WO2018163308A1 - Assistance device - Google Patents
Assistance device Download PDFInfo
- Publication number
- WO2018163308A1 WO2018163308A1 PCT/JP2017/009097 JP2017009097W WO2018163308A1 WO 2018163308 A1 WO2018163308 A1 WO 2018163308A1 JP 2017009097 W JP2017009097 W JP 2017009097W WO 2018163308 A1 WO2018163308 A1 WO 2018163308A1
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- WIPO (PCT)
- Prior art keywords
- assistance
- actuator
- mode
- actuators
- height
- Prior art date
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
Definitions
- This specification relates to assistance devices.
- assistance devices for assisting the transfer of the person being assisted.
- One type of assistance device supports the upper body of the person being assisted and assists the person being assisted from the sitting posture to the posture at the time of transfer with the buttocks raised from the seating surface.
- Patent Document 1 describes an assistance device including a support portion that supports a forearm portion of a person being assisted.
- the assisting device includes a base, a lifting part provided on the base so as to be movable up and down, and a support part provided on the lifting part so as to be swingable around a first axis.
- the first actuator moves the lifting unit up and down relative to the base, and the second actuator swings the support unit relative to the lifting unit.
- Patent Document 2 an assistance provided with a carriage part, a frame provided on the carriage part so as to be swingable around the first axis, and a support part provided on the frame so as to be swingable around the second axis.
- An apparatus is described.
- the first linear motion actuator swings the frame with respect to the carriage portion
- the second linear motion actuator swings the support portion with respect to the frame.
- Patent Document 3 describes an assistance device that includes a carriage part, a frame that is swingable with respect to the carriage part, and a support part that is slidably provided on the frame.
- the first linear actuator causes the frame to swing with respect to the carriage
- the second linear actuator causes the support to slide with respect to the frame.
- the assistance device may have a height adjustment mode for performing the initial height adjustment operation of the support portion in addition to the assistance mode for performing the assistance operation from the sitting posture to the posture at the time of transfer. This is because the height of the thigh in the sitting posture of the person being assisted varies depending on the height of the seating surface and the physique of the person being assisted. However, if the support part is lowered too much in the height adjustment mode, the thigh of the person being assisted may be pressed. As a countermeasure, it is conceivable to limit the movable range of the actuator itself by using a stopper or the like so that the lower limit value of the initial height can be fixed.
- the assistance mode a plurality of actuators are cooperatively controlled in order to realize a suitable assistance operation.
- the support portion may be raised after being lowered once from the initial height.
- the actuator driven in the height adjustment mode is shared with at least a part of the actuator driven in the assistance mode.
- the movable range of the actuator is limited using a stopper or the like, the movable range of the actuator is limited not only in the height adjustment mode but also in the assistance mode. In this case, even if the problem in the height adjustment mode can be solved, an appropriate assistance operation cannot be realized.
- This specification aims at providing the assistance apparatus which can implement
- the present specification is an assistance device for assisting a person being assisted from a sitting posture to a posture at the time of transfer, and supports a base and a part of the body of the person being assisted, and the base
- An assisting device comprising: a support unit supported by the control unit; a plurality of actuators driving the support unit; and a control unit controlling the plurality of actuators.
- the control unit includes, as an operation mode, at least one of the plurality of actuators, an assistance mode for performing assistance operation from the sitting posture to the posture at the time of transfer with respect to the person being assisted by cooperative control of the plurality of actuators. And a height adjustment mode for performing a height adjustment operation of the support portion as a preparation for the assistance operation.
- an operation permission range of the at least one height direction component among the plurality of actuators is limited to a region above the adjustment lower control limit.
- an operation permission range of the at least one height direction component among the plurality of actuators includes a region below the adjustment lower control limit.
- the control unit uses the lower control limit for adjustment in the height adjustment mode, not the limitation by the mechanical stopper of at least one height direction component among the plurality of actuators.
- the permitted operation range is limited.
- the permitted operation range of the actuator in the assistance mode includes a region below the lower control limit for adjustment. That is, in the assistance mode, the height direction component of the actuator can be moved below the height adjusted in the height adjustment mode. Thereby, in assistance mode, operation of a support part turns into more suitable assistance operation.
- the assistance device 1 assists the transfer of the person M to be assisted.
- the assistance device 1 is used for assistance of transfer between two different places such as transfer between a bed and a wheelchair, transfer between a wheelchair and a toilet seat.
- the assistance apparatus 1 is applied also when two places to transfer are located far away, and can also move to a target position in the state which supported the person M to be assisted.
- the assistance device 1 supports a part of the body of the person being assisted, for example, the upper body, and assists the person who is moving the person M from the sitting posture to the posture at the time of transfer, or from the posture at the time of transfer to the sitting posture.
- the posture at the time of transfer is a posture in a state where the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the transfer posture includes a state in which the upper body stands up and a state of leaning forward.
- the configuration of the assistance device 1 will be described with reference to FIGS. 1 and 2.
- the assistance device 1 performs an assistance operation by raising and lowering the support portion 60 that supports a part of the upper half of the person being assisted M and swinging it in the front-rear direction.
- the assistance device 1 includes a base 10 as shown in FIG.
- the base 10 is a member located at the lowest part in the assistance device 1.
- the base 10 includes a frame 11, a foot placing base 12, six wheels 16 to 18, and the like.
- the frame 11 is provided substantially horizontally near the floor surface F.
- the footrest 12 is fixed to the rear of the upper surface of the frame 11 and is provided almost horizontally.
- the lower side of the frame 11 is provided with three wheels 16 to 18 on the left and right.
- Each of the wheels 16 to 18 has a steering function for changing the moving direction.
- the foremost wheel 16 has a lock function for restricting movement.
- the assisting device 1 can perform lateral movement and super-reciprocal turning as well as rectilinear movement and turning in the front-rear direction by the turning function of the six wheels 16 to 18.
- the assistance device 1 further includes a column portion 20 erected from the base 10.
- the column portion 20 is provided to extend vertically upward (antigravity direction) from the center in the left-right direction near the front of the frame 11.
- the column portion 20 is provided so as to extend upward in the vertical direction, but may be provided so as to extend in a direction slightly inclined forward or rearward from the vertical direction.
- the column part 20 has a mechanism which raises / lowers the upper end side.
- the assistance apparatus 1 is provided with the one pillar part 20, you may make it provide the several pillar part 20.
- the pillar part 20 includes a pillar body part 21 erected on the frame 11.
- the column main body 21 is fixed to the frame 11 in a state of extending upward from the center in the left-right direction near the front of the frame 11 of the base 10.
- the pillar part 20 is provided with the raising / lowering part 22 supported by the pillar main-body part 21 so that reciprocation is possible in the direction where the pillar main-body part 21 is extended. That is, the elevating part 22 reciprocates in the vertical direction (gravity direction and antigravity direction) with respect to the base 10 and the column main body part 21.
- the elevating part 22 is formed in a long shape that is long in the vertical direction.
- the elevating part 22 is located on the rear side of the column main body part 21.
- the assistance device 1 further includes a crus pad 30.
- the crus pad part 30 is fixed to a fixed part (part fixed to the frame 11) of the column part 20 by a pair of left and right support arms 31, 31 having an L shape.
- the lower thigh pad portion 30 is provided slightly above the front side of the mark 12a.
- the main body of the lower thigh pad portion 30 is a cushion material that is disposed over the upright portions of the left and right support arms 31 and extends in the left-right direction.
- the lower leg support part 30 is a part where the lower leg of the person being assisted M contacts. The arrangement height of the crus pad part 30 can be adjusted.
- the assistance device 1 further includes a swing arm 40 provided near the upper end of the elevating unit 22 and supported so as to be swingable about a horizontal axis in the left-right direction.
- a swing arm 40 provided near the upper end of the elevating unit 22 and supported so as to be swingable about a horizontal axis in the left-right direction.
- the assistance device 1 includes a first handle 50 fixed to the rear end of the swing arm 40 (the end of the portion extending rearward from the swing center of the swing arm 40).
- the first handle 50 is formed in a substantially rectangular frame shape.
- the first handle 50 is formed to extend in the front upward direction from the vicinity of the rear end of the swing arm 40.
- a side portion of the first handle 50 is used as a portion that is gripped by both hands of the person being assisted.
- the side part and the front part of the first handle 50 are used as a part to be gripped in order to move the assistance device 1 by an assistant.
- the assistance device 1 further includes a support portion 60 that supports a part of the upper body of the person being assisted.
- the support portion 60 is supported by the swing arm 40 and supports a part of the upper half of the person being assisted M.
- the support portion 60 swings in the front-rear direction with respect to the column portion 20 when the swing arm 40 swings with respect to the column portion 20.
- the support part 60 includes a body support part 61, a pair of side support parts 62, 62, a second handle 63, and the like.
- the trunk support portion 61 is formed in a surface shape close to the trunk shape of the person being assisted M, and can be flexibly deformed.
- the support surface of the torso support portion 61 supports the torso by making surface contact with the front surface of the torso among the upper body of the person being assisted.
- drum support part 61 supports the range ranging from the chest to the abdomen in the care receiver M from below. Further, the body support portion 61 is attached to the swing arm 40.
- the body support portion 61 is supported so as to be freely tiltable in the front-rear direction with respect to the swing arm 40.
- the torso support portion 61 is configured to be freely tiltable within a predetermined angle range clockwise when the assisting device 1 is viewed from the right in the state shown in FIG.
- the above-mentioned “free tilt” means not tilt driven by an actuator or the like but tilt capable of being moved manually.
- the pair of side support parts 62 and 62 are supported by the body support part 61 and support the side of the person being assisted M. Specifically, the pair of side support parts 62, 62 are provided on the left and right sides of the body support part 61.
- the side support part 62 is supported by the body support part 61 so as to be swingable.
- the side support part 62 is formed in an L shape by a rod-shaped member.
- the surface of the side support part 62 is covered with a material that can be flexibly deformed.
- the second handle 63 is integrally provided on the front surface of the body support portion 61.
- the second handle 63 is formed in a horizontally long U shape.
- the second handle 63 includes a base shaft portion that is fixed to the lower portion of the body support portion 61 and extends in the left-right direction, and a grip portion that extends from both ends of the base shaft portion toward the first handle 50 side.
- the assistance device 1 further includes a plurality of actuators 71 and 72 for driving the support unit 60, as shown in FIG.
- the assistance device 1 includes a lift actuator 71 and a swing actuator 72.
- the lift actuator 71 and the swing actuator 72 are arranged in the column portion 20.
- the elevating actuator 71 is constituted by a linear actuator, for example, and elevates the elevating part 22 with respect to the column main body part 21.
- As the elevating actuator 71 for example, a screw mechanism, a rack and pinion mechanism, a cylinder mechanism, or the like is applied.
- the swing actuator 72 is constituted by, for example, a rotary actuator, and swings the swing arm 40 with respect to the elevating unit 22.
- the oscillating actuator 72 may be composed of a linear actuator and a power conversion mechanism that converts the linear motion into rotation. Accordingly, the elevating actuator 71 and the swing actuator 72 change the height of the support portion 60 and the posture (tilt) of the support portion 60 in the front-rear direction.
- the elevating actuator 71 and the swinging actuator 72 can perform independent operations, and can also perform coordinated operations.
- the assistance device 1 further includes an input device 80 that performs an operation for assistance by an operator such as an assistant.
- the input device 80 is a wired or wireless remote controller.
- the input device 80 is a device that receives an instruction to perform assistance-related operations from an operator.
- the instruction to execute the assistance-related operation includes an instruction in the assistance mode for performing the assistance operation and an instruction in the height adjustment mode for performing the height adjustment operation as preparation for the assistance operation.
- the input device 80 includes an adjustment up button and an adjustment down button as height adjustment modes. In the height adjustment mode, only the lifting actuator 71 operates independently. Further, the input device 80 includes an assistance up button and an assistance down button as assistance modes. In the assistance mode, the lift actuator 71 and the swing actuator 72 operate in cooperation.
- the assistance device 1 further includes a control unit 90.
- the control unit 90 is provided at the front right side on the upper surface of the frame 11.
- the control unit 90 includes a control unit 91 that controls the lift actuator 71 and the swing actuator 72.
- the control unit 91 performs an assistance operation on the person to be assisted M by cooperative control of the plurality of actuators 71 and 72, and performs an assistance operation by controlling at least one of the plurality of actuators 71 and 72.
- a height adjustment mode for performing a height adjustment operation of the support portion 60 is provided.
- the control unit 91 controls the elevating actuator 71 and the swinging actuator 72 based on the execution instruction of the assistance related operation input from the operator by the input device 80.
- the input execution instruction includes an adjustment ascending instruction and an adjustment descending instruction as the height adjustment mode, and an assisting ascending instruction and an assisting descending instruction as the assistance mode.
- the control unit 91 can use a computer device that operates with software. As software, an operation program corresponding to the adjustment up instruction, the adjustment down instruction, the assistance up instruction, and the assistance down instruction is stored. Further, a battery power source having a symbol that can be repeatedly charged and discharged is attached below the control unit 91. The battery power supply is also attached to the front left side of the upper surface of the frame 11. The battery power source is shared by the lift actuator 71 and the swing actuator 72.
- the assistant holds the first handle 50 or the second handle 63 of the assistance apparatus 1 and brings the assistance apparatus 1 closer to the person M who is in the sitting position.
- the caregiver causes the lower half of the person being assisted M to enter the area above the base 10 and below the support portion 60.
- the assistant places the person M's feet on the mark 12 a of the footrest 12. A part of the lower leg of the person being assisted M comes into contact with the lower leg pad 30 so that the entire lower leg of the person being assisted M becomes stable.
- the assistant checks whether or not the height of the support portion 60 is appropriate.
- the assistant operates the adjustment up button or the adjustment down button of the input device 80 to adjust the height of the support portion 60 to the person being assisted M. adjust.
- the control unit 91 controls at least one of the plurality of actuators 71 and 72 as the height adjustment mode. That is, the control unit 91 executes the height adjustment mode in which the height adjustment operation of the support unit 60 is performed as preparation for the assistance operation.
- the control unit 91 changes the height of the support unit 60 while substantially maintaining the position of the support unit 60 in the front-rear direction, so that at least one of the actuators 71 and 72 in the height direction. Change ingredients. That is, in the height adjustment mode, at least one of the plurality of actuators 71 and 72 operates so that the height of the support part 60 can be changed while substantially maintaining the position of the support part 60 in the front-rear direction. .
- the posture (inclination) of the support portion 60 may be maintained in a constant state or may be changed according to the height.
- the amount of change in the posture of the support portion 60 in the height adjustment mode is set smaller than the amount of change in the posture of the support portion 60 in the assistance mode.
- substantially maintaining the front-rear direction position of the support part 60 means that the front-rear direction position of the support part 60 changes according to the height in addition to the case where the front-rear direction position of the support part 60 is constant. Including meaning.
- the amount of change in the front-rear direction position of the support part 60 in the height adjustment mode is set smaller than the amount of change in the front-rear direction position of the support part 60 in the assistance mode. Yes.
- the lifting actuator 71 moves the support unit 60 up and down by direct movement. That is, the lifting actuator 71 does not affect the posture of the support unit 60.
- the swing actuator 72 changes the posture of the support portion 60. Therefore, the height of the support part 60 can be adjusted only by the operation of the elevating actuator 71. Therefore, the control unit 91 performs the height adjustment operation of the support unit 60 by controlling only the lift actuator 71 in the height adjustment mode. That is, in the height adjustment mode, only the lift actuator 71 operates alone, and the support portion 60 moves up and down while maintaining the posture. In the height adjustment mode, the swing actuator 72 does not operate.
- the assistant brings the body of the person being assisted M into contact with the body support portion 61 and places the side of the person being assisted on the side support portions 62 and 62. Let me put it.
- the posture of the person being assisted at this time is the sitting posture at which assistance is started. In the sitting posture, as shown in FIG. 2, the buttocks are in contact with the seating surface, and the trunk is slightly tilted forward.
- the assistant operates the assistance ascending button of the input device 80 to start the assistance operation from the sitting position to the posture at the time of transfer for the person being assisted.
- the control unit 91 controls the elevation actuator 71 and the swing actuator 72 as the assistance elevation mode.
- the control unit 91 performs cooperative control on both the lift actuator 71 and the swing actuator 72 in the assistance lift mode. That is, in the assistance ascending mode, the swing actuator 72 swings forward while the lift actuator 71 moves up and down.
- the control unit 91 controls the lifting actuator 71 so as to lower the lifting unit 22 from the initial state, and the swing arm from the initial state.
- the swing actuator 72 is controlled to swing 40 forward.
- the support part 60 will be in the state which inclined greatly forward, moving below from an initial state. That is, the upper body tilts greatly forward while maintaining the state where the buttocks of the person being assisted M is in contact with the seating surface.
- the control unit 91 swings the swing arm 40 forward while controlling the lift actuator 71 to lift the lift unit 22.
- the swing actuator 72 is controlled.
- the support part 60 will be in the state inclined further largely, moving upwards. That is, the buttocks of the person being assisted M are separated from the seating surface, the legs are extended, and the upper body is further inclined forward. In this way, the person being assisted M is in the transfer posture.
- the input device 80 accepts the assistance lowering instruction, and the control unit 91 uses the elevation actuator 71 and the swing actuator 72 to perform the assistance lowering mode.
- Control as.
- the control unit 91 performs coordinated control on both the lift actuator 71 and the swing actuator 72. That is, in the assistance lowering mode, the swing actuator 72 swings backward while the lift actuator 71 moves up and down.
- the operable range H of the elevating actuator 71 is as shown in the left figure (a) of FIG.
- the operable range H of the lift actuator 71 is limited by mechanical stoppers at both the upper and lower ends.
- the range H in which the elevating actuator 71 can operate is defined by the ball screw nut coming into contact with the stopper.
- control part 91 has lower side control limits Lm1 and Lm2 which prescribe
- the lower control limits Lm1 and Lm2 can be a limit value for the command coordinate value, or can be a position detected by a sensor.
- the control unit 91 adjusts the lower control limit Lm1 for adjustment that regulates the operation permission range of the height direction component of the elevating actuator 71 in the height adjustment mode. Is provided.
- the adjustment lower control limit Lm1 is located above the lower limit position of the range H in which the elevating actuator 71 can operate.
- the operation permission range of the height direction component of the lift actuator 71 is limited to the region above the adjustment lower control limit Lm1. Therefore, even if the assistant continues to press the adjustment lowering button in the height adjustment mode, the lifting actuator 71 stops the lowering operation when the adjustment lower control limit Lm1 is reached.
- the control part 91 is provided with the assistance lower side control limit Lm2 which controls the operation
- the assisting lower control limit Lm2 is positioned slightly above the lower limit position of the range H in which the lifting actuator 71 can operate.
- the operation permission range of the height direction component of the elevating actuator 71 is limited to a region above the assistance lower control limit Lm2. Therefore, in the assistance mode, the control unit 91 is limited by the assistance lower control limit Lm2 even if a command to the lower region is issued from the assistance lower control limit Lm2.
- the control unit 91 raises the lifting actuator 71 after lowering it from the initial state, so that the person being assisted M shifts from the sitting posture to the posture at the time of transfer.
- the assistance lowering mode the reverse operation of the assistance raising mode is performed. That is, in the assistance mode, the lifting / lowering actuator 71 needs to move below the height adjusted in the height adjustment mode with respect to the person M in the sitting posture.
- the adjustment lower control limit Lm1 is set to be higher than the assistance lower control limit Lm2 by at least the required lowering amount of the lifting actuator 71 in the assistance raising mode. Therefore, in the assistance mode, the operation permission range of the height direction component of the elevating actuator 71 is set to include a lower region of a predetermined amount than the adjustment lower control limit Lm1. That is, if the assistance device 1 performs a normal operation, the lifting actuator 71 is not limited by the assistance lower control limit Lm2 in the assistance raising mode.
- the control unit 91 is limited by the assistance lower control limit Lm2 even if a command to the lower area is issued from the assistance lower control limit Lm2. Therefore, even in such a case, a high fail-safe function is exhibited by the assisting lower control limit Lm2 without the lift actuator 71 contacting the mechanical stopper that defines the operable range H of the lift actuator 71. Is done.
- the control unit 91 uses the lower control limit Lm1 for adjustment in the height adjustment mode, not the restriction by the mechanical stopper of the height direction component of the lift actuator 71, and the lift actuator 71
- the operation permission range of 71 is limited. Thereby, it can suppress that the support part 60 presses a thigh when the care receiver M is a sitting posture.
- the operation permission range of the lift actuator 71 in the assistance mode includes a region below the adjustment lower control limit Lm1. That is, in the assistance mode, the height direction component of the elevating actuator 71 can be moved below the height adjusted in the height adjustment mode. Thereby, in assistance mode, operation of supporter 60 turns into more appropriate assistance operation.
- the assisting device 1 is configured such that the elevating unit 22 moves up and down with respect to the base 10 and the support unit 60 swings in the front-rear direction with respect to the elevating unit 22.
- the assistance device 1 is configured to perform a plurality of axial movements, and can be applied to a device having a height adjustment mode and an assistance mode.
- the assistance device 1 has a configuration in which the support unit 60 swings a plurality of swings with respect to the base 10, a configuration in which the support unit 60 is supported by a member swinging with respect to the base 10 so that the support unit 60 can move linearly, and the like. It can also be.
- the controller 91 can control the plurality of actuators using the adjustment lower control limit Lm1 in the height adjustment mode. In this case, the same effect as described above can be obtained.
- assistance device 10: base, 20: pillar part, 22: lifting part, 40: swing arm, 60: support part, 61: trunk support part, 62: side support part, 71: lifting actuator, 72: Swing actuator, 80: input device, 90: control unit, 91: control unit, H: range in which the lifting actuator can operate, Lm1: lower control limit for adjustment, Lm2: lower control limit for assistance, M: covered Assistant
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Abstract
This assistance device comprises a control unit provided with the following operation modes: an assistance mode for performing assistance operation in which the posture of a person to be assisted is changed from a sitting posture to a transfer posture by cooperative control of a plurality of actuators; and a height adjustment mode in which height adjustment operation of a support section is performed as preparation for the assistance operation by controlling one or more of the plurality of actuators. When in the height adjustment mode, the permitted range of operation of a height direction component of one or more of the plurality of actuators is limited to an area above a lower control limit for adjustment. When in the assistance mode, the permitted range of operation of the height direction component of one or more of the plurality of actuators includes an area below the lower control limit for adjustment.
Description
本明細書は、介助装置に関するものである。
This specification relates to assistance devices.
被介助者の移乗を介助する介助装置が、種々知られている。介助装置の一種は、被介助者の上半身などを支持して、被介助者を、座位姿勢から、臀部を座面から上昇させた移乗時姿勢への動作を介助する。
There are various known assistance devices for assisting the transfer of the person being assisted. One type of assistance device supports the upper body of the person being assisted and assists the person being assisted from the sitting posture to the posture at the time of transfer with the buttocks raised from the seating surface.
特許文献1には、被介助者の前腕部を支持する支持部を備える介助装置が記載されている。この介助装置は、基台と、基台に昇降可能に設けられた昇降部と、昇降部に第一軸線を中心に揺動可能に設けられた支持部とを備える。この介助装置において、第一アクチュエータが、基台に対して昇降部を昇降させ、第二アクチュエータが、昇降部に対して支持部を揺動させる。
Patent Document 1 describes an assistance device including a support portion that supports a forearm portion of a person being assisted. The assisting device includes a base, a lifting part provided on the base so as to be movable up and down, and a support part provided on the lifting part so as to be swingable around a first axis. In this assistance device, the first actuator moves the lifting unit up and down relative to the base, and the second actuator swings the support unit relative to the lifting unit.
特許文献2には、台車部と、台車部に第一軸線を中心に揺動可能に設けられたフレームと、フレームに第二軸線を中心に揺動可能に設けられた支持部とを備える介助装置が記載されている。この介助装置において、第一直動アクチュエータが、台車部に対してフレームを揺動させ、第二直動アクチュエータが、フレームに対して支持部を揺動させる。
In Patent Document 2, an assistance provided with a carriage part, a frame provided on the carriage part so as to be swingable around the first axis, and a support part provided on the frame so as to be swingable around the second axis. An apparatus is described. In this assistance device, the first linear motion actuator swings the frame with respect to the carriage portion, and the second linear motion actuator swings the support portion with respect to the frame.
特許文献3には、台車部と、台車部に対して揺動可能に設けられたフレームと、フレームにスライド可能に設けられた支持部とを備える介助装置が記載されている。この介助装置において、第一直動アクチュエータが、台車部に対してフレームを揺動させ、第二直動アクチュエータが、フレームに対して支持部をスライドさせる。
Patent Document 3 describes an assistance device that includes a carriage part, a frame that is swingable with respect to the carriage part, and a support part that is slidably provided on the frame. In this assistance device, the first linear actuator causes the frame to swing with respect to the carriage, and the second linear actuator causes the support to slide with respect to the frame.
介助装置は、座位姿勢から移乗時姿勢への介助動作を行う介助モードに加えて、支持部の初期の高さ調整動作を行う高さ調整モードを有する場合がある。座面の高さ及び被介助者の体格に応じて、被介助者の座位姿勢のときの大腿部の高さが異なるためである。しかし、高さ調整モードにおいて支持部を下降しすぎると、被介助者の大腿部が押し付けられるおそれがある。この対策として、初期高さの下限値は固定値にすることができるように、ストッパなどを用いて、アクチュエータ自体の可動範囲を制限することが考えられる。
The assistance device may have a height adjustment mode for performing the initial height adjustment operation of the support portion in addition to the assistance mode for performing the assistance operation from the sitting posture to the posture at the time of transfer. This is because the height of the thigh in the sitting posture of the person being assisted varies depending on the height of the seating surface and the physique of the person being assisted. However, if the support part is lowered too much in the height adjustment mode, the thigh of the person being assisted may be pressed. As a countermeasure, it is conceivable to limit the movable range of the actuator itself by using a stopper or the like so that the lower limit value of the initial height can be fixed.
ところで、介助モードにおいては、好適な介助動作を実現するために、複数のアクチュエータが協調制御される。特に、介助モードにおいて、より適切な介助動作を実現するために、支持部を、初期高さから一旦下降させた後に上昇させることがある。また、低コストのため、高さ調整モードにおいて駆動するアクチュエータは、介助モードにて駆動するアクチュエータの少なくとも一部と共用される。
By the way, in the assistance mode, a plurality of actuators are cooperatively controlled in order to realize a suitable assistance operation. In particular, in the assistance mode, in order to realize a more appropriate assistance operation, the support portion may be raised after being lowered once from the initial height. In addition, because of low cost, the actuator driven in the height adjustment mode is shared with at least a part of the actuator driven in the assistance mode.
上記のように構成される介助装置においては、ストッパなどを用いてアクチュエータの可動範囲を制限してしまうと、高さ調整モードのみならず介助モードにおいても、アクチュエータの可動範囲が制限されてしまう。これでは、高さ調整モードにおける課題を解決できたとしても、適切な介助動作を実現することができない。
In the assistance device configured as described above, if the movable range of the actuator is limited using a stopper or the like, the movable range of the actuator is limited not only in the height adjustment mode but also in the assistance mode. In this case, even if the problem in the height adjustment mode can be solved, an appropriate assistance operation cannot be realized.
本明細書は、高さ調整モードにおいて被介助者の大腿部が押し付けられることを抑制しつつ、介助モードにおいて適切な支持部の動作を実現することができる介助装置を提供することを目的とする。
This specification aims at providing the assistance apparatus which can implement | achieve operation | movement of a suitable support part in assistance mode, suppressing that a thigh of a care recipient is pressed in height adjustment mode. To do.
本明細書は、被介助者に対して座位姿勢から移乗時姿勢への介助を行う介助装置であって、基台と、前記被介助者の身体の一部を支持し、且つ、前記基台に支持される支持部と、前記支持部を駆動する複数のアクチュエータと、前記複数のアクチュエータを制御する制御部と、を備える介助装置を開示する。
The present specification is an assistance device for assisting a person being assisted from a sitting posture to a posture at the time of transfer, and supports a base and a part of the body of the person being assisted, and the base An assisting device comprising: a support unit supported by the control unit; a plurality of actuators driving the support unit; and a control unit controlling the plurality of actuators.
前記制御部は、動作モードとして、前記複数のアクチュエータの協調制御により前記被介助者に対して前記座位姿勢から前記移乗時姿勢への介助動作を行う介助モードと、前記複数のアクチュエータのうち少なくとも一つの制御により前記介助動作の準備として前記支持部の高さ調整動作を行う高さ調整モードとを備える。前記高さ調整モードにおいて、前記複数のアクチュエータのうち前記少なくとも一つの高さ方向成分の動作許可範囲は、調整用下側制御リミットより上方領域に制限される。前記介助モードにおいて、前記複数のアクチュエータのうち前記少なくとも一つの高さ方向成分の動作許可範囲は、前記調整用下側制御リミットより下方領域を含む。
The control unit includes, as an operation mode, at least one of the plurality of actuators, an assistance mode for performing assistance operation from the sitting posture to the posture at the time of transfer with respect to the person being assisted by cooperative control of the plurality of actuators. And a height adjustment mode for performing a height adjustment operation of the support portion as a preparation for the assistance operation. In the height adjustment mode, an operation permission range of the at least one height direction component among the plurality of actuators is limited to a region above the adjustment lower control limit. In the assistance mode, an operation permission range of the at least one height direction component among the plurality of actuators includes a region below the adjustment lower control limit.
介助装置によれば、複数のアクチュエータのうち少なくとも一つの高さ方向成分の機械的なストッパによる制限ではなく、制御部が、高さ調整モードにおける調整用下側制御リミットを用いて、当該アクチュエータの動作許可範囲を制限している。これにより、被介助者が座位姿勢のときに、支持部が大腿部を押し付けることを抑制できる。
According to the assistance device, the control unit uses the lower control limit for adjustment in the height adjustment mode, not the limitation by the mechanical stopper of at least one height direction component among the plurality of actuators. The permitted operation range is limited. Thereby, when the person being assisted is in the sitting posture, the support portion can be prevented from pressing the thigh.
さらに、介助モードにおけるアクチュエータの動作許可範囲は、調整用下側制御リミットより下方領域を含む。つまり、介助モードにおいて、アクチュエータの高さ方向成分は、高さ調整モードで調整された高さよりも下方に移動可能となる。これにより、介助モードにおいて、支持部の動作は、より適切な介助動作となる。
Furthermore, the permitted operation range of the actuator in the assistance mode includes a region below the lower control limit for adjustment. That is, in the assistance mode, the height direction component of the actuator can be moved below the height adjusted in the height adjustment mode. Thereby, in assistance mode, operation of a support part turns into more suitable assistance operation.
1.介助装置1の概要
介助装置1は、被介助者Mの移乗を介助する。例えば、介助装置1は、ベッドと車椅子との間の移乗、車椅子と便座との間での移乗など、異なる二箇所間での移乗の介助に用いられる。また、介助装置1は、移乗する二箇所が遠くに位置する場合にも適用され、被介助者Mを支持した状態で目標位置に移動することもできる。 1. Outline of theassistance device 1 The assistance device 1 assists the transfer of the person M to be assisted. For example, the assistance device 1 is used for assistance of transfer between two different places such as transfer between a bed and a wheelchair, transfer between a wheelchair and a toilet seat. Moreover, the assistance apparatus 1 is applied also when two places to transfer are located far away, and can also move to a target position in the state which supported the person M to be assisted.
介助装置1は、被介助者Mの移乗を介助する。例えば、介助装置1は、ベッドと車椅子との間の移乗、車椅子と便座との間での移乗など、異なる二箇所間での移乗の介助に用いられる。また、介助装置1は、移乗する二箇所が遠くに位置する場合にも適用され、被介助者Mを支持した状態で目標位置に移動することもできる。 1. Outline of the
介助装置1は、被介助者Mの身体の一部、例えば上半身を支持して、被介助者Mを座位姿勢から移乗時姿勢への動作、又は、移乗時姿勢から座位姿勢への動作の介助を行う。ここで、移乗時姿勢は、臀部が座面から浮いた状態の姿勢であり、立位姿勢及び中腰姿勢を含む。つまり、移乗時姿勢は、上半身が起立した状態及び前かがみの状態などを含む。
The assistance device 1 supports a part of the body of the person being assisted, for example, the upper body, and assists the person who is moving the person M from the sitting posture to the posture at the time of transfer, or from the posture at the time of transfer to the sitting posture. I do. Here, the posture at the time of transfer is a posture in a state where the buttocks floats from the seating surface, and includes a standing posture and a middle waist posture. That is, the transfer posture includes a state in which the upper body stands up and a state of leaning forward.
2.介助装置1の構成
介助装置1の構成について、図1及び図2を参照して説明する。介助装置1は、被介助者Mの上半身の一部を支持する支持部60を昇降させると共に前後方向へ揺動させることにより、介助動作を行う。 2. Configuration ofAssistance Device 1 The configuration of the assistance device 1 will be described with reference to FIGS. 1 and 2. The assistance device 1 performs an assistance operation by raising and lowering the support portion 60 that supports a part of the upper half of the person being assisted M and swinging it in the front-rear direction.
介助装置1の構成について、図1及び図2を参照して説明する。介助装置1は、被介助者Mの上半身の一部を支持する支持部60を昇降させると共に前後方向へ揺動させることにより、介助動作を行う。 2. Configuration of
介助装置1は、図1に示すように、基台10を備える。基台10は、介助装置1における最下部に位置する部材である。基台10は、フレーム11、足載置台12、及び、6個の車輪16~18などを備える。フレーム11は、床面Fの近くにほぼ水平に設けられる。足載置台12は、フレーム11の上面後方に固定されて、ほぼ水平に設けられる。足載置台12の上面には、被介助者Mが足を乗せる位置を案内するための足形のマーク12aが記されている。
The assistance device 1 includes a base 10 as shown in FIG. The base 10 is a member located at the lowest part in the assistance device 1. The base 10 includes a frame 11, a foot placing base 12, six wheels 16 to 18, and the like. The frame 11 is provided substantially horizontally near the floor surface F. The footrest 12 is fixed to the rear of the upper surface of the frame 11 and is provided almost horizontally. On the upper surface of the foot mounting table 12, a foot-shaped mark 12a for guiding a position where the person being assisted puts his / her foot is written.
フレーム11の下側には、左右に3個ずつの車輪16~18が設けられている。各車輪16~18は、移動方向を転換する転舵機能を有する。最前の車輪16は、移動を規制するロック機能を備える。介助装置1は、6個の車輪16~18の転舵機能により、前後方向の直進及び旋回だけでなく、横移動及び超信地旋回が可能となる。
The lower side of the frame 11 is provided with three wheels 16 to 18 on the left and right. Each of the wheels 16 to 18 has a steering function for changing the moving direction. The foremost wheel 16 has a lock function for restricting movement. The assisting device 1 can perform lateral movement and super-reciprocal turning as well as rectilinear movement and turning in the front-rear direction by the turning function of the six wheels 16 to 18.
介助装置1は、さらに、基台10から立設された柱部20を備える。柱部20は、フレーム11の前寄りにおいて、左右方向の中央から鉛直方向上方(反重力方向)に延びるように設けられている。なお、本実施形態においては、柱部20は、鉛直方向上方に延びるように設けるが、鉛直方向から僅かに前側または後側に傾斜する方向に延びるように設けてもよい。柱部20は、上端側を昇降させる機構を有している。また、本実施形態において、介助装置1は、1本の柱部20を備えるが、複数本の柱部20を備えるようにしてもよい。
The assistance device 1 further includes a column portion 20 erected from the base 10. The column portion 20 is provided to extend vertically upward (antigravity direction) from the center in the left-right direction near the front of the frame 11. In the present embodiment, the column portion 20 is provided so as to extend upward in the vertical direction, but may be provided so as to extend in a direction slightly inclined forward or rearward from the vertical direction. The column part 20 has a mechanism which raises / lowers the upper end side. Moreover, in this embodiment, although the assistance apparatus 1 is provided with the one pillar part 20, you may make it provide the several pillar part 20. FIG.
柱部20は、フレーム11に立設された柱本体部21を備える。柱本体部21は、基台10のフレーム11の前寄りの左右方向の中央から上方に延伸した状態で、フレーム11に固定される。さらに、柱部20は、柱本体部21の延びる方向に往復移動可能に柱本体部21に支持される昇降部22を備える。つまり、昇降部22は、基台10及び柱本体部21に対して、鉛直方向の上下方向(重力方向及び反重力方向)に往復移動する。昇降部22は、上下方向に長い長尺状に形成される。昇降部22は、柱本体部21の後側に位置する。
The pillar part 20 includes a pillar body part 21 erected on the frame 11. The column main body 21 is fixed to the frame 11 in a state of extending upward from the center in the left-right direction near the front of the frame 11 of the base 10. Furthermore, the pillar part 20 is provided with the raising / lowering part 22 supported by the pillar main-body part 21 so that reciprocation is possible in the direction where the pillar main-body part 21 is extended. That is, the elevating part 22 reciprocates in the vertical direction (gravity direction and antigravity direction) with respect to the base 10 and the column main body part 21. The elevating part 22 is formed in a long shape that is long in the vertical direction. The elevating part 22 is located on the rear side of the column main body part 21.
介助装置1は、さらに、下腿当て部30を備える。下腿当て部30は、L字状の左右一対の支持アーム31,31により、柱部20の固定部分(フレーム11に固定される部分)に固定される。下腿当て部30は、マーク12aよりも少し前側の上方に設けられる。下腿当て部30の本体は、左右の支持アーム31の直立した部分に亘って配置され、左右方向に延在するクッション材である。下腿当て部30は、被介助者Mの下腿が接触する部位である。下腿当て部30の配置高さは、調整可能である。
The assistance device 1 further includes a crus pad 30. The crus pad part 30 is fixed to a fixed part (part fixed to the frame 11) of the column part 20 by a pair of left and right support arms 31, 31 having an L shape. The lower thigh pad portion 30 is provided slightly above the front side of the mark 12a. The main body of the lower thigh pad portion 30 is a cushion material that is disposed over the upright portions of the left and right support arms 31 and extends in the left-right direction. The lower leg support part 30 is a part where the lower leg of the person being assisted M contacts. The arrangement height of the crus pad part 30 can be adjusted.
介助装置1は、さらに、昇降部22の上端付近に設けられ、左右方向に水平な軸線を中心に揺動可能に支持される揺動アーム40を備える。介助装置1が座位姿勢から移乗時姿勢への介助を行う場合には、揺動アーム40の後端が前旋回する。一方、介助装置1が移乗時姿勢から座位姿勢への介助を行う場合には、揺動アーム40の後端が後旋回する。
The assistance device 1 further includes a swing arm 40 provided near the upper end of the elevating unit 22 and supported so as to be swingable about a horizontal axis in the left-right direction. When the assistance device 1 performs assistance from the sitting posture to the posture at the time of transfer, the rear end of the swing arm 40 turns forward. On the other hand, when the assistance device 1 performs assistance from the transfer posture to the sitting posture, the rear end of the swing arm 40 turns backward.
介助装置1は、揺動アーム40の後方端(揺動アーム40の揺動中心より後方に延びる部分の端部)に固定された第一ハンドル50を備える。第一ハンドル50は、概ね四角形の枠形状に形成されている。第一ハンドル50は、揺動アーム40の後端付近から前上方向に延びるように形成されている。第一ハンドル50の側方部分は、被介助者Mの両手によって把持される部分として利用される。さらに、第一ハンドル50の側方部分及び前方部分は、介助者によって介助装置1を移動させるために把持される部分として利用される。
The assistance device 1 includes a first handle 50 fixed to the rear end of the swing arm 40 (the end of the portion extending rearward from the swing center of the swing arm 40). The first handle 50 is formed in a substantially rectangular frame shape. The first handle 50 is formed to extend in the front upward direction from the vicinity of the rear end of the swing arm 40. A side portion of the first handle 50 is used as a portion that is gripped by both hands of the person being assisted. Furthermore, the side part and the front part of the first handle 50 are used as a part to be gripped in order to move the assistance device 1 by an assistant.
介助装置1は、さらに、被介助者Mの上半身の一部を支持する支持部60を備える。支持部60は、揺動アーム40に支持され、被介助者Mの上半身の一部を支持する。支持部60は、揺動アーム40が柱部20に対して揺動することにより、柱部20に対して前後方向に揺動する。
The assistance device 1 further includes a support portion 60 that supports a part of the upper body of the person being assisted. The support portion 60 is supported by the swing arm 40 and supports a part of the upper half of the person being assisted M. The support portion 60 swings in the front-rear direction with respect to the column portion 20 when the swing arm 40 swings with respect to the column portion 20.
支持部60は、胴体支持部61、一対の脇支持部62,62、及び、第二ハンドル63などを備える。胴体支持部61は、被介助者Mの胴体形状に近い面状に形成されており、柔軟な変形が可能になっている。胴体支持部61の支持面は、被介助者Mの上半身のうち胴体の前面に面接触して胴体を支持する。より詳細には、胴体支持部61の支持面は、被介助者Mにおける胸部から腹部に亘る範囲を下方から支持する。また、胴体支持部61は、揺動アーム40に取り付けられている。
The support part 60 includes a body support part 61, a pair of side support parts 62, 62, a second handle 63, and the like. The trunk support portion 61 is formed in a surface shape close to the trunk shape of the person being assisted M, and can be flexibly deformed. The support surface of the torso support portion 61 supports the torso by making surface contact with the front surface of the torso among the upper body of the person being assisted. In more detail, the support surface of the trunk | drum support part 61 supports the range ranging from the chest to the abdomen in the care receiver M from below. Further, the body support portion 61 is attached to the swing arm 40.
さらに、胴体支持部61は、揺動アーム40に対して前後方向に自由傾動可能に支持されている。具体的には、胴体支持部61は、図2に示す状態から、介助装置1を右から見た場合に時計回りに所定角度範囲を自由傾動可能に構成されている。上記の「自由傾動」とは、アクチュエータなどによって駆動される傾動ではなく、手動によって動かすことが可能な傾動を意味する。
Furthermore, the body support portion 61 is supported so as to be freely tiltable in the front-rear direction with respect to the swing arm 40. Specifically, the torso support portion 61 is configured to be freely tiltable within a predetermined angle range clockwise when the assisting device 1 is viewed from the right in the state shown in FIG. The above-mentioned “free tilt” means not tilt driven by an actuator or the like but tilt capable of being moved manually.
一対の脇支持部62,62は、胴体支持部61に支持され、被介助者Mの脇を支持する。詳細には、一対の脇支持部62,62は、胴体支持部61の左右に設けられている。脇支持部62は、胴体支持部61に揺動可能に支持される。脇支持部62は、棒状部材により、L字状に形成されている。脇支持部62の表面は、柔軟な変形が可能な材料により覆われている。第二ハンドル63は、胴体支持部61の前面に一体的に設けられている。第二ハンドル63は、横長のU字状に形成されている。第二ハンドル63は、胴体支持部61の下部に固定され左右方向に延びる基軸部分と、基軸部分の両端から第一ハンドル50側に向かって延びる把持部分とを備える。
The pair of side support parts 62 and 62 are supported by the body support part 61 and support the side of the person being assisted M. Specifically, the pair of side support parts 62, 62 are provided on the left and right sides of the body support part 61. The side support part 62 is supported by the body support part 61 so as to be swingable. The side support part 62 is formed in an L shape by a rod-shaped member. The surface of the side support part 62 is covered with a material that can be flexibly deformed. The second handle 63 is integrally provided on the front surface of the body support portion 61. The second handle 63 is formed in a horizontally long U shape. The second handle 63 includes a base shaft portion that is fixed to the lower portion of the body support portion 61 and extends in the left-right direction, and a grip portion that extends from both ends of the base shaft portion toward the first handle 50 side.
介助装置1は、さらに、図2に示すように、支持部60を駆動する複数のアクチュエータ71,72を備える。詳細には、介助装置1は、昇降アクチュエータ71及び揺動アクチュエータ72を備える。昇降アクチュエータ71及び揺動アクチュエータ72は、柱部20の中に配置されている。昇降アクチュエータ71は、例えば、直動アクチュエータにより構成されており、柱本体部21に対して昇降部22を昇降する。昇降アクチュエータ71は、例えば、ねじ機構、ラックピニオン機構、シリンダ機構などを適用される。
The assistance device 1 further includes a plurality of actuators 71 and 72 for driving the support unit 60, as shown in FIG. Specifically, the assistance device 1 includes a lift actuator 71 and a swing actuator 72. The lift actuator 71 and the swing actuator 72 are arranged in the column portion 20. The elevating actuator 71 is constituted by a linear actuator, for example, and elevates the elevating part 22 with respect to the column main body part 21. As the elevating actuator 71, for example, a screw mechanism, a rack and pinion mechanism, a cylinder mechanism, or the like is applied.
揺動アクチュエータ72は、例えば、回転アクチュエータにより構成されており、昇降部22に対して揺動アーム40を揺動する。揺動アクチュエータ72には、直動アクチュエータと、直動を回転に変換する動力変換機構により構成されるようにしてもよい。従って、昇降アクチュエータ71及び揺動アクチュエータ72は、支持部60の高さ及び支持部60の前後方向の姿勢(傾き)を変化させる。ここで、昇降アクチュエータ71と揺動アクチュエータ72とは、独立した動作をすることも可能であり、協調した動作をすることも可能である。
The swing actuator 72 is constituted by, for example, a rotary actuator, and swings the swing arm 40 with respect to the elevating unit 22. The oscillating actuator 72 may be composed of a linear actuator and a power conversion mechanism that converts the linear motion into rotation. Accordingly, the elevating actuator 71 and the swing actuator 72 change the height of the support portion 60 and the posture (tilt) of the support portion 60 in the front-rear direction. Here, the elevating actuator 71 and the swinging actuator 72 can perform independent operations, and can also perform coordinated operations.
介助装置1は、さらに、介助者などの操作者によって、介助するための操作を行う入力装置80を備える。入力装置80は、有線又は無線のリモコンである。入力装置80は、操作者からの介助関連動作の実行指示を受け付ける装置である。介助関連動作の実行指示には、介助動作を行う介助モードにおける指示、及び、介助動作の準備としての高さ調整動作を行う高さ調整モードにおける指示が含まれる。
The assistance device 1 further includes an input device 80 that performs an operation for assistance by an operator such as an assistant. The input device 80 is a wired or wireless remote controller. The input device 80 is a device that receives an instruction to perform assistance-related operations from an operator. The instruction to execute the assistance-related operation includes an instruction in the assistance mode for performing the assistance operation and an instruction in the height adjustment mode for performing the height adjustment operation as preparation for the assistance operation.
そこで、入力装置80は、高さ調整モードとしての調整用上昇ボタン及び調整用下降ボタンを備える。高さ調整モードにおいては、昇降アクチュエータ71のみが単独して動作する。また、入力装置80は、介助モードとしての介助用上昇ボタン及び介助用下降ボタンを備える。介助モードにおいては、昇降アクチュエータ71と揺動アクチュエータ72とが協調して動作する。
Therefore, the input device 80 includes an adjustment up button and an adjustment down button as height adjustment modes. In the height adjustment mode, only the lifting actuator 71 operates independently. Further, the input device 80 includes an assistance up button and an assistance down button as assistance modes. In the assistance mode, the lift actuator 71 and the swing actuator 72 operate in cooperation.
介助装置1は、さらに、制御ユニット90を備える。制御ユニット90は、フレーム11の上面における前右寄りに設けられている。制御ユニット90は、昇降アクチュエータ71及び揺動アクチュエータ72を制御する制御部91などを備える。制御部91は、介助関連動作モードとして、複数のアクチュエータ71,72の協調制御により被介助者Mに対する介助動作を行う介助モードと、複数のアクチュエータ71,72のうち少なくとも一つの制御により介助動作の準備として支持部60の高さ調整動作を行う高さ調整モードとを備える。
The assistance device 1 further includes a control unit 90. The control unit 90 is provided at the front right side on the upper surface of the frame 11. The control unit 90 includes a control unit 91 that controls the lift actuator 71 and the swing actuator 72. As the assistance-related operation mode, the control unit 91 performs an assistance operation on the person to be assisted M by cooperative control of the plurality of actuators 71 and 72, and performs an assistance operation by controlling at least one of the plurality of actuators 71 and 72. As a preparation, a height adjustment mode for performing a height adjustment operation of the support portion 60 is provided.
制御部91は、入力装置80によって操作者から入力された介助関連動作の実行指示に基づいて、昇降アクチュエータ71及び揺動アクチュエータ72を制御する。入力される実行指示には、高さ調整モードとしての調整用上昇指示及び調整用下降指示、並びに、介助モードとしての介助用上昇指示及び介助用下降指示が含まれる。
The control unit 91 controls the elevating actuator 71 and the swinging actuator 72 based on the execution instruction of the assistance related operation input from the operator by the input device 80. The input execution instruction includes an adjustment ascending instruction and an adjustment descending instruction as the height adjustment mode, and an assisting ascending instruction and an assisting descending instruction as the assistance mode.
なお、制御部91は、ソフトウェアで動作するコンピュータ装置を用いることができる。ソフトウェアとして、調整用上昇指示、調整用下降指示、介助用上昇指示及び介助用下降指示に応じた動作プログラムが記憶されている。また、制御部91の下側には、繰り返しの充放電が可能な符号略のバッテリ電源が付属されている。バッテリ電源は、フレーム11の上面における前左寄りにも付属されている。バッテリ電源は、昇降アクチュエータ71及び揺動アクチュエータ72にも共用される。
The control unit 91 can use a computer device that operates with software. As software, an operation program corresponding to the adjustment up instruction, the adjustment down instruction, the assistance up instruction, and the assistance down instruction is stored. Further, a battery power source having a symbol that can be repeatedly charged and discharged is attached below the control unit 91. The battery power supply is also attached to the front left side of the upper surface of the frame 11. The battery power source is shared by the lift actuator 71 and the swing actuator 72.
3.介助装置1による動作
次に、介助装置1による動作について、図2-図4を参照して説明する。以下には、介助装置1の動作として、座位姿勢である被介助者Mの臀部を上昇させて、被介助者Mを移乗時姿勢にする場合を例にあげる。なお、被介助者Mに対する移乗時姿勢から座位姿勢への介助動作は、座位姿勢から移乗時姿勢への介助動作の逆動作となる。 3. Operation byAssistance Device 1 Next, the operation by the assistance device 1 will be described with reference to FIGS. In the following, as an example of the operation of the assistance device 1, a case where the buttock of the person being assisted in the sitting position is raised and the person being assisted in the transfer position is taken as an example. The assistance operation from the posture at the time of transfer to the sitting posture for the person being assisted is the reverse operation of the assistance operation from the posture at the time of transfer to the posture at the time of transfer.
次に、介助装置1による動作について、図2-図4を参照して説明する。以下には、介助装置1の動作として、座位姿勢である被介助者Mの臀部を上昇させて、被介助者Mを移乗時姿勢にする場合を例にあげる。なお、被介助者Mに対する移乗時姿勢から座位姿勢への介助動作は、座位姿勢から移乗時姿勢への介助動作の逆動作となる。 3. Operation by
図2に示すように、介助者は、介助装置1の第一ハンドル50又は第二ハンドル63を把持して、座位姿勢の被介助者Mに介助装置1を接近させる。介助者は、被介助者Mの下半身を、基台10の上方、且つ、支持部60の下方の領域に進入させる。介助者は、被介助者Mの足を、足載置台12のマーク12a上に載置させる。被介助者Mの下腿の一部は、下腿当て部30に接触することで、被介助者Mの下腿全体が安定した状態となる。
As shown in FIG. 2, the assistant holds the first handle 50 or the second handle 63 of the assistance apparatus 1 and brings the assistance apparatus 1 closer to the person M who is in the sitting position. The caregiver causes the lower half of the person being assisted M to enter the area above the base 10 and below the support portion 60. The assistant places the person M's feet on the mark 12 a of the footrest 12. A part of the lower leg of the person being assisted M comes into contact with the lower leg pad 30 so that the entire lower leg of the person being assisted M becomes stable.
このとき、介助者は、支持部60の高さが適切か否かを確認する。支持部60の高さが適切でない場合には、介助者は、入力装置80の調整用上昇ボタン又は調整用下降ボタンを操作して、支持部60の高さを被介助者Mに合わせるように調整する。入力装置80が、調整用上昇指示又は調整用下降指示を受け付けると、制御部91は、複数のアクチュエータ71,72の少なくとも一つを高さ調整モードとして制御する。つまり、制御部91は、介助動作の準備として支持部60の高さ調整動作を行う高さ調整モードを実行する。
At this time, the assistant checks whether or not the height of the support portion 60 is appropriate. When the height of the support portion 60 is not appropriate, the assistant operates the adjustment up button or the adjustment down button of the input device 80 to adjust the height of the support portion 60 to the person being assisted M. adjust. When the input device 80 receives the adjustment ascending instruction or the adjustment descending instruction, the control unit 91 controls at least one of the plurality of actuators 71 and 72 as the height adjustment mode. That is, the control unit 91 executes the height adjustment mode in which the height adjustment operation of the support unit 60 is performed as preparation for the assistance operation.
制御部91は、高さ調整モードにおいて、支持部60の前後方向位置を実質的に維持しつつ支持部60の高さを変化させるように、複数のアクチュエータ71,72の少なくとも一つの高さ方向成分を変化させる。つまり、高さ調整モードでは、支持部60の前後方向位置を実質的に維持しながら、支持部60の高さを変化させることができるように、複数のアクチュエータ71,72の少なくとも一つが動作する。
In the height adjustment mode, the control unit 91 changes the height of the support unit 60 while substantially maintaining the position of the support unit 60 in the front-rear direction, so that at least one of the actuators 71 and 72 in the height direction. Change ingredients. That is, in the height adjustment mode, at least one of the plurality of actuators 71 and 72 operates so that the height of the support part 60 can be changed while substantially maintaining the position of the support part 60 in the front-rear direction. .
ここで、高さ調整モードにおいて、支持部60の姿勢(傾き)は、一定の状態を維持するようにしてもよいし、高さに応じて変化するようにしてもよい。ただし、支持部60の姿勢が変化する場合において、高さ調整モードにおける支持部60の姿勢の変化量は、介助モードにおける支持部60の姿勢の変化量に比べて小さく設定されている。また、支持部60の前後方向位置を実質的に維持するとは、支持部60の前後方向位置が一定である場合に加えて、支持部60の前後方向位置が高さに応じて変化する場合を含む意味である。支持部60の前後方向位置が変化する場合において、高さ調整モードにおける支持部60の前後方向位置の変化量は、介助モードにおける支持部60の前後方向位置の変化量に比べて小さく設定されている。
Here, in the height adjustment mode, the posture (inclination) of the support portion 60 may be maintained in a constant state or may be changed according to the height. However, when the posture of the support portion 60 changes, the amount of change in the posture of the support portion 60 in the height adjustment mode is set smaller than the amount of change in the posture of the support portion 60 in the assistance mode. Further, substantially maintaining the front-rear direction position of the support part 60 means that the front-rear direction position of the support part 60 changes according to the height in addition to the case where the front-rear direction position of the support part 60 is constant. Including meaning. When the front-rear direction position of the support part 60 changes, the amount of change in the front-rear direction position of the support part 60 in the height adjustment mode is set smaller than the amount of change in the front-rear direction position of the support part 60 in the assistance mode. Yes.
本実施形態においては、昇降アクチュエータ71は、直動により支持部60を昇降させる。つまり、昇降アクチュエータ71が、支持部60の姿勢に影響を及ぼさない。一方、揺動アクチュエータ72が、支持部60の姿勢を変化させる。そのため、昇降アクチュエータ71の動作のみによって、支持部60の高さが調整できる。そこで、制御部91は、高さ調整モードにおいて、昇降アクチュエータ71のみを制御することにより支持部60の高さ調整動作を行う。つまり、高さ調整モードでは、昇降アクチュエータ71のみが単独で動作して、支持部60が、姿勢を維持した状態で昇降する。高さ調整モードでは、揺動アクチュエータ72は、動作しない。
In the present embodiment, the lifting actuator 71 moves the support unit 60 up and down by direct movement. That is, the lifting actuator 71 does not affect the posture of the support unit 60. On the other hand, the swing actuator 72 changes the posture of the support portion 60. Therefore, the height of the support part 60 can be adjusted only by the operation of the elevating actuator 71. Therefore, the control unit 91 performs the height adjustment operation of the support unit 60 by controlling only the lift actuator 71 in the height adjustment mode. That is, in the height adjustment mode, only the lift actuator 71 operates alone, and the support portion 60 moves up and down while maintaining the posture. In the height adjustment mode, the swing actuator 72 does not operate.
続いて、支持部60の高さ調整後に、介助者は、被介助者Mの胴体を胴体支持部61に面接触させると共に、被介助者Mの脇を脇支持部62,62の上に載置させる。このときの被介助者Mの姿勢が、介助開始の座位姿勢となる。当該座位姿勢では、図2に示すように、臀部が座面に接触しており、胴体が少し前傾となる。
Subsequently, after adjusting the height of the support portion 60, the assistant brings the body of the person being assisted M into contact with the body support portion 61 and places the side of the person being assisted on the side support portions 62 and 62. Let me put it. The posture of the person being assisted at this time is the sitting posture at which assistance is started. In the sitting posture, as shown in FIG. 2, the buttocks are in contact with the seating surface, and the trunk is slightly tilted forward.
続いて、介助者は、入力装置80の介助用上昇ボタンを操作して、被介助者Mに対して座位姿勢から移乗時姿勢への介助動作を開始する。入力装置80が、介助用上昇指示を受け付けると、制御部91は、昇降アクチュエータ71及び揺動アクチュエータ72を介助上昇モードとして制御する。制御部91は、介助上昇モードでは、昇降アクチュエータ71及び揺動アクチュエータ72の両者に対して協調制御する。つまり、介助用上昇モードでは、昇降アクチュエータ71が昇降しながら、揺動アクチュエータ72が前方へ揺動する。
Subsequently, the assistant operates the assistance ascending button of the input device 80 to start the assistance operation from the sitting position to the posture at the time of transfer for the person being assisted. When the input device 80 receives the assistance ascending instruction, the control unit 91 controls the elevation actuator 71 and the swing actuator 72 as the assistance elevation mode. The control unit 91 performs cooperative control on both the lift actuator 71 and the swing actuator 72 in the assistance lift mode. That is, in the assistance ascending mode, the swing actuator 72 swings forward while the lift actuator 71 moves up and down.
詳細には、介助上昇モードが開始されると、図3に示すように、制御部91は、初期状態から昇降部22を下降させるように昇降アクチュエータ71を制御しながら、初期状態から揺動アーム40を前方に揺動させるように揺動アクチュエータ72を制御する。これにより、支持部60は、初期状態から、下方へ移動しつつ、大きく前傾した状態となる。つまり、被介助者Mの臀部が座面に接触した状態を維持しつつ、上半身が大きく前傾する。
Specifically, when the assistance raising mode is started, as shown in FIG. 3, the control unit 91 controls the lifting actuator 71 so as to lower the lifting unit 22 from the initial state, and the swing arm from the initial state. The swing actuator 72 is controlled to swing 40 forward. Thereby, the support part 60 will be in the state which inclined greatly forward, moving below from an initial state. That is, the upper body tilts greatly forward while maintaining the state where the buttocks of the person being assisted M is in contact with the seating surface.
続いて、介助上昇モードが継続されると、図4に示すように、制御部91は、昇降部22を上昇させるように昇降アクチュエータ71を制御しながら、揺動アーム40を前方に揺動させるように揺動アクチュエータ72を制御する。これにより、支持部60は、上方へ移動しつつ、さらに大きく前傾した状態となる。つまり、被介助者Mの臀部は座面から離れ、脚部が伸び、且つ、上半身がさらに前傾する。このようにして、被介助者Mは移乗時姿勢となる。
Subsequently, when the assistance raising mode is continued, as shown in FIG. 4, the control unit 91 swings the swing arm 40 forward while controlling the lift actuator 71 to lift the lift unit 22. Thus, the swing actuator 72 is controlled. Thereby, the support part 60 will be in the state inclined further largely, moving upwards. That is, the buttocks of the person being assisted M are separated from the seating surface, the legs are extended, and the upper body is further inclined forward. In this way, the person being assisted M is in the transfer posture.
なお、介助者が、入力装置80の介助用下降ボタンを操作した場合には、入力装置80が、介助用下降指示を受け付け、制御部91は、昇降アクチュエータ71及び揺動アクチュエータ72を介助下降モードとして制御する。制御部91は、介助下降モードでは、昇降アクチュエータ71及び揺動アクチュエータ72の両者に対して協調制御する。つまり、介助用下降モードでは、昇降アクチュエータ71が昇降しながら、揺動アクチュエータ72が後方へ揺動する。
When the assistant operates the assistance lowering button of the input device 80, the input device 80 accepts the assistance lowering instruction, and the control unit 91 uses the elevation actuator 71 and the swing actuator 72 to perform the assistance lowering mode. Control as. In the assistance lowering mode, the control unit 91 performs coordinated control on both the lift actuator 71 and the swing actuator 72. That is, in the assistance lowering mode, the swing actuator 72 swings backward while the lift actuator 71 moves up and down.
4.下側制御リミット
制御部91による下側制御リミットLm1,Lm2について、図5を参照して説明する。以下において、昇降アクチュエータ71の高さ方向の位置を、揺動アーム40の揺動中心として説明する。 4). Lower Control Limits The lower control limits Lm1 and Lm2 by thecontrol unit 91 will be described with reference to FIG. Hereinafter, the position in the height direction of the elevating actuator 71 will be described as the swing center of the swing arm 40.
制御部91による下側制御リミットLm1,Lm2について、図5を参照して説明する。以下において、昇降アクチュエータ71の高さ方向の位置を、揺動アーム40の揺動中心として説明する。 4). Lower Control Limits The lower control limits Lm1 and Lm2 by the
昇降アクチュエータ71の動作可能な範囲Hは、図5の左図(a)に示すとおりである。昇降アクチュエータ71の動作可能な範囲Hは、上端及び下端ともに、機械的なストッパにより制限されている。例えば、昇降アクチュエータ71がボールねじ機構である場合には、ボールねじナットがストッパに当接することにより、昇降アクチュエータ71の動作可能な範囲Hが規定される。
The operable range H of the elevating actuator 71 is as shown in the left figure (a) of FIG. The operable range H of the lift actuator 71 is limited by mechanical stoppers at both the upper and lower ends. For example, when the elevating actuator 71 is a ball screw mechanism, the range H in which the elevating actuator 71 can operate is defined by the ball screw nut coming into contact with the stopper.
そして、制御部91は、図5の中央図(b)及び右図(c)に示すように、昇降アクチュエータ71の高さ方向成分の動作許可範囲を規定する下側制御リミットLm1,Lm2を有する。下側制御リミットLm1,Lm2は、指令座標値に対する制限値とすることもできるし、センサにより検出される位置とすることもできる。
And the control part 91 has lower side control limits Lm1 and Lm2 which prescribe | regulate the operation | movement permission range of the height direction component of the raising / lowering actuator 71, as shown to the center figure (b) and right figure (c) of FIG. . The lower control limits Lm1 and Lm2 can be a limit value for the command coordinate value, or can be a position detected by a sensor.
詳細には、図5の中央図(b)に示すように、制御部91は、高さ調整モードにおいて、昇降アクチュエータ71の高さ方向成分の動作許可範囲を規制する調整用下側制御リミットLm1を備える。調整用下側制御リミットLm1は、昇降アクチュエータ71が動作可能な範囲Hの下限位置よりも上方に位置する。
Specifically, as shown in the central view (b) of FIG. 5, the control unit 91 adjusts the lower control limit Lm1 for adjustment that regulates the operation permission range of the height direction component of the elevating actuator 71 in the height adjustment mode. Is provided. The adjustment lower control limit Lm1 is located above the lower limit position of the range H in which the elevating actuator 71 can operate.
従って、高さ調整モードにおいて、昇降アクチュエータ71の高さ方向成分の動作許可範囲は、調整用下側制御リミットLm1より上方領域に制限される。そのため、高さ調整モードにおいて、介助者が調整用下降ボタンを押し続けたとしても、昇降アクチュエータ71は、調整用下側制御リミットLm1に到達すると下降動作を停止する。
Therefore, in the height adjustment mode, the operation permission range of the height direction component of the lift actuator 71 is limited to the region above the adjustment lower control limit Lm1. Therefore, even if the assistant continues to press the adjustment lowering button in the height adjustment mode, the lifting actuator 71 stops the lowering operation when the adjustment lower control limit Lm1 is reached.
さらに、図5の右図(c)に示すように、制御部91は、介助モードにおいて、昇降アクチュエータ71の高さ方向成分の動作許可範囲を規制する介助用下側制御リミットLm2を備える。介助用下側制御リミットLm2は、昇降アクチュエータ71が動作可能な範囲Hの下限位置よりも僅かに上方位置に位置する。
Furthermore, as shown in the right figure (c) of FIG. 5, the control part 91 is provided with the assistance lower side control limit Lm2 which controls the operation | movement permission range of the height direction component of the raising / lowering actuator 71 in assistance mode. The assisting lower control limit Lm2 is positioned slightly above the lower limit position of the range H in which the lifting actuator 71 can operate.
従って、介助モードにおいて、昇降アクチュエータ71の高さ方向成分の動作許可範囲は、介助用下側制御リミットLm2より上方領域に制限される。そのため、介助モードにおいて、制御部91は、介助用下側制御リミットLm2より下方領域への指令が出されたとしても、介助用下側制御リミットLm2で制限される。
Therefore, in the assistance mode, the operation permission range of the height direction component of the elevating actuator 71 is limited to a region above the assistance lower control limit Lm2. Therefore, in the assistance mode, the control unit 91 is limited by the assistance lower control limit Lm2 even if a command to the lower region is issued from the assistance lower control limit Lm2.
ここで、介助上昇モードにおいて、制御部91は、昇降アクチュエータ71を初期状態から下降させた後に上昇させることで、被介助者Mが座位姿勢から移乗時姿勢に移行する。また、介助下降モードにおいては、介助上昇モードの逆動作が行われる。つまり、昇降アクチュエータ71は、介助モードでは、座位姿勢の被介助者Mに対して高さ調整モードで調整された高さよりも下方に移動することが必要となる。
Here, in the assistance raising mode, the control unit 91 raises the lifting actuator 71 after lowering it from the initial state, so that the person being assisted M shifts from the sitting posture to the posture at the time of transfer. In the assistance lowering mode, the reverse operation of the assistance raising mode is performed. That is, in the assistance mode, the lifting / lowering actuator 71 needs to move below the height adjusted in the height adjustment mode with respect to the person M in the sitting posture.
そこで、調整用下側制御リミットLm1は、介助用下側制御リミットLm2よりも、少なくとも、介助上昇モードでの昇降アクチュエータ71の必要下降量だけ上方に設定されている。従って、介助モードにおいて、昇降アクチュエータ71の高さ方向成分の動作許可範囲は、調整用下側制御リミットLm1より所定量の下方領域を含むように設定されている。つまり、介助装置1が正常な動作を行っていれば、介助上昇モードにおいて、昇降アクチュエータ71が、介助用下側制御リミットLm2によって制限されることにはならない。
Therefore, the adjustment lower control limit Lm1 is set to be higher than the assistance lower control limit Lm2 by at least the required lowering amount of the lifting actuator 71 in the assistance raising mode. Therefore, in the assistance mode, the operation permission range of the height direction component of the elevating actuator 71 is set to include a lower region of a predetermined amount than the adjustment lower control limit Lm1. That is, if the assistance device 1 performs a normal operation, the lifting actuator 71 is not limited by the assistance lower control limit Lm2 in the assistance raising mode.
仮に、介助モードにおいて、制御部91は、介助用下側制御リミットLm2より下方領域への指令が出されることが起こったとしても、介助用下側制御リミットLm2で制限される。従って、このような場合にも、昇降アクチュエータ71が、昇降アクチュエータ71の動作可能な範囲Hを規定する機械的なストッパに接触することなく、介助用下側制御リミットLm2によって高いフェールセーフ機能が発揮される。
Temporarily, in the assistance mode, the control unit 91 is limited by the assistance lower control limit Lm2 even if a command to the lower area is issued from the assistance lower control limit Lm2. Therefore, even in such a case, a high fail-safe function is exhibited by the assisting lower control limit Lm2 without the lift actuator 71 contacting the mechanical stopper that defines the operable range H of the lift actuator 71. Is done.
上述した介助装置1によれば、昇降アクチュエータ71の高さ方向成分の機械的なストッパによる制限ではなく、制御部91が、高さ調整モードにおける調整用下側制御リミットLm1を用いて、昇降アクチュエータ71の動作許可範囲を制限している。これにより、被介助者Mが座位姿勢のときに、支持部60が大腿部を押し付けることを抑制できる。さらに、介助モードにおける昇降アクチュエータ71の動作許可範囲は、調整用下側制御リミットLm1より下方領域を含む。つまり、介助モードにおいて、昇降アクチュエータ71の高さ方向成分は、高さ調整モードで調整された高さよりも下方に移動可能となる。これにより、介助モードにおいて、支持部60の動作は、より適切な介助動作となる。
According to the assistance device 1 described above, the control unit 91 uses the lower control limit Lm1 for adjustment in the height adjustment mode, not the restriction by the mechanical stopper of the height direction component of the lift actuator 71, and the lift actuator 71 The operation permission range of 71 is limited. Thereby, it can suppress that the support part 60 presses a thigh when the care receiver M is a sitting posture. Furthermore, the operation permission range of the lift actuator 71 in the assistance mode includes a region below the adjustment lower control limit Lm1. That is, in the assistance mode, the height direction component of the elevating actuator 71 can be moved below the height adjusted in the height adjustment mode. Thereby, in assistance mode, operation of supporter 60 turns into more appropriate assistance operation.
5.その他
上記実施形態においては、介助装置1は、基台10に対して昇降部22が昇降し、支持部60が昇降部22に対して前後方向に揺動する構成とした。この他に、介助装置1は、複数の軸動作を行う構成であって、高さ調整モードと介助モードとを備えている装置に適用可能である。例えば、介助装置1は、支持部60が基台10に対して複数の揺動を行う構成、基台10に対して揺動する部材に、支持部60が直動可能に支持される構成などとすることもできる。 5). Others In the above embodiment, the assistingdevice 1 is configured such that the elevating unit 22 moves up and down with respect to the base 10 and the support unit 60 swings in the front-rear direction with respect to the elevating unit 22. In addition, the assistance device 1 is configured to perform a plurality of axial movements, and can be applied to a device having a height adjustment mode and an assistance mode. For example, the assistance device 1 has a configuration in which the support unit 60 swings a plurality of swings with respect to the base 10, a configuration in which the support unit 60 is supported by a member swinging with respect to the base 10 so that the support unit 60 can move linearly, and the like. It can also be.
上記実施形態においては、介助装置1は、基台10に対して昇降部22が昇降し、支持部60が昇降部22に対して前後方向に揺動する構成とした。この他に、介助装置1は、複数の軸動作を行う構成であって、高さ調整モードと介助モードとを備えている装置に適用可能である。例えば、介助装置1は、支持部60が基台10に対して複数の揺動を行う構成、基台10に対して揺動する部材に、支持部60が直動可能に支持される構成などとすることもできる。 5). Others In the above embodiment, the assisting
また、上記実施形態においては、高さ調整モードにおいて、昇降アクチュエータ71のみが単独で動作するようにした。この他に、介助装置1が他の構成からなる場合に、複数のアクチュエータの協調動作により高さ調整動作が行われる構成においては、高さ調整モードにおいて当該複数のアクチュエータが協調制御される。この場合、制御部91は、高さ調整モードにおける調整用下側制御リミットLm1を用いて当該複数のアクチュエータを制御することができる。この場合も、上記同様の効果を奏する。
In the above embodiment, in the height adjustment mode, only the lifting / lowering actuator 71 operates alone. In addition, when the assistance device 1 has another configuration, in the configuration in which the height adjustment operation is performed by the cooperative operation of the plurality of actuators, the plurality of actuators are cooperatively controlled in the height adjustment mode. In this case, the controller 91 can control the plurality of actuators using the adjustment lower control limit Lm1 in the height adjustment mode. In this case, the same effect as described above can be obtained.
1:介助装置、 10:基台、 20:柱部、 22:昇降部、 40:揺動アーム、 60:支持部、 61:胴体支持部、 62:脇支持部、 71:昇降アクチュエータ、 72:揺動アクチュエータ、 80:入力装置、 90:制御ユニット、 91:制御部、 H:昇降アクチュエータの動作可能な範囲、 Lm1:調整用下側制御リミット、 Lm2:介助用下側制御リミット、 M:被介助者
1: assistance device, 10: base, 20: pillar part, 22: lifting part, 40: swing arm, 60: support part, 61: trunk support part, 62: side support part, 71: lifting actuator, 72: Swing actuator, 80: input device, 90: control unit, 91: control unit, H: range in which the lifting actuator can operate, Lm1: lower control limit for adjustment, Lm2: lower control limit for assistance, M: covered Assistant
Claims (4)
- 被介助者に対して座位姿勢から移乗時姿勢への介助を行う介助装置であって、
基台と、
前記被介助者の身体の一部を支持し、且つ、前記基台に支持される支持部と、
前記支持部を駆動する複数のアクチュエータと、
前記複数のアクチュエータを制御する制御部と、
を備え、
前記制御部は、動作モードとして、前記複数のアクチュエータの協調制御により前記被介助者に対して前記座位姿勢から前記移乗時姿勢への介助動作を行う介助モードと、前記複数のアクチュエータのうち少なくとも一つの制御により前記介助動作の準備として前記支持部の高さ調整動作を行う高さ調整モードと、を備え、
前記高さ調整モードにおいて、前記複数のアクチュエータのうち前記少なくとも一つの高さ方向成分の動作許可範囲は、調整用下側制御リミットより上方領域に制限され、
前記介助モードにおいて、前記複数のアクチュエータのうち前記少なくとも一つの高さ方向成分の動作許可範囲は、前記調整用下側制御リミットより下方領域を含む、介助装置。 An assistance device for assisting a person being assisted from a sitting posture to a posture at the time of transfer,
The base,
A support part for supporting a part of the body of the person being assisted and supported by the base;
A plurality of actuators for driving the support;
A control unit for controlling the plurality of actuators;
With
The control unit includes, as an operation mode, at least one of an assistance mode in which an assistance operation is performed for the person being assisted from the sitting posture to the posture at the time of transfer by cooperative control of the plurality of actuators, and the plurality of actuators. A height adjustment mode for performing a height adjustment operation of the support portion as a preparation for the assistance operation by one control,
In the height adjustment mode, the operation permission range of the at least one height direction component among the plurality of actuators is limited to a region above the adjustment lower control limit,
In the assistance mode, the operation permission range of the at least one height direction component among the plurality of actuators includes an area below the adjustment lower control limit. - 前記介助モードにおいて、前記複数のアクチュエータのうち前記少なくとも一つの高さ方向成分の動作許可範囲は、前記調整用下側制御リミットより下方領域を含み、且つ、前記調整用下側制御リミットより下方に位置する介助用下側制御リミットより上方領域に制限される、請求項1に記載の介助装置。 In the assistance mode, an operation permission range of the at least one height direction component among the plurality of actuators includes a region below the adjustment lower control limit, and is below the adjustment lower control limit. The assisting device according to claim 1, wherein the assisting device is limited to an upper region than the positioned assisting lower control limit.
- 前記複数のアクチュエータは、
前記支持部を昇降させる昇降アクチュエータと、
前記支持部を揺動させる揺動アクチュエータと、
を備え、
前記介助モードは、前記昇降アクチュエータ及び前記揺動アクチュエータを協調制御することにより前記介助動作を行い、
前記高さ調整モードは、前記昇降アクチュエータのみを制御することにより前記高さ調整動作を行い、
前記高さ調整モードにおいて、前記昇降アクチュエータの高さ方向成分の動作許可範囲は、前記調整用下側制御リミットより上方領域に制限され、
前記介助モードにおいて、前記昇降アクチュエータの高さ方向成分の動作許可範囲は、前記調整用下側制御リミットより下方領域を含み、
前記制御部は、前記介助モードにおいて、前記昇降アクチュエータを初期状態から下降させた後に上昇させる、請求項1又は2に記載の介助装置。 The plurality of actuators are:
An elevating actuator for elevating the support part;
A swing actuator for swinging the support;
With
The assistance mode performs the assistance operation by cooperatively controlling the lift actuator and the swing actuator,
The height adjustment mode performs the height adjustment operation by controlling only the lifting actuator,
In the height adjustment mode, the operation permission range of the height direction component of the elevating actuator is limited to a region above the adjustment lower control limit,
In the assistance mode, the operation permission range of the height direction component of the lift actuator includes a region below the adjustment lower control limit,
3. The assistance device according to claim 1, wherein the control unit raises the elevating actuator after lowering it from an initial state in the assistance mode. - 前記昇降アクチュエータは、直動により前記支持部を昇降させるアクチュエータである、請求項3に記載の介助装置。 4. The assisting device according to claim 3, wherein the elevating actuator is an actuator that elevates and lowers the support portion by direct movement.
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