端の近傍には、９０°よりも大きい角度で屈曲された第２の屈曲部２２６が形成されている。 Note that each of the first arm 206a, the second arm 206b, and the fourth arm 206d extends linearly. A first bent portion 224 bent substantially vertically is formed near the lower end of the third arm 206c. A second bent portion 226 that is bent at an angle larger than 90 ° is formed in the vicinity of the upper end of the third arm 206c.
　第１駆動部２０６ｅは、第２アーム２０６ｂを第１アーム２０６ａに対して第１関節部２１８を中心に回動させるためのものである。第１駆動部２０６ｅは、第１モータ２２８と、第１モータ２２８の駆動力を第２アーム２０６ｂに伝達するための第１伝達機構２３０と、第１モータ２２８の駆動軸の回転数（回転角度）を検出する第１エンコーダ２３２（後述する図３１参照）とを有している。これらの第１モータ２２８、第１伝達機構２３０及び第１エンコーダ２３２は、第１アーム２０６ａに支持されている。なお、第１伝達機構２３０は、例えば減速ギア、スプロケット及び駆動チェーン等で構成されている。 1st drive part 206e is for rotating the 2nd arm 206b centering on the 1st joint part 218 with respect to the 1st arm 206a. The first drive unit 206e includes a first motor 228, a first transmission mechanism 230 for transmitting the driving force of the first motor 228 to the second arm 206b, and the rotational speed (rotation angle) of the drive shaft of the first motor 228. ) (See FIG. 31 to be described later). The first motor 228, the first transmission mechanism 230, and the first encoder 232 are supported by the first arm 206a. The first transmission mechanism 230 includes, for example, a reduction gear, a sprocket, a drive chain, and the like.
　第２駆動部２０６ｆは、第３アーム２０６ｃを第２アーム２０６ｂに対して第２関節部２２０を中心に回動させるためのものである。第２駆動部２０６ｆは、第２モータ２３４と、第２モータ２３４の駆動力を第３アーム２０６ｃに伝達するための第２伝達機構２３６と、第２モータ２３４の駆動軸の回転数（回転角度）を検出する第２エンコーダ２３８（後述する図３１参照）とを有している。第２モータ２３４及び第２エンコーダ２３８は第１アーム２０６ａに支持され、第２伝達機構２３６は第１アーム２０６ａ及び第２アーム２０６ｂに亘って支持されている。なお、第２伝達機構２３６は、例えば減速ギア、スプロケット及び駆動チェーン等で構成されている。 The second drive unit 206f is for rotating the third arm 206c about the second joint unit 220 with respect to the second arm 206b. The second drive unit 206f includes a second motor 234, a second transmission mechanism 236 for transmitting the driving force of the second motor 234 to the third arm 206c, and the rotational speed (rotation angle) of the drive shaft of the second motor 234. ) (See FIG. 31 to be described later). The second motor 234 and the second encoder 238 are supported by the first arm 206a, and the second transmission mechanism 236 is supported across the first arm 206a and the second arm 206b. The second transmission mechanism 236 includes, for example, a reduction gear, a sprocket, a drive chain, and the like.
　図２４及び図２５に示すように、第１モータ２２８の駆動力が第１伝達機構２３０を介して第２アーム２０６ｂに伝達されることにより、第２アーム２０６ｂが第１アーム２０６ａに対して第１関節部２１８を中心に回動する。また、第２モータ２３４の駆動力が第２伝達機構２３６を介して第３アーム２０６ｃに伝達されることにより、第３アーム２０６ｃが第２アーム２０６ｂに対して第２関節部２２０を中心に回動する。このように、第１モータ２２８及び第２モータ２３４の各々を制御することにより、本体部２０４に対するアーム機構２０６の姿勢を変化させることができる。 As shown in FIGS. 24 and 25, the driving force of the first motor 228 is transmitted to the second arm 206b via the first transmission mechanism 230, so that the second arm 206b is compared with the first arm 206a. It rotates around one joint 218. Further, the driving force of the second motor 234 is transmitted to the third arm 206c via the second transmission mechanism 236, whereby the third arm 206c rotates around the second joint portion 220 with respect to the second arm 206b. Move. As described above, by controlling each of the first motor 228 and the second motor 234, the posture of the arm mechanism 206 with respect to the main body 204 can be changed.
　図２６に示すように、第１アーム２０６ａ、第２アーム２０６ｂ、第３アーム２０６ｃ及び第４アーム２０６ｄはそれぞれ、第１アームカバー（図示せず）、第２アームカバー２４０ｂ、第３アームカバー２４０ｃ及び第４アームカバー２４０ｄで覆われている。なお、説明の都合上、図２３～図２５では、上述した第１アームカバー、第２アームカバー２４０ｂ、第３アームカバー２４０ｃ及び第４アームカバー２４０ｄの図示を省略してある。 As shown in FIG. 26, the first arm 206a, the second arm 206b, the third arm 206c, and the fourth arm 206d are respectively a first arm cover (not shown), a second arm cover 240b, and a third arm cover 240c. And the fourth arm cover 240d. For convenience of explanation, the first arm cover, the second arm cover 240b, the third arm cover 240c, and the fourth arm cover 240d are not shown in FIGS.
　第２アームカバー２４０ｂの後端には、第３アーム２０６ｃが第２アーム２０６ｂに対して回動する際に第３アーム２０６ｃを逃がすための切り欠き部２４２が形成されている。このとき、上述したように、第３アーム２０６ｃの下端の近傍には第１の屈曲部２２４が形成されているので、第１の屈曲部２２４を形成しない場合（すなわち、第３アーム２０６ｃの下端の近傍を一直線状に形成した場合）と比べて、切り欠き部２４２の大きさを小さく抑えることができる。 A notch 242 is formed at the rear end of the second arm cover 240b for allowing the third arm 206c to escape when the third arm 206c rotates relative to the second arm 206b. At this time, as described above, since the first bent portion 224 is formed in the vicinity of the lower end of the third arm 206c, the first bent portion 224 is not formed (that is, the lower end of the third arm 206c). The size of the notch 242 can be kept small compared to the case where the vicinity of is formed in a straight line.
　また、図２６に示すように、第３アームカバー２４０ｃには、被介護者２１２が両手で把持するためのハンドル２４４がネジ２４６により着脱自在に取り付けられている。このハンドル２４４は、略水平方向（ｙ０軸方向）に直線状に延びている。第３アームカバー２４０ｃには、ネジ２４６を挿通するためのネジ孔２４８が第３アームカバー２４０ｃの長手方向及び短手方向に間隔を置いて複数形成されている。これらの複数のネジ孔２４８のうち任意のネジ孔２４８にネジ２４６を挿通することにより、ハンドル２４４の取付位置を第３アームカバー２４０ｃの長手方向又は短手方向における任意の位置に調節することができる。 Further, as shown in FIG. 26, a handle 244 for the care receiver 212 to hold with both hands is detachably attached to the third arm cover 240c with screws 246. The handle 244 extends linearly in a substantially horizontal direction (y0 axis direction). A plurality of screw holes 248 through which the screws 246 are inserted are formed in the third arm cover 240c at intervals in the longitudinal direction and the short direction of the third arm cover 240c. By inserting the screw 246 into an arbitrary screw hole 248 among the plurality of screw holes 248, the attachment position of the handle 244 can be adjusted to an arbitrary position in the longitudinal direction or the short direction of the third arm cover 240c. it can.
　さらに、後述する図３０に示すように、第４アーム２０６ｄには、入力インターフェース２５０が配置されている。この入力インターフェース２５０は、例えば被介護者２１２が動作支援システム２０２を操作するための操作盤である。入力インターフェース２５０には、例えば動作支援システム２０２の電源をオン又はオフするための電源ボタン、及び、立ち上がり動作を開始又は終了するための立ち上がり開始／終了ボタン等が配置されている。 Furthermore, as shown in FIG. 30 to be described later, an input interface 250 is disposed on the fourth arm 206d. The input interface 250 is an operation panel for the care recipient 212 to operate the operation support system 202, for example. In the input interface 250, for example, a power button for turning on or off the power of the operation support system 202, a start / end button for starting or ending a start-up operation, and the like are arranged.
　なお、説明の都合上、図２３～図２５では、上述したハンドル２４４及び入力インターフェース２５０の図示を省略してある。 For convenience of explanation, the handle 244 and the input interface 250 are not shown in FIGS.
　《介護ベルトの構成》
　次に、図２３、図２４及び図２７Ａ～図２７Ｃを参照しながら、介護ベルト２０８の構成について説明する。図２７Ａは、実施の形態４に係る動作支援システム２０２の介護ベルト２０８に被介護者２１２の上半身を保持した状態を示す正面図である。図２７Ｂは、実施の形態４に係る動作支援システム２０２の介護ベルト２０８に被介護者２１２の上半身を保持した状態を示す側面図である。図２７Ｃは、実施の形態４に係る動作支援システム２０２の介護ベルト２０８に被介護者２１２の上半身を保持した状態を示す背面図である。 《Composition of care belt》
Next, the configuration of the care belt 208 will be described with reference to FIGS. 23, 24, and 27A to 27C. FIG. 27A is a front view showing a state where the upper half of the care receiver 212 is held on the care belt 208 of the operation support system 202 according to Embodiment 4. FIG. FIG. 27B is a side view showing a state where the upper half of the care receiver 212 is held on the care belt 208 of the operation support system 202 according to Embodiment 4. FIG. 27C is a rear view showing a state in which the upper half of the care receiver 212 is held on the care belt 208 of the operation support system 202 according to Embodiment 4.
　図２７Ａ～図２７Ｃに示すように、介護ベルト２０８は、第１保持部２０８ａ、一対の第２保持部２０８ｂ及び一対の第３保持部２０８ｃを有している。これらの第１保持部２０８ａ、一対の第２保持部２０８ｂ及び一対の第３保持部２０８ｃの各々は、例えば塩化ビニール又はナイロン等で形成され、密封された袋状に構成されている。第１保持部２０８ａ、一対の第２保持部２０８ｂ及び一対の第３保持部２０８ｃの各々の内部は、互いに連通されている。第１保持部２０８ａには、空気を供給するためのバルブ２０８ｄが設けられている。第１保持部２０８ａ、一対の第２保持部２０８ｂ及び一対の第３保持部２０８ｃの各々の内部には、バルブ２０８ｄから供給された空気が充填されている。 27A to 27C, the care belt 208 includes a first holding portion 208a, a pair of second holding portions 208b, and a pair of third holding portions 208c. Each of the first holding portion 208a, the pair of second holding portions 208b, and the pair of third holding portions 208c is formed of, for example, vinyl chloride or nylon, and has a sealed bag shape. The interiors of the first holding portion 208a, the pair of second holding portions 208b, and the pair of third holding portions 208c are in communication with each other. The first holding unit 208a is provided with a valve 208d for supplying air. Each of the first holding part 208a, the pair of second holding parts 208b, and the pair of third holding parts 208c is filled with air supplied from the valve 208d.
　図２７Ａに示すように、第１保持部２０８ａは、略逆Ｕ字状に形成され、被介護者２１２の首部２１２ａ（又は背中部２１２ｂ）から胸部２１２ｃに亘って保持する。図２７Ｂに示すように、一対の第３保持部２０８ｃはそれぞれ、第１保持部２０８ａの両端部から延びており、被介護者２１２の胸部２１２ｃから両脇部２１２ｄに亘って保持する。図２７Ｃに示すように、一対の第２保持部２０８ｂはそれぞれ、一対の第３保持部２０８ｃの各端部から延びており、被介護者２１２の腰部２１２ｅを保持する。一対の第２保持部２０８ｂは、例えば面ファスナ（図示せず）によって互いに着脱自在である。 As shown in FIG. 27A, the first holding portion 208a is formed in a substantially inverted U shape and holds the neck 212a (or back portion 212b) of the care receiver 212 over the chest portion 212c. As shown in FIG. 27B, each of the pair of third holding portions 208c extends from both ends of the first holding portion 208a, and holds the chest 212c of the care receiver 212 over both side portions 212d. As shown in FIG. 27C, each of the pair of second holding portions 208b extends from each end of the pair of third holding portions 208c, and holds the waist portion 212e of the care receiver 212. A pair of 2nd holding | maintenance part 208b is mutually detachable with a hook-and-loop fastener (not shown), for example.
　図２７Ａに示すように、第１保持部２０８ａには、連結部２０８ｅが取り付けられている。連結部２０８ｅは、第１保持部２０８ａの一端部と他端部との間に架け渡されるように配置されている。被介護者２１２の上半身が介護ベルト２０８により保持された状態では、連結部２０８ｅは、被介護者２１２の胸部２１２ｃの中央部付近に配置される。連結部２０８ｅには、一対の連結孔２８ｆが形成されている。図２３及び図２４に示すように、上述した第４アーム２０６ｄの一対の留め具２２２がそれぞれ一対の連結孔２０８ｆに着脱自在に挿入されることにより、介護ベルト２０８の連結部２０８ｅが第４アーム２０６ｄの後端に着脱自在に連結される。なお、介護ベルト２０８は、本体部２０４の後側に配置される。 As shown in FIG. 27A, a connecting portion 208e is attached to the first holding portion 208a. The connecting portion 208e is disposed so as to be bridged between one end portion and the other end portion of the first holding portion 208a. In a state where the upper body of the care receiver 212 is held by the care belt 208, the connecting portion 208e is disposed near the center of the chest 212c of the care receiver 212. A pair of connecting holes 28f are formed in the connecting portion 208e. As shown in FIGS. 23 and 24, the pair of fasteners 222 of the fourth arm 206d described above are detachably inserted into the pair of connection holes 208f, respectively, so that the connecting portion 208e of the care belt 208 is connected to the fourth arm. It is detachably connected to the rear end of 206d. The care belt 208 is disposed on the rear side of the main body 204.
　《歩行機構の構成》
　次に、図２３、図２４及び図２８～図３０を参照しながら、歩行機構２１０の構成について説明する。図２８は、実施の形態４に係る動作支援システム２０２の底面を示す図である。図２９は、実施の形態４に係る動作支援システム２０２の歩行機構２１０を拡大して示す図である。図３０は、実施の形態４に係る動作支援システム２０２の重心Ｇ１と中間輪２５６との位置関係を説明するための模式図である。 <Configuration of walking mechanism>
Next, the configuration of the walking mechanism 210 will be described with reference to FIGS. 23, 24, and 28 to 30. FIG. 28 is a diagram illustrating a bottom surface of the operation support system 202 according to the fourth embodiment. FIG. 29 is an enlarged view of the walking mechanism 210 of the motion support system 202 according to the fourth embodiment. FIG. 30 is a schematic diagram for explaining the positional relationship between the center of gravity G1 and the intermediate wheel 256 of the motion support system 202 according to the fourth embodiment.
　図２３、図２４及び図２８に示すように、歩行機構２１０は、一対の前輪２５２、一対の後輪２５４及び１個の中間輪２５６の計５個のキャスタを有している。 23, 24, and 28, the walking mechanism 210 has a total of five casters including a pair of front wheels 252, a pair of rear wheels 254, and a single intermediate wheel 256.
　一対の前輪２５２は、本体部２０４の前側（ｘ０軸のマイナス側）に配置されている。具体的には、一対の前輪２５２はそれぞれ、本体部２０４の下面から本体部２０４の前側に延びる一対の支持脚２５８の各先端に回転軸２６０（図２８参照）を中心に回転自在に支持されている。一対の前輪２５２の各々は、回転軸２６０の方向が本体部２０４に対して変化する自在キャスタであり、軸線２６２（図２４参照）を中心に旋回自在である。 The pair of front wheels 252 are disposed on the front side of the main body 204 (the negative side of the x0 axis). Specifically, each of the pair of front wheels 252 is rotatably supported around the rotation shaft 260 (see FIG. 28) at each tip of a pair of support legs 258 extending from the lower surface of the main body 204 to the front side of the main body 204. ing. Each of the pair of front wheels 252 is a free caster in which the direction of the rotation shaft 260 changes with respect to the main body portion 204, and is rotatable about an axis 262 (see FIG. 24).
　一対の後輪２５４は、本体部２０４の後側に配置されている。具体的には、一対の後輪２５４はそれぞれ、本体部２０４の下面から本体部２０４の後側に長尺状に延びる一対の支持脚２６４の各先端に回転軸２６６（図２８参照）を中心に回転自在に支持されている。一対の後輪２５４の各々は、回転軸２６６の方向が本体部２０４に対して変化する自在キャスタであり、軸線２６８（図２４参照）を中心に旋回自在である。 The pair of rear wheels 254 are disposed on the rear side of the main body 204. Specifically, each of the pair of rear wheels 254 has a rotation shaft 266 (see FIG. 28) at the front ends of a pair of support legs 264 that extend from the lower surface of the main body 204 to the rear side of the main body 204. Is supported rotatably. Each of the pair of rear wheels 254 is a free caster in which the direction of the rotation shaft 266 changes with respect to the main body portion 204 and is rotatable about an axis 268 (see FIG. 24).
　なお、図２８に示すように、一対の後輪２５４の配置間隔Ｗ１は、一対の前輪２５２の配置間隔Ｗ２よりも大きい。さらに、図２９に示すように、一対の後輪２５４の各々の直径Ｄ１は、一対の前輪２５２の各々の直径Ｄ２よりも小さい。さらに、中間輪２５６の直径Ｄ３は、一対の後輪２５４の各々の直径Ｄ１よりも大きい。 As shown in FIG. 28, the arrangement interval W1 between the pair of rear wheels 254 is larger than the arrangement interval W2 between the pair of front wheels 252. Furthermore, as shown in FIG. 29, the diameter D1 of each of the pair of rear wheels 254 is smaller than the diameter D2 of each of the pair of front wheels 252. Further, the diameter D3 of the intermediate wheel 256 is larger than the diameter D1 of each of the pair of rear wheels 254.
　図２４及び図２８に示すように、中間輪２５６は、一対の前輪２５２の中央部と一対の後輪２５４の中央部とを通る直線上に配置され、且つ、一対の前輪２５２と一対の後輪２５４との間に配置されている。具体的には、中間輪２５６は、本体部２０４の下面において一対の前輪２５２寄りに、回転軸２７０（図２８参照）を中心に回転自在に支持されている。中間輪２５６は、回転軸２７０の方向が本体部２０４に対して固定された固定キャスタである。 As shown in FIGS. 24 and 28, the intermediate wheel 256 is arranged on a straight line passing through the center part of the pair of front wheels 252 and the center part of the pair of rear wheels 254, and the pair of front wheels 252 and the pair of rear wheels 252. It is arranged between the wheel 254. Specifically, the intermediate wheel 256 is supported on the lower surface of the main body 204 near the pair of front wheels 252 so as to be rotatable about a rotation shaft 270 (see FIG. 28). The intermediate wheel 256 is a fixed caster in which the direction of the rotation shaft 270 is fixed to the main body 204.
　図２９に示すように、中間輪２５６は、中間輪２５６の接地面２７２が一対の前輪２５２及び一対の後輪２５４の各々の接地面２７４よりも所定距離Ｌ（例えば数ｍｍ程度）だけ下方（ｚ０軸のマイナス方向）に位置するように配置されている。なお、接地面２７２は、動作支援システム２０２に下方への荷重が加わっていない場合に、床面２１４に最も近い中間輪２５６の面である。同様に、接地面２７４は、動作支援システム２０２に下方への荷重が加わっていない場合に、床面２１４に最も近い一対の前輪２５２及び一対の後輪２５４の各々の面である。 As shown in FIG. 29, in the intermediate wheel 256, the ground contact surface 272 of the intermediate wheel 256 is lower than the ground contact surfaces 274 of the pair of front wheels 252 and the pair of rear wheels 254 by a predetermined distance L (for example, about several millimeters). It is arranged so as to be located in the minus direction of the z0 axis). Note that the ground contact surface 272 is the surface of the intermediate wheel 256 that is closest to the floor surface 214 when a downward load is not applied to the motion support system 202. Similarly, the ground contact surface 274 is a surface of each of the pair of front wheels 252 and the pair of rear wheels 254 closest to the floor surface 214 when a downward load is not applied to the motion support system 202.
　さらに、図３０に示すように、中間輪２５６は、介護ベルト２０８が被介護者２１２の上半身を保持していない状態において、動作支援システム２０２の重心Ｇ１を通る鉛直線２７６（ｚ０軸に略平行な直線）上に配置されている。この重心Ｇ１は、アーム機構２０６が立位姿勢の被介護者２１２（後述する図３３Ｅ参照）を保持する姿勢での重心である。 Further, as shown in FIG. 30, the intermediate wheel 256 has a vertical line 276 (substantially parallel to the z0 axis) passing through the center of gravity G1 of the motion support system 202 in a state where the care belt 208 does not hold the upper body of the care receiver 212. It is arranged on a straight line. The center of gravity G1 is a center of gravity in a posture in which the arm mechanism 206 holds a care receiver 212 (see FIG. 33E described later) in a standing posture.
　《動作支援システムの機能構成》
　次に、図３１を参照しながら、実施の形態４に係る動作支援システム２０２の機能構成について説明する。図３１は、実施の形態４に係る動作支援システム２０２の機能構成を示すブロック図である。 << Functional configuration of operation support system >>
Next, a functional configuration of the operation support system 202 according to the fourth embodiment will be described with reference to FIG. FIG. 31 is a block diagram illustrating a functional configuration of the operation support system 202 according to the fourth embodiment.
　図３１に示すように、動作支援システム２０２は、機能構成として、タイマー２７８、データベース入出力部２８０、制御部２８２及び動作情報データベース２８４を有している。 As shown in FIG. 31, the operation support system 202 includes a timer 278, a database input / output unit 280, a control unit 282, and an operation information database 284 as functional configurations.
　タイマー２７８は、一定時間（例えば１ｍｓｅｃ）毎に、データベース入出力部２８０及び制御部２８２を実行させるための指令信号を、データベース入出力部２８０及び制御部２８２にそれぞれ出力する。 The timer 278 outputs a command signal for executing the database input / output unit 280 and the control unit 282 to the database input / output unit 280 and the control unit 282 every predetermined time (for example, 1 msec).
　データベース入出力部２８０は、制御部２８２と動作情報データベース２８４との間で、動作情報（後述する）の入出力を行う。 The database input / output unit 280 inputs / outputs operation information (described later) between the control unit 282 and the operation information database 284.
　制御部２８２は、データベース入出力部２８０から入力された動作情報に基づいて、第１モータ２２８及び第２モータ２３４をそれぞれ独立して制御する。これにより、アーム機構２０６は、データベース入出力部２８０から入力された動作情報に追従するように駆動される。 The control unit 282 controls the first motor 228 and the second motor 234 independently based on the operation information input from the database input / output unit 280. Thereby, the arm mechanism 206 is driven so as to follow the operation information input from the database input / output unit 280.
　動作情報データベース２８４は、アーム機構２０６の位置に関する位置情報（すなわち、第１エンコーダ２３２及び第２エンコーダ２３８の各々からの回転角度に関する情報をアーム機構２０６の位置に関する情報に変換した位置情報）と当該位置情報が生成された時刻とを動作情報として記憶する。具体的には、制御部２８２は、タイマー２７８からの指令信号に基づいて一定時間毎に位置情報を生成し、データベース入出力部２８０は、タイマー２７８からの指令信号に基づいて一定時間毎に当該位置情報を動作情報データベース２８４に出力する。 The motion information database 284 includes position information related to the position of the arm mechanism 206 (that is, position information obtained by converting information related to the rotation angle from each of the first encoder 232 and the second encoder 238 into information related to the position of the arm mechanism 206) and the relevant information. The time when the position information is generated is stored as operation information. Specifically, the control unit 282 generates position information at regular time intervals based on a command signal from the timer 278, and the database input / output unit 280 performs the operation at regular time intervals based on the command signal from the timer 278. The position information is output to the operation information database 284.
　《動作支援システムの動作》
　次に、図３２～図３３Ｅを参照しながら、実施の形態４に係る動作支援システム２０２の動作について説明する。図３２０は、実施の形態４に係る動作支援システム２０２の動作の流れを示すフローチャートである。図３３Ａ～図３３Ｅの各々は、実施の形態４に係る動作支援システム２０２の動作を説明するための模式図である。 《Operation support system operation》
Next, the operation of the operation support system 202 according to Embodiment 4 will be described with reference to FIGS. 32 to 33E. FIG. 320 is a flowchart showing an operation flow of the operation support system 202 according to the fourth embodiment. Each of FIG. 33A to FIG. 33E is a schematic diagram for explaining the operation of the operation support system 202 according to the fourth embodiment.
　以下では、動作支援システム２０２により被介護者２１２の起立（立ち上がり）の動作を支援する場合について説明する。図３３Ａに示すように、被介護者２１２が床面２１４上に配置された腰掛部２８６（例えばベッド、椅子又はトイレの便座等）に座っている状態で、介護者は、動作支援システム２０２を被介護者２１２の正面に配置する。このとき、動作支援システム２０２は、介護ベルト２０８が被介護者２１２側に位置するように配置される。 Hereinafter, a case will be described in which the operation support system 202 supports the operation of standing up (rising) of the care recipient 212. As shown in FIG. 33A, in a state where the cared person 212 is sitting on a seating portion 286 (for example, a bed, a chair, or a toilet seat of a toilet) placed on the floor surface 214, the caregiver uses the motion support system 202. It is arranged in front of the cared person 212. At this time, the motion support system 202 is arranged so that the care belt 208 is positioned on the care receiver 212 side.
　次に、被介護者２１２が入力インターフェース２５０の電源ボタンを操作することにより、動作支援システム２０２の電源がオンされる（Ｓ３０１）。その後、介護者は、ブレーキ機構２１６を足で操作することにより、ブレーキ機構２１６を解除位置からブレーキ位置に回動させる。これにより、本体部２０４の移動にブレーキがかかる（オンする）ので（Ｓ３０２）、後述するようにアーム機構２０６により介護ベルト２０８を牽引する際に、本体部２０４が不意に移動してしまうのが抑制される。その結果、アーム機構２０６からの力を介護ベルト２０８に確実に伝達することができる。 Next, when the care receiver 212 operates the power button of the input interface 250, the power of the operation support system 202 is turned on (S301). Thereafter, the caregiver rotates the brake mechanism 216 from the release position to the brake position by operating the brake mechanism 216 with the foot. As a result, the movement of the main body 204 is braked (turned on) (S302), and the main body 204 moves unexpectedly when the nursing belt 208 is pulled by the arm mechanism 206 as will be described later. It is suppressed. As a result, the force from the arm mechanism 206 can be reliably transmitted to the care belt 208.
　その後、被介護者２１２は、介護ベルト２０８を上半身に装着し、ハンドル２４４を両手で把持する。このとき、上述したように、第３アーム２０６ｃの上端の近傍には第２の屈曲部２２６が形成されているので、第３アーム２０６ｃが被介護者２１２の視界に入り難くなる。そのため、第３アーム２０６ｃの上端の近傍が略垂直に屈曲されている場合と比べて、被介護者２１２が受ける圧迫感を小さく抑えることができる。さらに、第３アーム２０６ｃの上端の近傍が略垂直に屈曲されている場合と比べて、第３アーム２０６ｃ全体の長さを短く抑えることができるので、アーム機構２０６の軽量化を図ることができる。 Thereafter, the care receiver 212 wears the care belt 208 on the upper body and holds the handle 244 with both hands. At this time, as described above, since the second bent portion 226 is formed in the vicinity of the upper end of the third arm 206c, the third arm 206c is difficult to enter the field of view of the care receiver 212. Therefore, compared with the case where the vicinity of the upper end of the third arm 206c is bent substantially vertically, the feeling of pressure received by the care receiver 212 can be reduced. Furthermore, since the entire length of the third arm 206c can be reduced compared to the case where the vicinity of the upper end of the third arm 206c is bent substantially vertically, the weight of the arm mechanism 206 can be reduced. .
　次に、被介護者２１２が入力インターフェース２５０の立ち上がり開始／終了ボタンをオンすることにより（Ｓ３０３）、動作支援システム２０２が立ち上がり動作（すなわち、被介護者２１２の起立の動作を支援するための動作）を開始する。 Next, when the care receiver 212 turns on the start / end button of the input interface 250 (S303), the operation support system 202 starts the operation (that is, an operation for supporting the operation of the care receiver 212 to stand). ).
　その後、制御部２８２は、データベース入出力部２８０から動作情報を取得する（Ｓ３０４）。次に、制御部２８２は、データベース入出力部２８０から取得した動作情報に基づいて、第１モータ２２８及び第２モータ２３４をそれぞれ独立して制御する。これにより、アーム機構２０６は、データベース入出力部２８０から取得した動作情報に追従するように駆動される（Ｓ３０５）。 Thereafter, the control unit 282 acquires operation information from the database input / output unit 280 (S304). Next, the control unit 282 controls the first motor 228 and the second motor 234 independently based on the operation information acquired from the database input / output unit 280. As a result, the arm mechanism 206 is driven to follow the operation information acquired from the database input / output unit 280 (S305).
　ここで、アーム機構２０６の駆動方法の一例について説明する。図３３Ｂに示すように、制御部２８２は、まず、アーム機構２０６を屈曲させながら本体部２０４の前方（ｘ０軸のマイナス方向）に移動させる。これにより、介護ベルト２０８の第１保持部２０８ａ及び第２保持部２０８ｂは、アーム機構２０６により同時に本体部２０４の前方に牽引される。 Here, an example of a driving method of the arm mechanism 206 will be described. As shown in FIG. 33B, the control unit 282 first moves the arm mechanism 206 forward (in the minus direction of the x0 axis) of the main body unit 204 while bending it. As a result, the first holding portion 208 a and the second holding portion 208 b of the care belt 208 are simultaneously pulled to the front of the main body portion 204 by the arm mechanism 206.
　このとき、アーム機構２０６により連結部２０８ｅを介して第１保持部２０８ａを本体部２０４の前方に牽引することにより、図３３Ｂ中の破線の矢印Ｐで示すように、被介護者２１２の上半身の後屈が促される。さらに、アーム機構２０６により連結部２０８ｅを介して第２保持部２０８ｂを本体部２０４の前方に牽引することにより、図３３Ｂ中の破線の矢印Ｑで示すように、被介護者２１２の骨盤の前傾が促される。このように被介護者２１２の上半身の後屈と被介護者２１２の骨盤の前傾とをアーム機構２０６でアシストすることにより、図３３Ｃに示すように、被介護者２１２の臀部２１２ｆの腰掛部２８６からの離床が促される。その結果、被介護者２１２は、前傾姿勢を深く取ることなく、座位姿勢から立位姿勢にスムーズに移行することができる。 At this time, the arm mechanism 206 pulls the first holding portion 208a to the front of the main body portion 204 via the connecting portion 208e, so that the upper body of the cared person 212 is shown as indicated by the broken arrow P in FIG. 33B. Back bending is encouraged. Further, by pulling the second holding portion 208b to the front of the main body portion 204 via the connecting portion 208e by the arm mechanism 206, the front of the pelvis of the cared person 212 as shown by the broken arrow Q in FIG. 33B. Tilt is encouraged. As shown in FIG. 33C, the seating portion of the buttocks 212 f of the cared person 212 is obtained by assisting the backward bending of the upper body of the cared person 212 and the forward tilt of the pelvis of the cared person 212 with the arm mechanism 206. You are prompted to leave 286. As a result, the cared person 212 can smoothly transition from the sitting position to the standing position without taking a deep forward leaning position.
　なお、アーム機構２０６により連結部２０８ｅを介して第１保持部２０８ａを本体部２０４の前方に牽引する際（換言すると、牽引動作を開始してから被介護者２１２の臀部２１２ｆを腰掛部２８６から離床させるまでの間）、制御部２８２は、牽引速度が徐々に加速するように第１モータ２２８及び第２モータ２３４を制御することもできる。これにより、被介護者２１２の上半身の後屈と骨盤の前傾とを、より一層効果的に促すことができる。 When the first holding portion 208a is pulled forward of the main body portion 204 via the connecting portion 208e by the arm mechanism 206 (in other words, the toe 212f of the care receiver 212 is moved from the sitting portion 286 after starting the pulling operation). The controller 282 can also control the first motor 228 and the second motor 234 so that the traction speed is gradually accelerated until the bed is left. Thereby, it is possible to further effectively promote the backward bending of the upper body of the cared person 212 and the forward tilt of the pelvis.
　その後、被介護者２１２の臀部２１２ｆが腰掛部２８６から離床したタイミングで、制御部２８２は、図３３Ｄ中の実線の矢印で示すように、アーム機構２０６を上方に移動させる。これにより、被介護者２１２の立ち上がりの動作がアシストされる。その後、図３３Ｅに示すように、被介護者２１２は、立ち上がりの動作を完了して立位姿勢となる。 Then, at the timing when the buttocks 212f of the cared person 212 leaves the seat 286, the control unit 282 moves the arm mechanism 206 upward as indicated by the solid line arrow in FIG. 33D. Thereby, the rising operation of the care receiver 212 is assisted. Thereafter, as shown in FIG. 33E, the cared person 212 completes the rising motion and assumes a standing posture.
　次に、被介護者２１２が入力インターフェース２５０の立ち上がり開始／終了ボタンをオフすることにより（Ｓ３０６）、動作支援システム２０２は立ち上がり動作を終了する。その後、介護者は、ブレーキ機構２１６を足で操作することにより、ブレーキ機構２１６をブレーキ位置から解除位置に回動させる。これにより、本体部２０４の移動のブレーキが解除（オフ）される（Ｓ３０７）。その後、被介護者２１２が入力インターフェース２５０の電源ボタンを操作することにより、動作支援システム２０２の電源がオフされる（Ｓ３０８）。 Next, when the care receiver 212 turns off the start / end button of the input interface 250 (S306), the operation support system 202 ends the start-up operation. Thereafter, the caregiver rotates the brake mechanism 216 from the brake position to the release position by operating the brake mechanism 216 with the foot. Thereby, the brake of the movement of the main body 204 is released (off) (S307). Thereafter, when the care receiver 212 operates the power button of the input interface 250, the power of the operation support system 202 is turned off (S308).
　被介護者２１２は、図３３Ｅに示すように立位姿勢の状態となった後に、ハンドル２４４を両手で把持しながら動作支援システム２０２を前方（ｘ０軸のマイナス方向）に押しながら歩行することができる。このとき、一対の前輪２５２、一対の後輪２５４及び中間輪２５６がそれぞれ回転軸２６０，２６６及び２７０を中心に回転することにより、図３３Ｅ中の実線の矢印で示すように、本体部２０４が床面２１４上を前方に移動するようになる。 As shown in FIG. 33E, the cared person 212 can walk while holding the handle 244 with both hands and pushing the motion support system 202 forward (minus direction of the x0 axis). it can. At this time, the pair of front wheels 252, the pair of rear wheels 254, and the intermediate wheel 256 rotate about the rotation shafts 260, 266, and 270, respectively, so that the main body unit 204 is moved as indicated by solid arrows in FIG. It moves forward on the floor surface 214.
　一対の前輪２５２及び一対の後輪２５４の各々は自在キャスタであるので、本体部２０４が中間輪２５６を中心に旋回することにより、本体部２０４を方向転換することができる。 Since each of the pair of front wheels 252 and the pair of rear wheels 254 is a free caster, the main body portion 204 can turn around when the main body portion 204 turns around the intermediate wheel 256.
　なお、実施の形態４では、動作支援システム２０２により被介護者２１２の起立の動作を支援する場合について説明したが、動作支援システム２０２により被介護者２１２の着座の動作を支援することもできる。この場合には、アーム機構２０６は、被介護者２１２の起立の動作を支援する場合の動作とは逆のプロセスの動作を行うようになる。 In the fourth embodiment, the case where the motion support system 202 supports the standing motion of the care receiver 212 has been described. However, the motion support system 202 can support the sitting motion of the care receiver 212. In this case, the arm mechanism 206 performs the operation of the process opposite to the operation for supporting the standing operation of the care receiver 212.
　《実施の形態４の効果》
　上述したように、実施の形態４に係る動作支援システム２０２は、被介護者２１２の起立又は着座の動作を支援する動作支援システム２０２である。動作支援システム２０２は、本体部２０４と、被介護者２１２の身体を保持するための介護ベルト２０８と、本体部２０４と介護ベルト２０８との間に連結され、本体部２０４に対する姿勢が変化することにより被介護者２１２の起立又は着座の動作を支援するためのアーム機構２０６と、被介護者２１２の歩行の動作に伴い本体部２０４を移動させる歩行機構２１０とを備える。歩行機構２１０は、本体部２０４の前側に配置された一対の前輪２５２と、本体部２０４の後側に配置された一対の後輪２５４と、一対の前輪２５２と一対の後輪２５４との間に配置された１個の中間輪２５６とを有する。 << Effect of Embodiment 4 >>
As described above, the motion support system 202 according to the fourth embodiment is the motion support system 202 that supports the standing or sitting motion of the care recipient 212. The motion support system 202 is connected between the main body 204, a care belt 208 for holding the body of the care recipient 212, and the main body 204 and the care belt 208, and the posture with respect to the main body 204 changes. Are provided with an arm mechanism 206 for assisting the standing or sitting motion of the cared person 212 and a walking mechanism 210 that moves the main body 204 in accordance with the walking motion of the cared person 212. The walking mechanism 210 includes a pair of front wheels 252 disposed on the front side of the main body portion 204, a pair of rear wheels 254 disposed on the rear side of the main body portion 204, and a pair of front wheels 252 and a pair of rear wheels 254. And an intermediate ring 256 disposed on the side.
　言い換えれば、動作支援システム２０２は、アーム機構２０６により介護ベルト２０８に連結された本体部２０４を備える。歩行機構２１０は、本体部２０４の前側に配置された一対の前輪２５２と、本体部２０４の後側に配置された一対の後輪２５４と、一対の前輪２５２と一対の後輪２５４との間に配置された１個の中間輪２５６とを有するともいえる。 In other words, the motion support system 202 includes the main body 204 that is connected to the care belt 208 by the arm mechanism 206. The walking mechanism 210 includes a pair of front wheels 252 disposed on the front side of the main body portion 204, a pair of rear wheels 254 disposed on the rear side of the main body portion 204, and a pair of front wheels 252 and a pair of rear wheels 254. It can also be said that it has one intermediate wheel 256 arranged on the side.
　この構成によれば、動作支援システム２０２は、一対の前輪２５２、一対の後輪２５４及び１個の中間輪２５６の計５個のキャスタで支持される。これにより、動作支援システム２０２からの荷重を５個のキャスタで分散させることができるため、１個のキャスタに加わる荷重を小さく抑えることができる。その結果、本体部２０４の移動を開始する際に各キャスタに生じる始動抵抗、及び、本体部２０４を方向転換する際に各キャスタに生じる旋回抵抗が小さく抑えられるので、本体部２０４の移動及び方向転換をスムーズに行うことができる。 According to this configuration, the motion support system 202 is supported by a total of five casters including a pair of front wheels 252, a pair of rear wheels 254, and one intermediate wheel 256. Thereby, since the load from the operation | movement assistance system 202 can be disperse | distributed with five casters, the load added to one caster can be restrained small. As a result, the starting resistance generated in each caster when starting the movement of the main body portion 204 and the turning resistance generated in each caster when changing the direction of the main body portion 204 can be kept small. Conversion can be performed smoothly.
　さらに、一対の前輪２５２及び一対の後輪２５４はそれぞれ、回転軸２６０及び２６６の方向が本体部２０４に対して変化する自在キャスタである。中間輪２５６は、回転軸２７０の方向が本体部２０４に対して固定された固定キャスタである。 Furthermore, the pair of front wheels 252 and the pair of rear wheels 254 are free casters in which the directions of the rotation shafts 260 and 266 change with respect to the main body portion 204, respectively. The intermediate wheel 256 is a fixed caster in which the direction of the rotation shaft 270 is fixed to the main body 204.
　この構成によれば、本体部２０４を方向転換させる際に、中間輪２５６を中心に本体部２０４をスムーズに旋回させることができる。また、本体部２０４は、中間輪２５６の回転軸２７０の方向（ｙ０軸方向）には移動しないので、本体部２０４が前後方向（ｘ０軸方向）に移動する際の直進性を高めることができる。 According to this configuration, when the direction of the main body part 204 is changed, the main body part 204 can be smoothly turned around the intermediate wheel 256. Moreover, since the main body 204 does not move in the direction of the rotation shaft 270 of the intermediate wheel 256 (y0 axis direction), it is possible to improve straightness when the main body 204 moves in the front-rear direction (x0 axis direction). .
　さらに、中間輪２５６は、中間輪２５６の接地面２７２が一対の前輪２５２及び一対の後輪２５４の各々の接地面２７４よりも下方に位置するように配置されている。 Furthermore, the intermediate wheel 256 is disposed such that the ground contact surface 272 of the intermediate wheel 256 is positioned below the ground contact surfaces 274 of the pair of front wheels 252 and the pair of rear wheels 254.
　この構成によれば、中間輪２５６に加わる荷重は、一対の前輪２５２及び一対の後輪２５４の各々に加わる荷重よりも大きくなる。これにより、本体部２０４を方向転換させる際に、中間輪２５６を中心に本体部２０４をより一層スムーズに旋回させることができる。 According to this configuration, the load applied to the intermediate wheel 256 is larger than the load applied to each of the pair of front wheels 252 and the pair of rear wheels 254. Thereby, when changing the direction of the main body 204, the main body 204 can be turned more smoothly around the intermediate wheel 256.
　さらに、一対の後輪２５４の配置間隔Ｗ１は、一対の前輪２５２の配置間隔Ｗ２よりも大きい。 Furthermore, the arrangement interval W1 between the pair of rear wheels 254 is larger than the arrangement interval W2 between the pair of front wheels 252.
　この構成によれば、動作支援システム２０２の移動時の安定性を高めることができる。また、被介護者２１２が動作支援システム２０２を前方に押しながら歩行する際に、被介護者２１２の足が一対の後輪２５４に接触するのを抑制することができる。 According to this configuration, it is possible to improve the stability of the movement support system 202 during movement. Further, when the care receiver 212 walks while pushing the motion support system 202 forward, it is possible to prevent the feet of the care receiver 212 from contacting the pair of rear wheels 254.
　さらに、一対の後輪２５４の各々の直径Ｄ１は、一対の前輪２５２の各々の直径Ｄ２よりも小さい。 Furthermore, the diameter D1 of each of the pair of rear wheels 254 is smaller than the diameter D2 of each of the pair of front wheels 252.
　この構成によれば、被介護者２１２が動作支援システム２０２を前方に押しながら歩行する際に、被介護者２１２の足が一対の後輪２５４に接触するのを抑制することができる。また、例えばベッドに座っている被介護者２１２の起立の動作を支援する際に、一対の後輪２５４をベッドの下に差し込むことができるので、動作支援システム２０２を被介護者２１２に容易に近付けることができる。 According to this configuration, when the care receiver 212 walks while pushing the motion support system 202 forward, it is possible to prevent the feet of the care receiver 212 from coming into contact with the pair of rear wheels 254. Further, for example, when supporting the standing motion of the cared person 212 sitting on the bed, the pair of rear wheels 254 can be inserted under the bed, so that the motion supporting system 202 can be easily provided to the cared person 212. You can get closer.
　さらに、中間輪２５６は、動作支援システム２０２の重心Ｇ１を通る鉛直線２７６上に配置されている。 Furthermore, the intermediate wheel 256 is disposed on a vertical line 276 passing through the center of gravity G1 of the motion support system 202.
　この構成によれば、動作支援システム２０２の移動時の安定性を高めることができる。また、一対の前輪２５２の各々に加わる荷重と一対の後輪２５４の各々に加わる荷重とがほぼ均等になるため、上述した始動抵抗及び旋回抵抗をより一層小さく抑えることができる。また、本体部２０４を方向転換させる際に、中間輪２５６を中心に本体部２０４をより一層スムーズに旋回させることができる。 According to this configuration, it is possible to improve the stability of the movement support system 202 during movement. Further, since the load applied to each of the pair of front wheels 252 and the load applied to each of the pair of rear wheels 254 are substantially equal, the above-described starting resistance and turning resistance can be further reduced. Further, when changing the direction of the main body 204, the main body 204 can be turned more smoothly around the intermediate wheel 256.
　（実施の形態５）
　《動作支援システムの構成》
　次に、図３４～図３６を参照しながら、実施の形態５に係る動作支援システム２０２Ａの構成について説明する。図３４は、実施の形態５に係る動作支援システム２０２Ａの後側の外観を示す斜視図である。図３５は、実施の形態５に係る動作支援システム２０２Ａの歩行機構２１０Ａを拡大して示す図である。図３６は、実施の形態５に係る動作支援システム２０２Ａの重心Ｇ２と中間輪２５６Ａとの位置関係を説明するための模式図である。なお、以下の各実施の形態において、上記実施の形態４と同一の構成要素には同一の符号を付して、その説明を省略する。 (Embodiment 5)
<< Operation support system configuration >>
Next, the configuration of the operation support system 202A according to Embodiment 5 will be described with reference to FIGS. FIG. 34 is a perspective view showing an appearance of the rear side of the operation support system 202A according to the fifth embodiment. FIG. 35 is an enlarged view of the walking mechanism 210A of the motion support system 202A according to the fifth embodiment. FIG. 36 is a schematic diagram for explaining the positional relationship between the center of gravity G2 of the motion support system 202A according to the fifth embodiment and the intermediate wheel 256A. In the following embodiments, the same components as those in the fourth embodiment are denoted by the same reference numerals, and the description thereof is omitted.
　図３４に示すように、実施の形態５に係る動作支援システム２０２Ａでは、歩行機構２１０Ａの中間輪２５６Ａの構成が上記実施の形態４と異なっている。具体的には、中間輪２５６Ａは、固定キャスタであり、且つ、回転軸２７０の方向に間隔を置いて配置された一対の車輪２８８を有する双輪キャスタである。これらの一対の車輪２８８はそれぞれ独立して回転することができる。 As shown in FIG. 34, in the motion support system 202A according to the fifth embodiment, the configuration of the intermediate wheel 256A of the walking mechanism 210A is different from that of the fourth embodiment. Specifically, the intermediate wheel 256 </ b> A is a fixed caster and a twin-wheel caster having a pair of wheels 288 arranged at intervals in the direction of the rotation shaft 270. The pair of wheels 288 can rotate independently of each other.
　さらに、図３５に示すように、本体部２０４の下面側には、中間輪２５６Ａの本体部２０４に対する位置を調節するための調節機構２９０が配置されている。この調節機構２９０によって、中間輪２５６Ａは、床面２１４に接触する第１の位置（図３５において一点鎖線で示す位置）と、床面２１４から離れる第２の位置（図３５において実線で示す位置）との間を移動することができる。 Furthermore, as shown in FIG. 35, an adjustment mechanism 290 for adjusting the position of the intermediate wheel 256A relative to the main body portion 204 is disposed on the lower surface side of the main body portion 204. By this adjustment mechanism 290, the intermediate wheel 256A has a first position (a position indicated by a one-dot chain line in FIG. 35) in contact with the floor surface 214 and a second position (a position indicated by a solid line in FIG. 35) away from the floor surface 214. ).
　さらに、図３６に示すように、中間輪２５６Ａは、動作支援システム２０２Ａ及び介護ベルト２０８に保持された被介護者２１２の身体の全体の重心Ｇ２を通る鉛直線２７６Ａ（第２鉛直線）上に配置されている。この重心Ｇ２は、介護ベルト２０８に保持された被介護者２１２が立位姿勢である状態での重心である。なお、鉛直線２７６Ａは、上記実施の形態４で説明した重心Ｇ１を通る鉛直線２７６（第１鉛直線）（図３０参照）よりも本体部２０４の後側に配置されている。 Further, as shown in FIG. 36, the intermediate wheel 256A is on a vertical line 276A (second vertical line) passing through the center of gravity G2 of the entire body of the care receiver 212 held by the motion support system 202A and the care belt 208. Has been placed. The center of gravity G2 is the center of gravity when the care receiver 212 held by the care belt 208 is in a standing posture. The vertical line 276A is arranged on the rear side of the main body 204 with respect to the vertical line 276 (first vertical line) (see FIG. 30) passing through the center of gravity G1 described in the fourth embodiment.
　《実施の形態５の効果》
　上述したように、動作支援システム２０２Ａは、さらに、中間輪２５６Ａが床面２１４に接触する第１の位置と中間輪２５６Ａが床面２１４から離れる第２の位置との間で、中間輪２５６Ａの本体部２０４に対する位置を調節する調節機構２９０を備える。 << Effect of Embodiment 5 >>
As described above, the motion support system 202A further includes the intermediate wheel 256A between the first position where the intermediate wheel 256A contacts the floor surface 214 and the second position where the intermediate wheel 256A moves away from the floor surface 214. An adjustment mechanism 290 that adjusts the position with respect to the main body 204 is provided.
　この構成によれば、一対の前輪２５２及び一対の後輪２５４の各々は自在キャスタであるので、固定キャスタである中間輪２５６Ａを第１の位置から第２の位置に移動させることにより、本体部２０４は、前後方向（ｘ０軸方向）だけでなく、例えば左右方向（ｙ０軸方向）等の任意の方向に移動することができる。これにより、例えば狭い場所で動作支援システム２０２Ａを使用する場合などにおいて、本体部２０４の移動方向の自由度を高めることができる。 According to this configuration, since each of the pair of front wheels 252 and the pair of rear wheels 254 is a free caster, the main body portion is moved by moving the intermediate wheel 256A, which is a fixed caster, from the first position to the second position. 204 can move not only in the front-rear direction (x0 axis direction) but also in an arbitrary direction such as the left-right direction (y0 axis direction). Thereby, for example, when the operation support system 202A is used in a narrow place, the degree of freedom in the moving direction of the main body 204 can be increased.
　さらに、中間輪２５６Ａは、回転軸２７０の方向に間隔を置いて配置された一対の車輪２８８を有する双輪キャスタである。 Furthermore, the intermediate wheel 256 </ b> A is a twin wheel caster having a pair of wheels 288 arranged at intervals in the direction of the rotating shaft 270.
　この構成によれば、中間輪２５６を中心に本体部２０４を旋回させる際に、一対の車輪２８８がそれぞれ逆方向に回転するようになる。これにより、本体部２０４を方向転換する際に中間輪２５６Ａに生じる旋回抵抗をより一層小さく抑えることができ、本体部２０４の方向転換をより一層スムーズに行うことができる。 According to this configuration, when the main body 204 is turned around the intermediate wheel 256, the pair of wheels 288 rotate in opposite directions. Thereby, the turning resistance generated in the intermediate wheel 256A when the direction of the main body 204 is changed can be further reduced, and the direction of the main body 204 can be changed more smoothly.
　さらに、中間輪２５６Ａは、動作支援システム２０２Ａの重心Ｇ１を通る鉛直線２７６よりも本体部２０４の後側に配置された鉛直線２７６Ａ上に配置されている。 Furthermore, the intermediate wheel 256A is disposed on a vertical line 276A disposed on the rear side of the main body 204 with respect to the vertical line 276 passing through the center of gravity G1 of the motion support system 202A.
　この構成によれば、介護ベルト２０８が被介護者２１２の上半身を保持した状態で被介護者２１２が歩行する際に、動作支援システム２０２Ａの安定性を高めることができる。 According to this configuration, the stability of the operation support system 202A can be improved when the care receiver 212 walks with the care belt 208 holding the upper body of the care receiver 212.
　（実施の形態６）
　《動作支援システムの構成》
　次に、図３７を参照しながら、実施の形態６に係る動作支援システム２０２Ｂの構成について説明する。図３７は、実施の形態６に係る動作支援システム２０２Ｂの底面を示す図である。 (Embodiment 6)
<< Operation support system configuration >>
Next, the configuration of the operation support system 202B according to Embodiment 6 will be described with reference to FIG. FIG. 37 is a diagram illustrating a bottom surface of the operation support system 202B according to the sixth embodiment.
　図３７に示すように、実施の形態６に係る動作支援システム２０２Ｂでは、歩行機構２１０Ｂの中間輪２５６Ｂの構成が上記実施の形態４と異なっている。具体的には、中間輪２５６Ｂは、回転軸２７０の方向が本体部２０４に対して変化する自在キャスタであり、軸線２９２を中心に旋回自在である。すなわち、一対の前輪２５２、一対の後輪２５４及び中間輪２５６Ｂはいずれも自在キャスタである。また、上記実施の形態５と同様に、中間輪２５６Ｂは双輪キャスタであってもよく、あるいは、単輪キャスタであってもよい。 As shown in FIG. 37, in the motion support system 202B according to the sixth embodiment, the configuration of the intermediate wheel 256B of the walking mechanism 210B is different from that of the fourth embodiment. Specifically, the intermediate wheel 256 </ b> B is a free caster in which the direction of the rotation shaft 270 changes with respect to the main body portion 204, and can turn around the axis 292. That is, the pair of front wheels 252, the pair of rear wheels 254 and the intermediate wheel 256 </ b> B are all free casters. Similarly to the fifth embodiment, the intermediate wheel 256B may be a twin wheel caster or a single wheel caster.
　なお、中間輪２５６Ｂが軸線２９２を中心に旋回するのをロックするロック機構（図示せず）を中間輪２５６Ｂに設けることもできる。これにより、ロック機構をロックした場合には、中間輪２５６Ｂを固定キャスタとして用いることができる。一方、ロック機構のロックを解除した場合には、中間輪２５６Ｂを自在キャスタとして用いることができる。 It should be noted that a lock mechanism (not shown) for locking the intermediate wheel 256B from turning about the axis 292 can be provided in the intermediate wheel 256B. Thereby, when the lock mechanism is locked, the intermediate wheel 256B can be used as a fixed caster. On the other hand, when the lock mechanism is unlocked, the intermediate wheel 256B can be used as a free caster.
　《実施の形態６の効果》
　上述したように、一対の前輪２５２、一対の後輪２５４及び中間輪２５６Ｂはそれぞれ、回転軸２６０，２６６及び２７０の方向が本体部２０４に対して変化する自在キャスタである。 << Effect of Embodiment 6 >>
As described above, the pair of front wheels 252, the pair of rear wheels 254, and the intermediate wheel 256 </ b> B are free casters in which the directions of the rotation shafts 260, 266, and 270 change with respect to the main body 204.
　この構成によれば、本体部２０４は、前後方向（ｘ０軸方向）だけでなく、例えば左右方向（ｙ０軸方向）等の任意の方向に移動することができる。これにより、例えば狭い場所で動作支援システム２０２Ｂを使用する場合などにおいて、本体部２０４の移動方向の自由度を高めることができる。 According to this configuration, the main body 204 can move not only in the front-rear direction (x0 axis direction) but also in an arbitrary direction such as the left-right direction (y0 axis direction). Thereby, for example, when the operation support system 202B is used in a narrow place, the degree of freedom in the moving direction of the main body 204 can be increased.
　（変形例等）
　以上、本発明について実施の形態４～６に基づいて説明したが、本発明は、上記の実施の形態４～６に限定されるものではない。 (Modifications etc.)
The present invention has been described based on the fourth to sixth embodiments. However, the present invention is not limited to the above fourth to sixth embodiments.
　例えば、中間輪２５６（２５６Ａ，２５６Ｂ）をオムニホイールで構成してもよい。これにより、本体部２０４は、前後方向（ｘ０軸方向）だけでなく、左右方向（ｙ０軸方向）にも移動することができるようになる。 For example, the intermediate wheel 256 (256A, 256B) may be constituted by an omni wheel. Thus, the main body 204 can move not only in the front-rear direction (x0 axis direction) but also in the left-right direction (y0 axis direction).
　また、上記各実施の形態では、アーム機構２０６を第１モータ２２８及び第２モータ２３４で駆動させたが、アーム機構２０６を手動で駆動させてもよい。 In each of the above embodiments, the arm mechanism 206 is driven by the first motor 228 and the second motor 234. However, the arm mechanism 206 may be driven manually.
　（実施の形態７）
　《動作支援システムの構成》
　図３８～図４２を参照しながら、実施の形態７に係る動作支援システムの連結部について説明する。具体的には、本実施の形態に係る動作支援システムの連結部は、アーム機構と介護ベルトとを容易に取り外しできるようにするとともに、これらが取り外されているときに被介護者の動作の邪魔にならないように構成されたものである。 (Embodiment 7)
<< Operation support system configuration >>
With reference to FIGS. 38 to 42, the connection unit of the operation support system according to the seventh embodiment will be described. Specifically, the connection part of the operation support system according to the present embodiment enables the arm mechanism and the care belt to be easily detached, and obstructs the operation of the care recipient when they are removed. It is configured not to become.
　図３８は、本実施の形態に係る動作支援システムの連結部３００の外観を示す第一の外観図である。図３９は、本実施の形態に係る動作支援システムの連結部３００の外観を示す第二の外観図である。この連結部３００は、後述する図４０の介護ベルト３０８に接続されるものである。 FIG. 38 is a first external view showing the external appearance of the connecting portion 300 of the operation support system according to the present embodiment. FIG. 39 is a second external view showing the external appearance of connecting portion 300 of the operation support system according to the present embodiment. This connection part 300 is connected to the care belt 308 of FIG. 40 mentioned later.
　図３８及び図３９に示されるように、連結部３００は、留め具３０２ａ及び３０２ｂと、連結ベルト３０４ａ及び３０４ｂと、板部材３０６（板部材３０６ａ及び３０６ｂ）とを備える。 38 and 39, the connecting portion 300 includes fasteners 302a and 302b, connecting belts 304a and 304b, and plate members 306 ( plate members 306a and 306b).
　留め具３０２ａは、介護ベルト３０８が有する留め具（後述する図４０の留め具３１６ａ）に接続され、介護ベルト３０８とアーム２０６とを接続する取り付け具である。留め具３０２ａは、例えば差込バックル（より具体的には差込バックルのオス側）であり、以降ではこの場合を例として説明するが、留め具３０２ａは、他にも、面ファスナ、紐などでもよい。留め具３０２ａとしての差込バックルは、オス側及びメス側の差込バックルが互いに嵌め合わされることで接続される。 The fastener 302a is an attachment that is connected to the fastener (the fastener 316a in FIG. 40 described later) of the care belt 308 and connects the care belt 308 and the arm 206. The fastener 302a is, for example, an insertion buckle (more specifically, a male side of the insertion buckle). Hereinafter, this case will be described as an example. But you can. The insertion buckle as the fastener 302a is connected by fitting the insertion buckle on the male side and the female side to each other.
　留め具３０２ｂは、留め具３０２ｂと同様の取り付け具であるが、板部材３０６ａ及び３０６ｂを挟んで留め具３０２ａとは反対側に位置している。留め具３０２ａと留め具３０２ｂとのそれぞれが、介護ベルト３０８の留め具と接続されることで、アーム機構２０６と介護ベルト３０８とが互いに固定される。留め具３０２ｂは、さらに、留め具３０２ａとも接続される。留め具３０２ａが差込バックルのオス側である場合、留め具３０２ｂは、差込バックルのメス側である。 The fastener 302b is an attachment similar to the fastener 302b, but is located on the opposite side of the fastener 302a with the plate members 306a and 306b interposed therebetween. Each of the fastener 302a and the fastener 302b is connected to the fastener of the care belt 308, whereby the arm mechanism 206 and the care belt 308 are fixed to each other. The fastener 302b is further connected to the fastener 302a. When the fastener 302a is the male side of the plug-in buckle, the fastener 302b is the female side of the plug-in buckle.
　連結ベルト３０４ａは、一端が板部材３０６ａ及び３０６ｂに固定され、他端が留め具３０２ａに連結された柔軟性の帯状部材である。 The connecting belt 304a is a flexible belt-like member having one end fixed to the plate members 306a and 306b and the other end connected to the fastener 302a.
　連結ベルト３０４ｂは、一端が板部材３０６ａ及び３０６ｂに固定され、他端が留め具３０２ｂに連結された柔軟性の帯状部材である。連結ベルト３０４ｂは、板部材３０６ａ及び３０６ｂを挟んで連結ベルト３０４ａとは反対側に位置している。 The connecting belt 304b is a flexible belt-like member having one end fixed to the plate members 306a and 306b and the other end connected to the fastener 302b. The connection belt 304b is located on the opposite side of the connection belt 304a with the plate members 306a and 306b interposed therebetween.
　板部材３０６ａ及び３０６ｂは、アーム機構２０６（第４アーム２０６ｄ）の一端に固定され、連結ベルト３０４ａ及び３０４ｂを挟み込むことで固定する板状部材である。板部材３０６ａ及び３０６ｂを介してアーム機構２０６と介護ベルト３０８とが固定されることで、アーム機構２０６の動作が被介護者に適切に伝達される。 The plate members 306a and 306b are plate-like members that are fixed to one end of the arm mechanism 206 (fourth arm 206d) and fixed by sandwiching the connecting belts 304a and 304b. The arm mechanism 206 and the care belt 308 are fixed via the plate members 306a and 306b, so that the operation of the arm mechanism 206 is appropriately transmitted to the care recipient.
　なお、連結ベルト３０４ａ及び３０４ｂは、両端に留め具３０２ａ及び３０２ｂが連結された１本の連結ベルトにより実現されてもよい。上記１本の連結ベルトの中央部を板部材３０６ａ及び３０６ｂにより挟み込むことで上記構成が実現される。 The connecting belts 304a and 304b may be realized by a single connecting belt in which the fasteners 302a and 302b are connected to both ends. The above configuration is realized by sandwiching the central portion of the one connecting belt between the plate members 306a and 306b.
　図４０は、本実施の形態に係る動作支援システムの連結部３００を介護ベルト３０８に接続する方法を示す説明図である。図４１は、本実施の形態に係る動作支援システムの連結部３００を接続した介護ベルト３０８を被介護者２１２が装着している状態を示す説明図である。 FIG. 40 is an explanatory diagram showing a method of connecting the connecting portion 300 of the motion support system according to the present embodiment to the care belt 308. FIG. 41 is an explanatory diagram illustrating a state where the care receiver 212 is wearing the care belt 308 to which the connection unit 300 of the motion support system according to the present embodiment is connected.
　図４０に示されるように、介護ベルト３０８は、被介護者２１２の上半身に装着される装着具である。介護ベルト３０８には、留め具３１６ａ及び３１６ｂと、連結ベルト３１２ａ及び３１２ｂとが取り付けられている。 40, the care belt 308 is a wearing tool that is worn on the upper half of the cared person 212. Fasteners 316a and 316b and connecting belts 312a and 312b are attached to the care belt 308.
　留め具３１６ａは、アーム機構２０６が有する留め具３０２ａと接続される取り付け具である。留め具３１６ａは、留め具３０２ａに取り付け可能な機構のものであることを要する。例えば、留め具３０２ａが差込バックルのオス側である場合、留め具３１６ａは、差込バックルのメス側である。 The fastener 316a is an attachment connected to the fastener 302a of the arm mechanism 206. The fastener 316a needs to be of a mechanism that can be attached to the fastener 302a. For example, if the fastener 302a is the male side of the plug-in buckle, the fastener 316a is the female side of the plug-in buckle.
　留め具３１６ｂは、アーム機構２０６が有する留め具３０２ｂと接続される取り付け具である。留め具３１６ｂは、留め具３０２ｂに取り付け可能な機構のものであることを要する。例えば、留め具３０２ｂが差込バックルのメス側である場合、留め具３１６ｂは、差込バックルのオス側である。 The fastener 316b is an attachment connected to the fastener 302b of the arm mechanism 206. The fastener 316b needs to be of a mechanism that can be attached to the fastener 302b. For example, when the fastener 302b is the female side of the plug-in buckle, the fastener 316b is the male side of the plug-in buckle.
　連結ベルト３１２ａは、介護ベルト３０８の本体部分、言い換えれば、介護ベルト３０８のうち被介護者２１２の身体に接する部分、より具体的には介護ベルト３０８を装着した被介護者２１２の右脇の下の付近に取り付けられ、一端に留め具３１６ａに連結された柔軟性の帯状部材である。連結ベルト３１２ａは、介護ベルト３０８の本体部分からの長さを調整可能である。連結ベルト３１２ａのうち、留め具３１６ａより先の部分（連結ベルト３１４ａ）は調整代としての役割を有する。 The connecting belt 312a is a main body portion of the care belt 308, in other words, a portion of the care belt 308 that contacts the body of the care receiver 212, more specifically, near the right armpit of the care receiver 212 wearing the care belt 308. It is a flexible belt-like member attached to the end and connected to the fastener 316a at one end. The length of the connecting belt 312a from the main body portion of the care belt 308 can be adjusted. Of the connecting belt 312a, the portion (the connecting belt 314a) ahead of the fastener 316a serves as an adjustment allowance.
　連結ベルト３１２ｂは、連結ベルト３１２ａと同様の柔軟性の帯状部材である。連結ベルト３１２ｂが取り付けられている位置は、介護ベルト３０８を装着した被介護者２１２の左脇の下の付近である。 The connecting belt 312b is a flexible belt-like member similar to the connecting belt 312a. The position where the connection belt 312b is attached is near the lower left arm of the care receiver 212 wearing the care belt 308.
　連結部３００を介護ベルト３０８に取り付けるには、連結部３００の留め具３０２ａ及び３０２ｂを、それぞれ、介護ベルト３０８の留め具３１６ａ及び３１６ｂに接続する。 To attach the connecting part 300 to the care belt 308, the fasteners 302a and 302b of the connecting part 300 are connected to the fasteners 316a and 316b of the care belt 308, respectively.
　さらに、連結ベルト３１２ａ及び３１２ｂの、介護ベルト３０８の本体部分からの長さを短くなるように調整すると、連結ベルト３１２ａ及び３１２ｂと、介護ベルト３０８の本体部分とにより被介護者２１２の胴回りを締め付ける力が働く。また、この調整により、連結部３００と介護ベルト３０８との間隔が狭まることにより、アーム機構２０６の動作が被介護者により適切に伝達されるようになる（図４１）。 Further, when the lengths of the connecting belts 312a and 312b from the main body part of the care belt 308 are adjusted, the waist of the cared person 212 is tightened by the connecting belts 312a and 312b and the main body part of the care belt 308. Power works. Further, by this adjustment, the distance between the connecting portion 300 and the care belt 308 is narrowed, so that the operation of the arm mechanism 206 is appropriately transmitted to the care recipient (FIG. 41).
　図４２は、本実施の形態に係る動作支援システムの連結部３００に接続されていない介護ベルト３０８を被介護者が装着している状態を示す説明図である。 FIG. 42 is an explanatory diagram showing a state where the care receiver is wearing the care belt 308 that is not connected to the connecting portion 300 of the operation support system according to the present embodiment.
　介護ベルト３０８が連結部３００に連結していない場合、介護ベルト３０８が有する留め具３１６ａ及び３１６ｂは、どこにも固定されていなければ、被介護者２１２が体勢を変えるたびに自由に位置を変える。これにより、被介護者２１２は、不快に感じることもあると考えられる。 When the care belt 308 is not connected to the connecting portion 300, the fasteners 316a and 316b included in the care belt 308 are freely changed every time the care receiver 212 changes the posture unless fixed. As a result, the cared person 212 may feel uncomfortable.
　そこで、介護ベルト３０８が有する留め具３１６ａ及び３１６ｂを互いに接続し、かつ、連結ベルト３１２ａ及び３１２ｂの長さを適切に調整することで、留め具３１６ａ及び３１６ｂ並びに連結ベルト３１２ａ及び３１２ｂと、介護ベルト３０８との隙間を小さくし、留め具３１６ａ及び３１６ｂが上記のように自由に位置を変えることを抑止することができる。また、連結ベルト３１２ａ（３１２ｂ）のうち留め具３１６ａ（３１６ｂ）より先の部分である連結ベルト３１４ａ（３１４ｂ）を通し部３１８ａ（３１８ｂ）に通すことで、連結ベルト３１４ａ（３１４ｂ）が被介護者２１２の身体の前方に位置することを回避することができ、不快感をより小さくすることができる。 Therefore, the fasteners 316a and 316b included in the nursing belt 308 are connected to each other, and the lengths of the coupling belts 312a and 312b are appropriately adjusted, so that the fasteners 316a and 316b, the coupling belts 312a and 312b, It is possible to reduce the gap with 308 and prevent the fasteners 316a and 316b from freely changing positions as described above. Further, by passing the connecting belt 314a (314b), which is the portion of the connecting belt 312a (312b) ahead of the fastener 316a (316b), through the passing portion 318a (318b), the connecting belt 314a (314b) is cared for. Positioning 212 in front of the body can be avoided, and discomfort can be further reduced.
　なお、上記では留め具３０２ａが差込バックルのオス側であり、留め具３０２ｂが差込バックルのメス側である場合を一例として示したが、この構成に限定されない。例えば、留め具３０２ａを差込バックルのメス側とし、留め具３０２ｂを差込バックルのオス側としてもよい。この場合、介護ベルト３０８の留め具３１６ａを差込バックルのオス側にし、留め具３１６ｂを差込バックルのメス側にすればよい。 In addition, although the case where the fastener 302a is the male side of the plug-in buckle and the fastener 302b is the female side of the plug-in buckle has been shown as an example in the above, it is not limited to this configuration. For example, the fastener 302a may be the female side of the insertion buckle and the fastener 302b may be the male side of the insertion buckle. In this case, the fastener 316a of the care belt 308 may be on the male side of the insertion buckle, and the fastener 316b may be on the female side of the insertion buckle.
　また、留め具３０２ａ及び３０２ｂの両方が差込バックルのオス側であってもよい。この場合、介護ベルト３０８の留め具３１６ａ及び３１６ｂの両方を差込バックルのメス側にすればよい。なお、この場合、留め具３１６ａ及び３１６ｂとしての差込バックルのメス側同士が互いに嵌め合わされることによる接続（図４２）はなされないが、留め具３１６ａ及び３１６ｂがさらに面ファスナ又は紐などを有することにすれば、当該面ファスナなどにより留め具３１６ａ及び３１６ｂが互いに接続され得る。 Moreover, both the fasteners 302a and 302b may be the male side of the insertion buckle. In this case, both the fasteners 316a and 316b of the care belt 308 may be on the female side of the insertion buckle. In this case, although the connection (FIG. 42) is not made by fitting the female sides of the insertion buckles as the fasteners 316a and 316b to each other, the fasteners 316a and 316b further have a surface fastener or a string. In this case, the fasteners 316a and 316b can be connected to each other by the surface fastener or the like.
　また、留め具３０２ａ及び３０２ｂの両方が差込バックルのメス側であってもよい。この場合、介護ベルト３０８の留め具３１６ａ及び３１６ｂの両方を差込バックルのオス側にすればよい。留め具３１６ａ及び３１６ｂの互いの接続については上記と同様である。 Also, both the fasteners 302a and 302b may be the female side of the insertion buckle. In this case, both the fasteners 316a and 316b of the care belt 308 may be on the male side of the insertion buckle. The connection between the fasteners 316a and 316b is the same as described above.
　（その他）
　以上、本発明に係る動作支援システムについて、上記実施の形態に基づいて説明したが、本発明は、上記の実施の形態に限定されるものではない。 (Other)
The operation support system according to the present invention has been described based on the above embodiment, but the present invention is not limited to the above embodiment.
　なお、上記実施の形態に係る包括的又は具体的な態様は、システム、方法、集積回路、コンピュータプログラム又はコンピュータ読み取り可能なＣＤ－ＲＯＭなどの記録媒体で実現されてもよく、システム、方法、集積回路、コンピュータプログラム又は記録媒体の任意の組み合わせで実現されてもよい。 The comprehensive or specific aspect according to the above embodiment may be realized by a recording medium such as a system, a method, an integrated circuit, a computer program, or a computer-readable CD-ROM. You may implement | achieve in arbitrary combinations of a circuit, a computer program, or a recording medium.
　その他、各実施の形態に対して当業者が思いつく各種変形を施して得られる形態や、本発明の趣旨を逸脱しない範囲で各実施の形態における構成要素及び機能を任意に組み合わせることで実現される形態も本発明に含まれる。 In addition, the embodiment can be realized by arbitrarily combining the components and functions in each embodiment without departing from the scope of the present invention, or a form obtained by subjecting each embodiment to various modifications conceived by those skilled in the art. Forms are also included in the present invention.
　　１、１Ｂ、１Ｃ、２０２、２０２Ａ、２０２Ｂ　　動作支援システム
　　３、２０８、３０８　　介護ベルト（保持部）
　　４、４’、２０６　　アーム機構（アーム）
　　４ａ、２０６ｅ　　第１駆動部
　　４ｂ、２０６ｆ　　第２駆動部
　　４ｐ　　肘掛け部
　　１２、１２Ｂ、１２Ｃ、２８２　　制御部
　　１４、２１０、２１０Ａ、２１０Ｂ　歩行機構
　　１４ａ、２５２　　前輪
　　１４ｂ、２５４　　後輪
　　１７　　力検出部
　　１０３、２２２、３０２ａ、３０２ｂ、３１６ａ、３１６ｂ　　留め具
　　２０４　　本体部
　　２５６、２５６Ａ、２５６Ｂ　中間輪
　　２６０、２６６、２７０　回転軸
　　２９０　調節機構 1, 1B, 1C, 202, 202A, 202B Motion support system 3, 208, 308 Care belt (holding part)
4, 4 ', 206 Arm mechanism (arm)
4a, 206e 1st drive unit 4b, 206f 2nd drive unit 4p Armrest unit 12, 12B, 12C, 282 Control unit 14, 210, 210A, 210B Walking mechanism 14a, 252 Front wheel 14b, 254 Rear wheel 17 Force detection unit 103, 222, 302a, 302b, 316a, 316b Fastener 204 Main body portion 256, 256A, 256B Intermediate wheel 260, 266, 270 Rotating shaft 290 Adjustment mechanism

Claims (15)

  1. 　被介護者を保持する保持部と、
    　前記保持部を支持するアームと、
    　前記被介護者を保持した状態の前記保持部を支持している前記アームの状態に基づいて、前記被介護者による起立又は着座の動作が行われることを推定し、推定された前記動作を支援するように、前記保持部又は前記アームの少なくとも一方を動作させる制御部とを備える
    　動作支援システム。     A holding unit for holding the cared person;
    An arm for supporting the holding portion;
    Based on the state of the arm supporting the holding portion in a state where the care recipient is held, it is estimated that a standing or sitting operation by the care recipient is performed, and the estimated operation is supported. An operation support system comprising: a control unit that operates at least one of the holding unit or the arm.
  2. 　前記アームは、
    　前記被介護者を保持している前記保持部から受ける力を検出する力検出部と、
    　前記アームの位置を検出する位置検出部とを有し、
    　前記制御部は、
    　前記力検出部が検出した前記力と、前記位置検出部が検出した前記位置とを含む前記アームの状態に基づいて、前記被介護者の身体が所定の軌道を描くように前記アームを動作させる
    　請求項１に記載の動作支援システム。     The arm is
    A force detection unit for detecting a force received from the holding unit holding the care recipient;
    A position detector for detecting the position of the arm;
    The controller is
    Based on the state of the arm including the force detected by the force detector and the position detected by the position detector, the arm of the care recipient is operated so as to draw a predetermined trajectory. The operation support system according to claim 1.
  3. 　前記制御部は、前記被介護者が着座した状態において、前記被介護者の上半身が前傾姿勢になるように前記アームを動作させる
    　請求項１又は２に記載の動作支援システム。     The operation support system according to claim 1, wherein the control unit operates the arm so that an upper body of the care receiver is in a forward leaning posture in a state where the care receiver is seated.
  4. 　前記動作支援システムは、さらに、
    　前記被介護者の歩行の動作に伴い前記動作支援システムを移動させる歩行機構を備える
    　請求項１～３のいずれか１項に記載の動作支援システム。     The operation support system further includes:
    The motion support system according to any one of claims 1 to 3, further comprising a walking mechanism that moves the motion support system in accordance with the walking motion of the care recipient.
  5. 　前記動作支援システムは、さらに、
    　床面に接地され、前記アームの一端が接続される本体部と、
    　前記アームの他端が接続される接続部であって、前記保持部に接続される接続部とを備え、
    　前記アームは、
    　一端が前記接続部と接続される第１リンクと、
    　一端が前記第１リンクと回動可能に接続され、他端が前記本体部と回動可能に接続される第２リンクとを有し、
    　前記動作支援システムは、さらに、
    　前記第２リンクに対して前記第１リンクを回動させる第１駆動部と、
    　前記本体部に対して前記第２リンクを回動させる第２駆動部とを備え、
    　前記制御部は、
    　前記第１駆動部又は前記第２駆動部の少なくとも一方による回動により、前記アームを動作させる
    　請求項１～４のいずれか１項に記載の動作支援システム。     The operation support system further includes:
    A main body that is grounded to the floor and to which one end of the arm is connected;
    A connecting portion to which the other end of the arm is connected, and a connecting portion connected to the holding portion,
    The arm is
    A first link having one end connected to the connecting portion;
    One end is rotatably connected to the first link, and the other end is rotatably connected to the main body.
    The operation support system further includes:
    A first drive unit that rotates the first link with respect to the second link;
    A second drive unit that rotates the second link with respect to the main body unit;
    The controller is
    The operation support system according to any one of claims 1 to 4, wherein the arm is operated by rotation by at least one of the first drive unit or the second drive unit.
  6. 　前記第２リンクは、前記第２リンクの前記一端の近傍に設けられ、前記被介護者の足との接触による衝撃を和らげるための緩衝材を有する
    　請求項５に記載の動作支援システム。     The motion support system according to claim 5, wherein the second link includes a cushioning material that is provided in the vicinity of the one end of the second link and cushions an impact caused by contact with the care receiver's foot.
  7. 　前記緩衝材には、前記被介護者との接触を検出する接触センサが設けられ、
    　前記第１駆動部及び前記第２駆動部は、前記接触センサが前記接触を検出した場合に、回動を停止する
    　請求項６に記載の動作支援システム。     The cushioning material is provided with a contact sensor that detects contact with the care recipient,
    The operation support system according to claim 6, wherein the first drive unit and the second drive unit stop rotating when the contact sensor detects the contact.
  8. 　前記アームは、さらに、
    　前記第１リンクと前記第２リンクとによる物体の挟み込みを検出する挟み込みセンサを備え、
    　前記第１駆動部及び前記第２駆動部は、前記挟み込みセンサが前記挟み込みを検出した場合に、回動を停止する
    　請求項５～７のいずれか１項に記載の動作支援システム。     The arm further includes:
    A pinching sensor for detecting pinching of an object by the first link and the second link;
    The operation support system according to any one of claims 5 to 7, wherein the first driving unit and the second driving unit stop rotating when the pinching sensor detects the pinching.
  9. 　前記動作支援システムは、さらに、
    　前記アームにより前記保持部に連結された本体部を備え、
    　前記歩行機構は、
    　前記本体部の前側に配置された一対の前輪と、
    　前記本体部の後側に配置された一対の後輪と、
    　前記一対の前輪と前記一対の後輪との間に配置された１個の中間輪と、を有する
    　請求項４に記載の動作支援システム。     The operation support system further includes:
    A main body connected to the holding portion by the arm;
    The walking mechanism is
    A pair of front wheels disposed on the front side of the main body,
    A pair of rear wheels disposed on the rear side of the main body,
    The motion support system according to claim 4, further comprising a single intermediate wheel disposed between the pair of front wheels and the pair of rear wheels.
  10. 　前記一対の前輪及び前記一対の後輪の各々は、回転軸の方向が前記本体部に対して変化する自在キャスタであり、
    　前記中間輪は、回転軸の方向が前記本体部に対して固定された固定キャスタである
    　請求項９に記載の動作支援システム。     Each of the pair of front wheels and the pair of rear wheels is a free caster in which a direction of a rotation shaft changes with respect to the main body portion,
    The motion support system according to claim 9, wherein the intermediate wheel is a fixed caster in which a direction of a rotation shaft is fixed to the main body.
  11. 　前記動作支援システムは、さらに、前記中間輪が床面に接触する第１の位置と前記中間輪が前記床面から離れる第２の位置との間で、前記中間輪の前記本体部に対する位置を調節する調節機構を備える
    　請求項１０に記載の動作支援システム。     The operation support system further includes a position of the intermediate wheel relative to the main body portion between a first position where the intermediate wheel contacts the floor surface and a second position where the intermediate wheel separates from the floor surface. The operation support system according to claim 10, further comprising an adjustment mechanism for adjusting.
  12. 　前記アームと前記保持部とは着脱自在であり、
    　前記アームは、前記保持部が取り付けられる一端に一対の第一の留め具を備え、
    　前記保持部は、前記アームが取り付けられる一端に、前記一対の第一の留め具のそれぞれに取り付け可能である一対の第二の留め具を備え、
    　前記アームと前記保持部とが接続されるときには、前記一対の第一の留め具と前記一対の第二の留め具とが接続され、
    　前記アームと前記保持部とが接続されないときには、前記一対の第二の留め具が互いに接続される
    　請求項１～１１のいずれか１項に記載の動作支援システム。     The arm and the holding part are detachable,
    The arm includes a pair of first fasteners at one end to which the holding portion is attached,
    The holding portion includes a pair of second fasteners that can be attached to each of the pair of first fasteners at one end to which the arm is attached,
    When the arm and the holding portion are connected, the pair of first fasteners and the pair of second fasteners are connected,
    The motion support system according to any one of claims 1 to 11, wherein when the arm and the holding portion are not connected, the pair of second fasteners are connected to each other.
  13. 　請求項１～１２のいずれか１項に記載の動作支援システムを備えるロボット。 A robot comprising the motion support system according to any one of claims 1 to 12.
  14. 　被介護者を保持する保持部と、前記保持部を支持するアームとを備える動作支援システムの制御方法であって、
    　前記被介護者を保持した状態の前記保持部を支持している前記アームの状態に基づいて、前記被介護者による起立又は着座の動作が行われることを推定する推定ステップと、
    　推定された前記動作を支援するように、前記保持部又は前記アームの少なくとも一方を動作させる制御ステップとを含む
    　制御方法。     A control method of an operation support system comprising a holding unit for holding a care recipient and an arm for supporting the holding unit,
    Based on the state of the arm supporting the holding unit in a state where the care receiver is held, an estimation step for estimating that a standing or sitting operation by the care receiver is performed,
    A control step of operating at least one of the holding unit or the arm so as to support the estimated operation.
  15. 　請求項１４に記載の制御方法をコンピュータに実行させるためのプログラム。 A program for causing a computer to execute the control method according to claim 14.
PCT/JP2015/004745 2014-09-19 2015-09-17 Motion assist system, control method for motion assist system, robot, and program WO2016042771A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2014-191898 2014-09-19
JP2014191898 2014-09-19
JP2015149744A JP2017029237A (en) 2015-07-29 2015-07-29 Movement support system
JP2015-149744 2015-07-29

Publications (1)

Publication Number Publication Date
WO2016042771A1 true WO2016042771A1 (en) 2016-03-24

Family

ID=55532825

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/004745 WO2016042771A1 (en) 2014-09-19 2015-09-17 Motion assist system, control method for motion assist system, robot, and program

Country Status (1)

Country Link
WO (1) WO2016042771A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109147904A (en) * 2018-08-30 2019-01-04 香港理工大学 A kind of training method, system and the terminal of balance and gait

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013078601A (en) * 2012-12-07 2013-05-02 Fuji Mach Mfg Co Ltd Motion assisting device
JP2013090845A (en) * 2011-10-26 2013-05-16 Toyota Motor Corp Transfer support apparatus and control method of transfer support apparatus
JP2013158386A (en) * 2012-02-02 2013-08-19 Fuji Mach Mfg Co Ltd Robot for supporting standing-up movement

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013090845A (en) * 2011-10-26 2013-05-16 Toyota Motor Corp Transfer support apparatus and control method of transfer support apparatus
JP2013158386A (en) * 2012-02-02 2013-08-19 Fuji Mach Mfg Co Ltd Robot for supporting standing-up movement
JP2013078601A (en) * 2012-12-07 2013-05-02 Fuji Mach Mfg Co Ltd Motion assisting device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109147904A (en) * 2018-08-30 2019-01-04 香港理工大学 A kind of training method, system and the terminal of balance and gait

Similar Documents

Publication Publication Date Title
JP6544691B2 (en) Stand-up operation support system, control method of control unit of stand-up operation support system, program for control unit of stand-up operation support system, care belt, robot
JP2016064124A (en) Movement support system, control method of movement support system, robot and program
JP6631885B2 (en) Seating motion support system, control method of control part of seating motion support system, program for control part of seating motion support system, care belt, robot
US10688001B2 (en) Standing motion assist system, method for controlling standing motion assist system, recording medium, and robot
US8790284B2 (en) Wheelchair type robot for walking aid
JP6846684B2 (en) Robots, robot control methods, and programs
CN106344314B (en) Robot system, holding mechanism, and control method for robot system
US20210244585A1 (en) Walking assist chair
JP2009219650A (en) Wearable motion assisting device
TWI589287B (en) Moving car
WO2015045010A1 (en) Assistance robot
JP6712784B2 (en) Robot, robot control method, and program
JPWO2018179430A1 (en) Assistance device
JP6441149B2 (en) Trunk support device for transfer support
KR20150024537A (en) Walking assistant robot
WO2016042771A1 (en) Motion assist system, control method for motion assist system, robot, and program
KR101536932B1 (en) Apparatus capable of standing up and moving
JP5382508B2 (en) Standing assist device
JP2008212371A (en) Assist apparatus for bed and its use
JP5792269B2 (en) Caregiver assistance device
JP2018121847A (en) Mounting fixture and motion support device
JP2015037437A (en) Transfer/moving device
WO2018179294A1 (en) Assistance device
JP2019181086A (en) Transfer machine
WO2023079727A1 (en) Assistance device, aid implement, torso cushion, and underarm cushion

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15842419

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15842419

Country of ref document: EP

Kind code of ref document: A1