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WO2015145756A1 - Robot d'assistance et dispositif de transport d'objet - Google Patents

Robot d'assistance et dispositif de transport d'objet Download PDF

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Publication number
WO2015145756A1
WO2015145756A1 PCT/JP2014/059266 JP2014059266W WO2015145756A1 WO 2015145756 A1 WO2015145756 A1 WO 2015145756A1 JP 2014059266 W JP2014059266 W JP 2014059266W WO 2015145756 A1 WO2015145756 A1 WO 2015145756A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
center
gravity
person
standing
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2014/059266
Other languages
English (en)
Japanese (ja)
Inventor
丈二 五十棲
英明 野村
伸幸 中根
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Machine Manufacturing Co Ltd
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
Application filed by Fuji Machine Manufacturing Co Ltd filed Critical Fuji Machine Manufacturing Co Ltd
Priority to JP2016509848A priority Critical patent/JP6291033B2/ja
Priority to PCT/JP2014/059266 priority patent/WO2015145756A1/fr
Publication of WO2015145756A1 publication Critical patent/WO2015145756A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1013—Lifting of patients by
    • A61G7/1019—Vertical extending columns or mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1073—Parts, details or accessories
    • A61G7/1082—Rests specially adapted for
    • A61G7/1092—Rests specially adapted for the arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • A61H2201/5046—Touch screens
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • the present invention relates to an assistance robot that assists the movement of a person being assisted and an object conveyance device that conveys an object.
  • the assistance robot includes a walker main body having a caster, and a standing / sitting support unit supported by the walker main body.
  • a pad portion that can store the upper body of the person, and the pad portion can be moved in the front-rear direction and the up-down direction by the driving force of the front-rear reduction motor and the upper-reduction reduction motor, and the inclination of the pad portion of the inclination reduction motor It is configured so that it can be changed by the driving force.
  • the back and forth movement of the pad portion is performed by rotating it around the contact point of the user's foot. Therefore, since the user's center of gravity can be positioned just above the ground contact point of the foot with a simple operation, the assistance robot can support the optimal standing posture.
  • Patent Document 2 As another type of assistance robot, one shown in Patent Document 2 is known. As shown in FIG. 2 of Patent Document 2, the assisting robot is disposed on both sides of a base, a shaft that can be expanded and contracted in the vertical direction, a table body that can swing in the vertical direction, and a swing center. And a robot body having an elbow rest and a table having a grip.
  • the assisting robot is configured such that the elbow of the assisting subject is placed on the elbow rest, and the grip portion is held by the assisting subject until the center of gravity of the assisting subject reaches the ascending preparation position close to the shaft portion.
  • the assisting person By swinging the main body and extending the shaft portion at the ascending preparation position, the assisting person is allowed to stand up. That is, in the assistance robot, the assistance subject is tilted forward by the table, and the assistance subject is lifted by the shaft portion.
  • the center of gravity of the user can be positioned directly above the contact point of the foot with a simple operation, so that the assistance robot can support an optimal standing posture. It has become.
  • the auxiliary target person is tilted forward by the table, and the auxiliary target person is lifted from the shaft portion.
  • the posture of the upper body of the person being assisted with respect to the holding portion that is, the position of the center of gravity of the upper body of the person being assisted, there is a concern that the person being assisted may feel uncomfortable.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide an assistance robot that raises a person being assisted without giving a sense of incongruity.
  • an assistance robot includes a base, a holding part that holds a part of the body of the person being assisted, and that is at least movable and tiltable with respect to the base.
  • Detecting device for detecting the weight distribution received from the person being assisted in the unit, an actuator for operating the holding unit with respect to the base, an acquiring unit for acquiring the weight distribution from the detecting device, and the weight distribution acquired by the acquiring unit From the center of gravity position deriving unit for deriving the center of gravity position in the front-rear direction of the person being assisted and when the person being assisted sitting by the holding part is erected, And a first control unit that operates the holding unit so that the derived center of gravity position falls within the first predetermined range.
  • the assisting robot can maintain the center of gravity of the upper body of the person being assisted within a predetermined range when raising the person being assisted, and consequently the posture of the upper body of the person being assisted with respect to the holding unit is within a certain range. Can be held in. Therefore, it is possible to provide an assistance robot that raises the person being assisted without giving a sense of incongruity.
  • FIG. 1 It is a figure which shows the standing-up action of an assistance robot. It is a block diagram which shows the assistance robot shown in FIG. It is a flowchart which shows the control program (right standing operation start permission / denial) performed with the control apparatus shown in FIG. It is a flowchart which shows the control program (stand-up operation
  • the assistance robot 10 is an assistance robot that supports a part of the body (for example, the upper body) of the person being assisted M1 and assists standing and sitting. As shown in FIGS. 1 to 4, the assistance robot 10 includes a base 11, an actuator 12, a holding unit 13, a handle 14, an operation device 15, a storage device 16, and a control device 17.
  • the base 11 includes a base 21 and a base cover 22.
  • the base 21 is formed in a substantially U shape in plan view that opens rearward (leftward in FIG. 1).
  • the base 21 is a connecting frame 21c that connects the left and right frames 21a and 21b and one end of the left and right frames 21a and 21b (in this embodiment, the front end (right direction in FIGS. 1 and 3)). It has.
  • the left and right frames 21a and 21b are arranged at an interval necessary for the care recipient M1 to enter.
  • Left and right drive wheels 21d and 21e are provided at the rear ends of the left and right frames 21a and 21b, and left and right drive wheel motors 21f and 21g (drive sources) for driving the left and right drive wheels 21d and 21e, respectively, are incorporated. Yes.
  • the assistance robot 10 travels by left and right drive wheels 21d and 21e respectively driven by left and right drive wheel motors 21f and 21g (drive sources).
  • the left and right drive wheel motors 21f and 21g are preferably capable of idling when the person being assisted M1 pushes the assistance robot 10 by hand.
  • the assistance robot 10 may be configured by omitting the left and right drive wheel motors 21f and 21g so as to be moved by being pushed by the user.
  • the base cover 22 is a cover that covers the base 21 from above. Similar to the base 21, the base cover 22 is formed in a substantially U shape in plan view that opens rearward.
  • the actuator 12 (30) includes a slide portion 31 and a tilting portion 32.
  • the slide part 31 moves the holder 13 relative to the base 21 (moves along the axial direction).
  • the tilting part 32 tilts the holding part 13 with respect to the base 21.
  • the slide portion 31 (40) includes left and right slide portions 41 and 42.
  • the left slide part 41 includes a slide base 41a, a first slide part 41b, and a second slide part 41c.
  • the base of the left slide part 41 is attached to the left frame 21 a of the base 21. That is, the slide base 41a is attached to the base 21 so as to be inclined at a predetermined angle (for example, 80 degrees) to the front side.
  • the first slide portion 41b slides in the longitudinal direction (axial movement direction) with respect to the slide base portion 41a, and is configured to be substantially accommodated in the slide base portion 41a when contracted.
  • the second slide portion 41c slides in the longitudinal direction (axial movement direction) with respect to the first slide portion 41b, and is configured to be substantially accommodated in the first slide portion 41b when contracted. Yes.
  • the arm part 43 extended toward back is attached to the upper end of the 2nd slide part 41c.
  • the arm portion 43 is orthogonal to the longitudinal direction of the left slide portion 41.
  • a holding portion 13 is rotatably attached to the distal end portion of the arm portion 43.
  • the slide portion 31 includes a drive motor 45 that slides the first and second slide portions 41b and 41c.
  • the output of the drive motor 45 is configured to be transmitted to the second belt 48 via the speed change mechanism 46 and the first belt 47.
  • the second belt 48 is mounted on the pulley 48a and the pulley 48b.
  • the pulley 48a is rotatably attached to the lower end portion of the slide base 41a.
  • the pulley 48b is rotatably attached to the upper end portion of the slide base 41a.
  • a lower end portion of the first slide portion 41 b is fixed to the second belt 48.
  • the third belt 49 is mounted on the pulley 49a and the pulley 49b.
  • the pulley 49a is rotatably attached to the lower end portion of the first slide portion 41b.
  • the pulley 49b is rotatably attached to the upper end portion of the first slide portion 41b.
  • a lower end portion 41 c 1 of the second slide portion 41 c is fixed to one side of the third belt 49.
  • An upper end 41 a 1 of the slide base 41 a is fixed to the other side of the third belt 49.
  • the left slide portion 41 includes a slide cover 41d that covers the first slide portion 41b and the second slide portion 41c.
  • the slide cover 41d is formed in a cylindrical shape.
  • the slide cover 41d may be configured by one cylindrical body, or may be configured by a two-stage slide type in which two cylindrical bodies slide.
  • the right slide part 42 includes a slide base part 42a, a first slide part 42b, and a second slide part 42c, as with the left slide part 41.
  • the base of the right slide part 42 is attached to the right frame 21 b of the base 21.
  • An arm part 44 extending rearward is attached to the upper end of the second slide part 42c.
  • the holding portion 13 is rotatably attached to the distal end portion of the arm portion 44.
  • the output of the drive motor 45 is configured to be transmitted to the second belt 52 via the speed change mechanism 46 and the first belt 51.
  • the second belt 52 is mounted on the pulley 52a and the pulley 52b.
  • the pulley 52a is rotatably attached to the lower end portion of the slide base portion 42a.
  • the pulley 52b is rotatably attached to the upper end portion of the slide base portion 42a.
  • a lower end portion of the first slide portion 42 b is fixed to the second belt 52.
  • the third belt 53 is mounted on the pulley 53a and the pulley 53b.
  • the pulley 53a is rotatably attached to the lower end portion of the first slide portion 42b.
  • the pulley 53b is rotatably attached to the upper end portion of the first slide portion 42b.
  • a lower end portion 42 c 1 of the second slide portion 42 c is fixed to one side of the third belt 53.
  • An upper end 42 a 1 of the slide base 42 a is fixed to the other side of the third belt 53.
  • the right slide part 42 includes a slide cover 42d that covers the first slide part 42b and the second slide part 42c.
  • the slide cover 42d is configured similarly to the slide cover 41d.
  • the second belt 48 When the drive motor 45 is driven in the forward direction, the second belt 48 is rotated, and the first slide portion 41b extends along the axial movement direction with respect to the slide base portion 41a. At the same time, the third belt 49 is rotated as the first slide portion 41b is raised, and the second slide portion 41c extends along the axial direction with respect to the first slide portion 41b.
  • the extension operation of the left slide part 41 is the same in the right slide part 42.
  • the second belt 48 is rotated in the opposite direction to that during extension, and the first slide portion 41b contracts along the axial direction with respect to the slide base portion 41a.
  • the third belt 49 is rotated in the opposite direction to the extension, and the second slide portion 41c contracts along the axial direction with respect to the first slide portion 41b.
  • the contraction operation of the left slide part 41 is the same in the right slide part 42. Thereby, the holding part 13 is moved along the axial direction with respect to the base 21.
  • the tilting part 32 includes left and right tilting parts 32a and 32b.
  • the left tilting part 32a includes a drive motor 32a1, a conversion mechanism 32a2, and an output rod 32a3.
  • the conversion mechanism 32a2 incorporates a ball screw, for example, and converts the rotation output of the drive motor 32a1 into a linear motion and outputs it to the output rod 32a3.
  • the output rod 32a3 advances and retreats in the axial direction with respect to the conversion mechanism 32a2.
  • the drive motor 32a1 and the conversion mechanism 32a2 are attached to the lower end portion of the second slide portion 41c.
  • the left tilting part 32a is attached so as to be tiltable with respect to the second slide part 41c.
  • the output end of the output rod 32a3 is attached to the front end portion of the holding portion 13 so as to be tiltable.
  • the right tilting portion 32b includes a drive motor 32b1, a conversion mechanism 32b2, and an output rod 32b3, like the left tilting portion 32a.
  • the drive motor 32b1 and the conversion mechanism 32b2 are attached to the lower end portion of the second slide portion 42c.
  • the right tilting part 32b is attached so as to be tiltable with respect to the second slide part 42c.
  • the output end of the output rod 32b3 is attached to the front end portion of the holding portion 13 so as to be tiltable.
  • the output rod 32a3 advances (extends) in the output direction.
  • the output rod 32b3 advances (extends) in the output direction.
  • the holding portion 13 rotates (tilts back) in the counterclockwise direction (in FIGS. 1 and 3) around the rotation axis A1.
  • the output rod 32a3 moves backward (shrinks).
  • the output rod 32b3 retracts (shrinks).
  • the holding unit 13 rotates (tilts forward) in the clockwise direction (in FIGS. 1 and 3) about the rotation axis A1.
  • the holding unit 13 is tilted with respect to the base 21.
  • the holding unit 13 is at least movable and tiltable with respect to the base 21.
  • the rear end portion of the holding portion 13 is attached so as to be rotatable around the rotation axis A1 of the tip portions of the arm portions 43 and 44.
  • the front end portion of the holding portion 13 is adjusted to a predetermined angle with respect to the horizontal plane by the tilting portion 32 and is supported at that position.
  • the holding unit 13 holds a part of the body (for example, the upper body) of the person being assisted M1 and assists standing, sitting, and walking (moving).
  • the holding part 13 is a member that supports the upper body when facing the person being assisted M1 in, for example, the standing person's standing action and the sitting action.
  • the holding portion 13 is formed in a substantially U shape in plan view that opens in the rear direction (downward in FIG. 2).
  • the holding portion 13 is configured in a state where two plate members 61 and 62 formed in a substantially U shape in plan view are overlapped. Between the plate member 61 and the plate member 62, as shown in FIG. 5, a detection device 63 for detecting a weight distribution received from the person being assisted M1 is provided.
  • the detection device 63 includes a plurality of pressure sensors 63a.
  • the pressure sensor 63 a is disposed at the four corners of the holding unit 13.
  • Two pressure sensors 63a are provided on the left and right along the front-rear direction (left-right direction in FIG. 5) of the person being assisted M1.
  • the pressure sensor 63a provided in the front direction of the person being assisted M1 is the front pressure sensor 63af.
  • the pressure sensor 63a provided in the rear direction of the person being assisted M1 is the rear pressure sensor 63ar.
  • the pressure sensor 63a detects the amount of strain of the strain generating body that changes due to a change in load as a voltage change, or when pressure is applied to the silicon chip, the gauge resistance changes according to the deflection and is converted into an electrical signal.
  • a semiconductor pressure sensor For example, a semiconductor pressure sensor.
  • a pair of elbow rest pads 64 and 64 are provided at the rear end portion of the upper surface of the holding portion 13.
  • a pair of handles 14 and 14 are provided at the front end portion of the upper surface of the holding portion 13.
  • the handles 14 and 14 are respectively held by the left and right hands of the person being assisted M1.
  • the handles 14 and 14 may be provided with a contact sensor (not shown) for detecting gripping, or may be provided with a stop switch (not shown) for stopping the assisting robot 10.
  • the operation device 15 includes a display unit 15a that displays an image and an operation unit 15b that receives an input operation from a user (an assistant or a person being assisted M1).
  • the display unit 15a includes a liquid crystal display, and displays an operation mode selection screen of the assisting robot 10 and the like.
  • the operation unit 15b includes a cursor key for moving the cursor up and down, left and right, a cancel key for canceling input, a determination key for determining selection contents, and the like, and is configured to allow a user to input an instruction.
  • the operation device 15 includes a display function of the display unit 15a and an input function of the operation unit 15b, and may be configured by a touch panel that operates the device by pressing a display on the screen.
  • a cover 65 is attached to the lower surface of the holding portion 13 downward.
  • the cover 65 is formed in a plate shape and a fan shape, and closes a gap between the holding portion 13 and the arm portion 43 (or the arm portion 44).
  • the storage device 16 when standing the assisted person M1 seated while being supported by the holding unit 13, rises locus Tas1 through which, for example, the shoulder position Ps that is a movement control part of the assisted person M1 passes. Is stored.
  • FIG. 6 shows a person being assisted M1 who is supported by the holding portion 13 (hereinafter referred to as a person being assisted in a sitting position).
  • the person being assisted M1 standing upright supported by the holding portion 13 (hereinafter referred to as standing person M1 standing) is shown in FIG.
  • the standing locus Tas1 is a linear locus that starts from the shoulder position Ps of the sitting person M1 and ends at the shoulder position Ps of the standing person M1.
  • the locus of the center of gravity position G (particularly the center of gravity of the upper body) of the person being assisted M1 is represented by Tg1.
  • the standing locus Tas1 may be created based on the two-dimensional coordinates (for example, xy coordinates) of the shoulder position Ps obtained by actually photographing the standing motion of the healthy person.
  • the standing locus may be created by simulation.
  • the standing locus reference data is formed by two-dimensional coordinates.
  • the standing locus reference data is represented by (Xa1, Ya1),..., (Xan, Yan), for example, in xy coordinates, and is composed of n pieces.
  • the origin may be the reference point of the assisting robot 10 or the center of gravity of the assisting robot 10.
  • the standing locus reference data is configured by adding the angle ⁇ of the holding unit 13 at each coordinate to the xy coordinates.
  • the angle ⁇ of the holding unit 13 at each coordinate is an angle of the holding unit 13 at each point of the standing locus Tas1.
  • This angle ⁇ is an angle formed by the upper surface of the holding portion 13 and the horizontal plane. For example, when standing, the angle ⁇ is 0 degrees.
  • the standing locus reference data is represented by (Xa1, Ya1, ⁇ 1),..., (Xan, Yan, ⁇ n), for example.
  • the standing locus reference data may be formed not by two-dimensional coordinates but by robot coordinates.
  • the reference data for the standing locus includes, for example, the arm length (La: slide amount: rotation angle corresponding to the arm length) of the driving (sliding) motor 45 and the driving (tilting) motor 32a1. , 32b1 including a rotation angle ( ⁇ a).
  • the coordinates (Xa1, Ya1, ⁇ 1) obtained by adding the angle ⁇ of the XY coordinates are represented by robot coordinates (La1, ⁇ a1).
  • the data and coordinates described above are preferably corrected according to the height of the sitting portion such as a chair or bed on which the person being assisted M1 is seated and the height of the person being assisted M1.
  • the control device 17 performs control related to posture deformation of the assistance robot 10.
  • the control device 17 includes the detection device 63 (pressure sensor 63a), the left and right drive wheel motors 21f and 21g, the drive (slide) motor 45, and the drive (tilt) motor 32a1.
  • 32b1 the operation device 15, the storage device 16, and the guide device 18 are connected.
  • the control device 17 has a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.
  • the guidance device 18 guides the state of the assistance robot 10 and the posture of the person being assisted M1 by voice or display to the person being around including the person being assisted M1 and the person being assisted.
  • the guidance device 18 may be a speaker that outputs voice, or a display device such as an LCD or LED that displays characters, graphics, and the like.
  • the control device 17 acquires the weight distribution from the detection device 63 in step S102 every time the program execution is started in step S100 of FIG. 10 (acquisition unit).
  • the control device 17 derives the center-of-gravity position Pg in the front-rear direction of the seated person M1 from the weight distribution acquired in step S102 (a center-of-gravity position deriving unit).
  • the center-of-gravity position Pg is a position in the front-rear direction of the center of gravity of the upper body Xa of the person being assisted M1, and does not include the position in the height direction and the left-right direction.
  • the length Lb is a distance between the centers of the front pressure sensor 63af and the rear pressure sensor 63ar.
  • the length L1 is a distance between the rear pressure sensor 63ar and the gravity center position Pg (only the front-rear direction component).
  • the length L2 is a distance (only the front-rear direction component) between the gravity center position Pg and the front pressure sensor 63af.
  • the force applied to the upper body Xa is the weight Wa and the vertical drag Na from the plate member 61.
  • the force applied to the plate member 61 is the weight Wb, the reaction ( ⁇ Na) of the vertical drag Na from the plate member 61, the vertical drag Nr from the rear pressure sensor 63ar, and the vertical drag Nf from the front pressure sensor 63af.
  • Nr The normal force Nr is expressed by the following formula 1.
  • Nr (1/2) .Wb + (L2 / Lb) .Wa
  • Nf (1/2) .Wb + (L1 / Lb) .Wa
  • Equation 3 By subtracting Equation 2 from Equation 1 and deleting Wb, Equation 3 below is derived.
  • Nr ⁇ Nf ((Lb ⁇ 2L1) / Lb) ⁇ Wa
  • the length L1 which is the longitudinal component of the gravity center position Pg is the length Lb which is the center-to-center distance between the rear pressure sensor 63ar and the front pressure sensor 63af, the upper body weight Wa, and the rear pressure sensor 63ar.
  • the upper body weight Wa is expressed by Nr + Nf ⁇ Wb.
  • the weight Wb of the plate member 61 is preferably stored in the storage device 16 in advance.
  • the control device 17 compares the previously derived center-of-gravity position Pg of the person being assisted M1 with a predetermined range (corresponding to the second predetermined range). That is, the control device 17 determines whether the center of gravity position Pg of the person being assisted M1 is within a predetermined range, ahead of the predetermined range, or behind the predetermined range. Specifically, the control device 17 determines whether or not the length L1 is within a predetermined range.
  • the predetermined range is, for example, a range from Lb / 4 to Lb / 2.
  • control device 17 advances the program to step S108 and permits the start-up operation to start. Thereafter, the control device 17 advances the program to step S110, ends this flowchart, and starts a standing operation.
  • step S114 the control device 17 drives the actuator 12 to tilt the holding unit 13 forward by a predetermined amount. Thereby, since the upper half of the person being assisted M1 tilts forward, the center of gravity position Pg can be moved forward. Further, the control device 17 may drive the guide device 18 to notify the person being assisted M1 that the upper body moves forward. As a result, the person being assisted M1 moves the upper body forward (or tilts forward), so that the gravity center position Pg can be moved forward. The control device 17 repeatedly executes the processes of steps S100-106, 112, and 114 until the gravity center position Pg falls within the predetermined range.
  • step S118 the control device 17 drives the actuator 12 to tilt the holding portion 13 backward by a predetermined amount. Thereby, since the upper body of the person being assisted M1 tilts backward, the gravity center position Pg can be moved backward. Further, the control device 17 may drive the guide device 18 to notify the person being assisted M1 that the upper body is moved backward. As a result, the person being assisted M1 moves the upper body backward (or tilts backward), so that the gravity center position Pg can be moved backward.
  • the control device 17 repeatedly executes the processes of steps S100-106, 116, and 118 until the gravity center position Pg falls within the predetermined range.
  • the control device 17 determines that the center of gravity Pg of the seated person M1 derived by step S104 (the center of gravity position deriving unit) is within a predetermined range (second predetermined) before the standing motion is started. If it is within the range, the start of the standing motion is permitted (step S108), while the center of gravity position Pg derived by step S104 (center of gravity position deriving unit) is outside the predetermined range (second predetermined range). In this case, the start of the standing motion is prohibited (steps S112, 116) (steps S108, 112, 116: standing motion permission / rejection section).
  • control device 17 determines that the center of gravity position Pg of the seated person M1 derived by step S104 (center of gravity position deriving unit) is within a predetermined range (second predetermined range) before the standing motion is started. If it is outside, the actuator 12 is controlled to tilt the holding unit 13 so that the center of gravity position Pg derived by step S104 (center of gravity position deriving unit) falls within a predetermined range (second predetermined range) ( Steps S114 and 118: second control unit).
  • step S202 determines in step S202 whether or not there is permission to start the standing motion. If the standing motion start permission is not given, the control device 17 determines “NO” in step S202, advances the program to step S218, and ends this flowchart once. Thereby, when the standing motion start permission is not given, the control device 17 does not start the standing motion of the assisting robot 10 (that is, the standing motion is prohibited). On the other hand, when the standing motion start permission is given, the control device 17 determines “YES” in step S202, advances the program to step S204 and the subsequent steps, and executes the standing motion of the assisting robot 10.
  • step S204 the control device 17 acquires the weight distribution from the detection device 63 (acquisition unit), as in step S102. Further, in step S206, similarly to step S104, the control device 17 derives the center of gravity position Pg in the front-rear direction of the seated person M1 from the weight distribution acquired in step S204 (the center of gravity position deriving unit). ).
  • step S208 the control device 17 compares the previously derived center-of-gravity position Pg of the person being assisted M1 with a predetermined range (corresponding to the first predetermined range). That is, the control device 17 determines whether the center of gravity position Pg of the person being assisted M1 is within a predetermined range, ahead of the predetermined range, or behind the predetermined range. Specifically, the control device 17 determines whether or not the length L1 is within a predetermined range.
  • the predetermined range is, for example, a range from Lb / 4 to Lb / 2.
  • the first predetermined range may be the same as the second predetermined range, a range increased by a predetermined ratio, or a range discounted by a predetermined ratio.
  • the control device 17 advances the program to step S210, and maintains the vertical movement speed (that is, the axial speed) and the inclination of the holding unit 13.
  • the axial speed is a speed along the axial direction (moving direction) of the slide portion 31.
  • the control device 17 advances the program to step S212 to control the actuator 12 to decrease the axial speed of the holding unit 13 by a predetermined amount, or The holding part 13 is tilted forward by a predetermined amount. Further, in step S212, the control device 17 may decrease the speed of the holding unit 13 and tilt it forward. Thereby, since the upper half of the person being assisted M1 tilts forward, the center of gravity position Pg can be moved forward. Until the center of gravity position Pg falls within the predetermined range, the control device 17 repeatedly executes the processing of steps S200-212.
  • the control device 17 advances the program to step S214 to drive the actuator 12 to increase the axial speed of the holding unit 13 by a predetermined amount, or The holding part 13 is tilted backward by a predetermined amount. Further, in step S214, the control device 17 may increase the speed of the holding unit 13 and tilt it backward. Thereby, since the upper body of the person being assisted M1 tilts backward, the gravity center position Pg can be moved backward.
  • the control device 17 repeatedly executes the processes of steps S200-208 and 214 until the center of gravity position Pg falls within the predetermined range.
  • step S216 the control device 17 determines “NO” in step S216, proceeds to step S218, and temporarily ends the program. That is, the control device 17 repeatedly executes the processes of steps S202 to S216 and continues the standing up operation.
  • step S220 the control device 17 determines “YES” in step S216 and ends the standing operation (step S220).
  • step S216 the control device 17 determines whether or not the holding unit 13 has reached the standing position. Specifically, the control device 17 determines whether or not the holding unit 13 has reached a position (corresponding to the standing position) according to the preset height of the person being assisted M1. It is determined whether or not has reached the standing position.
  • control device 17 controls the actuator 12 to raise the center of gravity derived by step S206 (the center of gravity position deriving unit) when standing the assisted person M1 seated supported by the holding unit 13.
  • the holding unit 13 is operated so that the position Pg falls within a predetermined range (first predetermined range) (steps S208-214: first control unit).
  • control device 17 at least holds the holding unit when the center of gravity position Pg derived by step S206 (center of gravity position deriving unit) is ahead of the predetermined range (first predetermined range). 13 (speed along the moving direction) is increased, or the holding unit 13 is tilted backward (step S214).
  • the center of gravity position Pg derived by step S206 center of gravity position deriving unit is predetermined. If it is behind the range (first predetermined range), at least the axial speed of the holding portion 13 is slowed or the holding portion 13 is tilted forward (step S212).
  • the assistance robot 10 holds the base 21 and a part of the body of the person being assisted M1, and is at least movable and tiltable with respect to the base 21.
  • the actuator 12 is controlled to be derived by the gravity center position deriving portion.
  • the assistance robot 10 can maintain the center of gravity of the upper body of the person being assisted within a predetermined range when the person being assisted stands up, and as a result, the upper body of the person being assisted by the holding unit 13 can be maintained. Can be kept within a certain range. Therefore, it is possible to provide the assistance robot 10 that raises the person being assisted M1 without giving a sense of incongruity.
  • the assisting robot 10 sets the center of gravity of the upper body of the assisting person M1 within a predetermined range when the assisting person M1 stands up, regardless of whether the assisting person M1 sitting and the assisting robot 10 are close to each other. It is possible to maintain the posture of the upper body of the person being assisted with respect to the holding portion 13 within a certain range.
  • the control device 17 determines that the center of gravity position Pg derived by step S206 (center of gravity position deriving unit) is within the first predetermined range. If it is forward, at least the axial speed of the holding unit 13 (speed along the moving direction) is increased, or the holding unit 13 is tilted backward (step S214), while step S206 (derivation of the center of gravity position is derived) If the center of gravity position Pg derived by the first part is behind the first predetermined range, at least the axial speed of the holding part 13 is slowed or the holding part 13 is tilted forward (step S212). According to this, the assistance robot 10 can more reliably maintain the center of gravity of the upper body of the person being assisted M1 within a predetermined range when standing the person being assisted M1. The posture of the upper body of M1 can be held within a certain range.
  • the control device 17 (steps S108, 112, 116: standing motion permission / rejection unit) is started before the standing motion is started by steps S208-214 (first control unit).
  • the gravity center position Pg of the seated person M1 derived by step S104 center of gravity position deriving unit
  • the start of the standing motion is permitted (step S108).
  • the center of gravity position Pg derived by step S104 center of gravity position deriving unit
  • the start-up operation is prohibited (steps S112 and 116). According to this, the assistance robot 10 can start standing of the person being assisted M1 more appropriately.
  • the control device 17 performs step S104 before the standing motion is started by steps S208-214 (first control unit). If the center of gravity position Pg of the seated person M1 derived by the (center of gravity position deriving unit) is outside the second predetermined range, the actuator 12 is controlled to perform step S104 (center of gravity position deriving unit). The holding portion 13 is tilted so that the gravity center position Pg derived by the above-mentioned is within the second predetermined range. According to this, the assistance robot 10 can more appropriately and reliably execute preparations for the person to be assisted M1 to start standing up.
  • the standing locus is a path through which the movement control part Ps of the person to be assisted M1 passes.
  • the storage device 16 storage unit
  • the control device 17 (steps S208-214: first control unit) drives the actuator 12,
  • the holding unit 13 is operated based on the standing locus reference data. According to this, the assistance robot 10 can shorten the standing locus of the person being assisted M1, and can shorten the standing motion.
  • the center of gravity of the upper body of the person being assisted M1 can be maintained within an appropriate range even in such a linear locus, the person being assisted M1 can feel the standing motion comfortably. Furthermore, the structure of the assisting robot 10 can be simplified and the cost can be reduced.
  • the object transporting apparatus 110 includes a base 121, a holding unit 113 (for example, a pallet base) that holds the object Xb and transports the base X 121 so as to be at least movable and tiltable.
  • a detection device 163 that is provided in the holding unit 113 and detects the weight distribution received from the object Xb, an actuator 112 that operates the holding unit 113 with respect to the base 121, and a control device 117 are provided.
  • the actuator 112 moves the holding portion 113 (moves in the vertical and horizontal directions (including oblique movement)) and tilts similarly to the actuator 12 described above. Specifically, the actuator 112 can move in the direction (moving direction) in which the center of gravity of the holding unit 113 should move, and can tilt around the rotation point of the holding unit 113.
  • the detection device 163 is configured in the same manner as the detection device 63 described above.
  • the control device 117 acquires the weight distribution from the detection device 163 in the same manner as the control device 17 described above (acquisition unit: step S302).
  • the control device 117 derives the center-of-gravity position Pg in the front-rear direction along the conveyance direction of the object Xb from the weight distribution acquired by the acquisition unit (step S302) (center-of-gravity position deriving unit: step S304). In the case of transporting the object Xb held by the holding unit 113, the control device 117 controls the actuator 112 so that the gravity center position Pg derived by the gravity center position deriving unit (step S304) is within the first predetermined range.
  • the holding unit 13 is operated so as to enter (first control unit: steps S308-312).
  • the control device 117 When the center-of-gravity position Pg is ahead of the first predetermined range (forward in the movement direction), the control device 117 increases the speed of the holding unit 113 or tilts it backward in step S312. When the gravity center position Pg is behind the first predetermined range (backward in the movement direction), the control device 117 decreases or tilts the speed of the holding unit 113 in step S310. As described above, the control device 117 changes the speed of the holding unit 113 so that the object Xb placed on the holding unit 113 is stabilized.
  • the object transport device 110 transports the object Xb
  • the weight distribution acting on the holding unit 113 due to the movement of the object Xb due to the inclination of the holding unit 113 or the moment acting by the centrifugal force (inertial force) applied to the object Xb. Changes.
  • the center of gravity Pg of the object Xb can be maintained within a predetermined range, and thus The position of the object Xb with respect to the holding unit 113 can be held within a certain range.
  • the object Xb can be transported relative to the holding unit 113 without relative movement. Therefore, the object transport apparatus 110 can transport the object Xb without fixing the object Xb to the holding unit 113 with a fixture. As a result, the time for conveying the object can be shortened.
  • the object conveying apparatus 110 increases the speed of the holding unit 113 in step S312, and decreases the speed of the holding unit 113 in step S310. Further, it may be increased or decreased at both steps.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Nursing (AREA)
  • Epidemiology (AREA)
  • Human Computer Interaction (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

La présente invention vise à fournir un robot d'assistance qui aide une personne à se lever sans provoquer de gêne. Un dispositif de commande du robot d'assistance : acquiert une distribution de poids à partir d'un dispositif de détection (unité d'acquisition : étape S204); obtient, à partir de la distribution de poids qui est acquise par l'unité d'acquisition, une position de centre de gravité d'une personne à aider dans une direction avant-arrière (unité d'obtention de position de centre de gravité : étape S206); et, lorsque la personne à aider se lève alors qu'elle est assise et soutenue par une unité de maintien, commande un actionneur et amène l'unité de maintien à se déplacer de telle sorte que la position de centre de gravité obtenue par l'unité d'obtention de position de centre de gravité tombe dans une première plage prescrite (première unité de commande : étapes S208-214).
PCT/JP2014/059266 2014-03-28 2014-03-28 Robot d'assistance et dispositif de transport d'objet Ceased WO2015145756A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2016509848A JP6291033B2 (ja) 2014-03-28 2014-03-28 介助ロボットおよび物体搬送装置
PCT/JP2014/059266 WO2015145756A1 (fr) 2014-03-28 2014-03-28 Robot d'assistance et dispositif de transport d'objet

Applications Claiming Priority (1)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017094128A1 (fr) 2015-12-01 2017-06-08 富士機械製造株式会社 Dispositif de soins
WO2017137712A1 (fr) * 2016-02-12 2017-08-17 Robosoft Services Robots Robot mobile d'assistance comprenant au moins un systeme d'appui
WO2018163307A1 (fr) 2017-03-07 2018-09-13 株式会社Ｆｕｊｉ Dispositif d'assistance

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JP2003102795A (ja) * 2001-09-28 2003-04-08 Kongo Seisakusho:Kk 歩行器
JP2007195814A (ja) * 2006-01-27 2007-08-09 Tokyo Metropolitan Univ 動作支援装置
JP2008048981A (ja) * 2006-08-25 2008-03-06 Kochi Univ Of Technology 立ち上がり訓練機
JP2010158460A (ja) * 2009-01-09 2010-07-22 Toyota Motor Corp 移乗装置、バランス状態評価装置、バランス状態評価方法、及びプログラム
JP2012217686A (ja) * 2011-04-11 2012-11-12 Fuji Mach Mfg Co Ltd 立ち上がり動作アシストロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003102795A (ja) * 2001-09-28 2003-04-08 Kongo Seisakusho:Kk 歩行器
JP2007195814A (ja) * 2006-01-27 2007-08-09 Tokyo Metropolitan Univ 動作支援装置
JP2008048981A (ja) * 2006-08-25 2008-03-06 Kochi Univ Of Technology 立ち上がり訓練機
JP2010158460A (ja) * 2009-01-09 2010-07-22 Toyota Motor Corp 移乗装置、バランス状態評価装置、バランス状態評価方法、及びプログラム
JP2012217686A (ja) * 2011-04-11 2012-11-12 Fuji Mach Mfg Co Ltd 立ち上がり動作アシストロボット

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017094128A1 (fr) 2015-12-01 2017-06-08 富士機械製造株式会社 Dispositif de soins
WO2017137712A1 (fr) * 2016-02-12 2017-08-17 Robosoft Services Robots Robot mobile d'assistance comprenant au moins un systeme d'appui
FR3047682A1 (fr) * 2016-02-12 2017-08-18 Robosoft Services Robots Robot mobile d'assistance comprenant au moins un systeme d'appui
WO2018163307A1 (fr) 2017-03-07 2018-09-13 株式会社Ｆｕｊｉ Dispositif d'assistance
CN110381908A (zh) * 2017-03-07 2019-10-25 株式会社富士 辅助装置
JPWO2018163307A1 (ja) * 2017-03-07 2019-11-07 株式会社Ｆｕｊｉ 介助装置
AU2017402430B2 (en) * 2017-03-07 2020-09-17 Fuji Corporation Assistance device
CN110381908B (zh) * 2017-03-07 2021-05-14 株式会社富士 辅助装置

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