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WO2017134814A1 - Robot d'assistance - Google Patents

Robot d'assistance Download PDF

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Publication number
WO2017134814A1
WO2017134814A1 PCT/JP2016/053498 JP2016053498W WO2017134814A1 WO 2017134814 A1 WO2017134814 A1 WO 2017134814A1 JP 2016053498 W JP2016053498 W JP 2016053498W WO 2017134814 A1 WO2017134814 A1 WO 2017134814A1
Authority
WO
WIPO (PCT)
Prior art keywords
person
assisted
foot
base
unit
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/JP2016/053498
Other languages
English (en)
Japanese (ja)
Inventor
英明 野村
丈二 五十棲
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 JP2017565366A priority Critical patent/JP6694449B2/ja
Priority to PCT/JP2016/053498 priority patent/WO2017134814A1/fr
Publication of WO2017134814A1 publication Critical patent/WO2017134814A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • 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

Definitions

  • the present invention relates to an assistance robot.
  • the assistance robot described in Patent Document 1 is a robot that assists the person being assisted in standing or sitting, and includes a foot placement portion (boarding plate) on which the person being assisted is placed.
  • the foot placement portion is provided so as to be switchable between a substantially horizontal state with respect to the floor surface and a state of jumping up from the substantially horizontal state and substantially perpendicular to the floor surface.
  • the assistance robot functions as a towing vehicle, and when the footrest is substantially vertical, the assistance robot functions as a walker.
  • the foot placement portion is used as a walker in a substantially horizontal state. Therefore, the person being assisted is limited in the range of motion of the ankle, that is, the part from the person's knee to the ankle and the person being assisted Depending on the person being assisted who cannot change the angle between the heel and the toe, it may be difficult to use due to the tilted posture.
  • the present invention has an object to provide an assistance robot that can be easily used by a person who is limited in the range of motion of the ankle.
  • An assistance robot is provided with a base, a foot placement portion that is provided on the base, and on which a foot of a person to be assisted can be placed, and is provided at least vertically movable with respect to the base.
  • a holding unit that holds a part of the body of the caregiver and performs standing assistance from the sitting posture to the standing posture and sitting assistance from the standing posture to the sitting posture with respect to the person being assisted,
  • the foot placement portion is provided such that the foot of the person being assisted falls down on the toe.
  • the person being assisted in the range of motion of the ankle is provided with the foot placement portion inclined downward toward the front side with respect to the ground surface, so that the foot placement portion is substantially horizontal with respect to the ground surface.
  • it is easy to use a leaning posture, and it is easy to use.
  • even a caregiver who has no restriction on the range of motion of the ankle is easy to use because the struts become effective when in a tilted position.
  • the right side of the figure is the front in the direction of travel. It is a top view of the assistance robot of FIG. The right side of the figure is the front in the direction of travel. It is the figure which looked at the assistance robot of FIG. 1 from the back of the advancing direction. It is the figure which looked at the assistance robot of FIG. 1 from the front of the advancing direction. It is the figure which looked at the assistance robot of the state which raised the holding part in the assistance robot of FIG. 1 from the advancing direction right side. It is the perspective view which looked at the foot placement part of the assistance robot from the diagonally upper side behind the traveling direction.
  • the assistance robot 1 supports a part of the body (for example, the upper body) of the person being assisted (see FIG. 10) and assists the standing motion and the sitting motion.
  • the assisting robot 1 includes a base 10, lifting arms 20 and 30, a lifting and lowering unit 40, a holding unit 50, an attachment 60, a foot placing unit 200, lifting and lowering actuators 70 and 80, and back and forth movements.
  • Actuators 90 and 100 and a control device 120 are provided.
  • front, rear, left and right are front, rear, left and right when the traveling direction of the assisting robot 1 is forward.
  • the base 10 is a part installed on the ground plane.
  • the base 10 is formed in a U-shape that opens rearward in plan view (see FIG. 2).
  • the base 10 includes four wheels 15-18 and can move forward and backward.
  • the base 10 is covered with a cover 11.
  • the elevating arms 20 and 30 are respectively provided on the left and right sides of the upper surface of the base 10 and are provided so as to be extendable and contractable upward.
  • the elevating arms 20 and 30 extend and contract linearly in a direction in which the upper end is inclined forward with respect to the lower end (see FIGS. 1 and 5).
  • the elevating unit 40 is provided at the upper ends of the elevating arms 20 and 30. As the elevating arms 20 and 30 expand and contract in the vertical direction, the elevating unit 40 moves up and down with respect to the base 10. That is, the elevating unit 40 linearly moves in the direction of moving forward as it rises with respect to the base 10 (see FIGS. 1 and 5).
  • the elevating arms 20 and 30 are covered with covers 25 and 35, respectively.
  • the holding part 50 is located above the elevating part 40 and is supported by the elevating part 40.
  • the holding unit 50 moves back and forth with respect to the lifting unit 40 and tilts.
  • the holding unit 50 holds a part of the body of the person being assisted.
  • the holding unit 50 includes an attachment 60 that can be exchanged according to the person being assisted.
  • the attachment 60 includes a main body 61, a body pad 62, left and right grips 63a and 63b, left and right elbow mounting parts 64a and 64b, side holding parts 65a and 65b, and an operation part 66.
  • the main body 61 is detachably attached to the main body frame 51 of the holding unit 50.
  • the body pad 62 is formed in a substantially plate shape by a cushion material.
  • the body pad 62 is located on the upper surface of the main body 61 at the center in the left-right direction and the center in the front-rear direction of the entire attachment 60.
  • the body pad 62 is provided with the upper surface slightly inclined backward.
  • the torso pad 62 is supported from the chest of the person being assisted M to the abdomen and from the vicinity of the left side to the vicinity of the right side.
  • the upper edge of the torso pad 62 is formed in a concave shape so as not to hinder the movement of the head of the person being assisted.
  • the lower edge of the torso pad 62 is formed in a concave shape so that the legs can enter and the waist can be stably supported.
  • the grips 63 a and 63 b are fixed to the front of each of the left and right sides of the main body 61.
  • the elbow placement portions 64 a and 64 b are disposed on the left and right sides of the main body portion 61.
  • the side holding portions 65 a and 65 b are formed in an arc shape and are disposed on the left and right sides of the body pad 62.
  • the operation unit 66 includes a lift operation button operated by the person being assisted M or the person being assisted. When the person being assisted M operates the lifting operation button in the operation unit 66, the lifting unit 40 performs the lifting operation, and the holding unit 50 moves back and forth and tilts in conjunction with the lifting operation of the lifting unit 40.
  • the foot placement unit 200 is provided in a U-shaped opening of the base 10, and the foot of the person being assisted M is placed on the foot placement unit 200.
  • the foot placement unit 200 is provided so that the foot of the person being assisted M is toe-down when the person being assisted is in a standing posture. The details of the foot placement unit 200 will be described later.
  • the elevating actuators 70 and 80 drive the elevating operation of the elevating unit 40 with respect to the base 10.
  • Each of the lift actuators 70 and 80 drives expansion / contraction of the corresponding lift arms 20 and 30. That is, by driving the elevating actuators 70 and 80, the elevating unit 40 performs the operation from the state shown in FIG. 1 to the ascending position and the advancing position shown in FIG. 5 and vice versa.
  • the lift actuators 70 and 80 are provided across the base 10 and the lift arms 20 and 30.
  • the forward / backward movement actuators 90 and 100 drive the holding portion 50 to move back and forth and tilt with respect to the elevating portion 40. That is, by driving the longitudinal actuators 90 and 100, the holding unit 50 performs the operation from the state shown in FIG. 1 to the forward position and the forward inclined state shown in FIG. Do.
  • the longitudinal actuators 90 and 100 are provided across the elevating unit 40 and the holding unit 50.
  • the control device 120 controls the elevating actuators 70 and 80 and the forward / backward moving actuators 90 and 100 according to the operation by the person being assisted.
  • the foot placement unit 200 includes a placement plate 210 for placing the foot of the person being assisted M, a storage portion 220 for housing the placement plate 210, and an inclination of the placement plate 210.
  • An adjustment unit 230 for adjusting the angle is provided.
  • the mounting plate 210 is formed in a substantially rectangular plate shape.
  • the upper surface of the mounting plate 210 is formed to be inclined downward from the rear side toward the front side. That is, when the person being assisted M puts his / her foot on the placing plate 210 and takes a standing posture, the leg of the person being assisted M falls down on the toe.
  • the inclination angle of the upper surface of the mounting plate 210 is set to 2 degrees to 10 degrees, preferably 2 degrees to 6 degrees with respect to the ground plane. As for the inclination angle of the upper surface of the mounting plate 210, if the inclination angle becomes too large, the posture of the person being assisted M becomes unnatural and an extra burden is placed on the person being assisted. The burden on the person M can be reduced.
  • a step 211 rising from the upper surface of the mounting plate 210 is provided on the front side of the upper surface of the mounting plate 210, that is, on the toe side when the person M is mounting the foot. Moreover, the position where the toe of the person being assisted M is positioned by the step 211 is an appropriate position as the placement position of the leg of the person being assisted. As a result, when the person being assisted puts his / her foot on the placement plate 210 and is in a standing posture, the toe of the person being assisted M abuts on the step 211 and can be prevented from being displaced forward. Moreover, since the position of the foot is an appropriate position, the center of gravity of the person being assisted is on the sole of the foot, and a stable standing posture can be taken.
  • rail-like slide portions 212 extending in the front-rear direction are provided on both the left and right sides of the surface of the mounting plate 210.
  • the slide part 212 slides in the front-rear direction and expands and contracts with respect to a guide member 221 of the storage part 220 to be described later, so that the mounting plate 210 is used at the rear side in the U-shaped opening of the base 10 (see FIG. 7A) and the front storage position (position of FIG. 7B).
  • the rear use position is a position where the placement plate 210 is most pulled out from the guide member 221
  • the front storage position is a position where the placement plate 210 is pushed most into the guide member 221.
  • the positioning of the use position on the rear side is such that the convex portion 212a provided on the front side surface of the slide portion 212 fits into the window portion 221c provided on the rear side surface of the guide member 221 described later.
  • the storage unit 220 includes a pair of guide members 221 that guide expansion and contraction of the placement plate 210 in the front-rear direction, and a pair of support members 222 that support the raised placement plate 210.
  • the guide member 221 is formed in a tubular shape having an opening extending in the axial direction, that is, a tubular shape having a substantially C-shaped cross section perpendicular to the axis.
  • the pair of guide members 221 are respectively arranged along the left and right opposing side surfaces of the U-shaped opening of the base 10 with a gap between the slide portions 212 on both sides of the mounting plate 210.
  • One end side of the pair of guide members 221 is rotatably supported by a pair of brackets 221a provided on the front inner surface of the U-shaped opening of the base 10. That is, the pair of brackets 221a are respectively provided with shaft members 221b extending in the left-right direction, and the pair of guide members 221 rotate around the pair of shaft members 221b, respectively. From the other end side of the pair of guide members 221, slide portions 212 on both sides of the mounting plate 210 are inserted so as to be slidable in the axial direction.
  • the mounting plate 210 can be expanded and contracted in the front-rear direction at the U-shaped opening of the base 10 and is changed from a substantially horizontal state to a substantially vertical state or from a substantially vertical state to a substantially horizontal state with respect to the ground plane. It can turn. That is, the mounting plate 210 can be flipped up from a substantially horizontal state with respect to the ground plane in the U-shaped opening of the base 10. Therefore, in the case of the person being assisted M who does not need to use the foot placement unit 200, the foot placement unit 200 can be stored in a compact manner, so that the robot operation and the assistance operation are not disturbed.
  • the pair of support members 222 are band-shaped members, each formed in an L-shape, and are spaced slightly narrower than the distance between the slide portions 212 on both sides of the mounting plate 210 so that one end faces upward and the other end is the base.
  • the U-shaped opening of the base 10 is fixed to the inner surface on the front side. That is, the pair of support members 222 are respectively fixed in the vicinity of the pair of shaft members 221b inside the pair of shaft members 221b. Thereby, the mounting plate 210 in a state substantially perpendicular to the ground plane can be sandwiched between the pair of support members 222.
  • the adjustment unit 230 includes a pair of adjustment screws 231 and a pair of screw support members 232 into which the adjustment screws 231 are screwed.
  • the pair of screw support members 232 are formed in a rectangular parallelepiped shape, with one end side facing the U-shaped opening side of the base 10 and the other end side of the rear wheels 15, 16 on the back surface of the base 10. Fixed in the vicinity.
  • the pair of adjustment screws 231 are screwed so as to penetrate upward from the back side of the pair of screw support members 232.
  • each end portion of the pair of screw support members 232 that is, each end portion to which the pair of adjustment screws 231 are screwed, is located on both the left and right sides of the back surface of the mounting plate 210 located at the use position.
  • the side and the lower side to be provided are respectively fitted in the grooves 210a opened.
  • each upper end part of a pair of adjustment screw 231 contact
  • the mounting plate 210 can change the inclination angle by adjusting the screwing amount of the adjusting screw 231 with respect to the screw support member 232. That is, the inclination of the mounting plate 210 becomes steeper when the screwing amount of the adjusting screw 231 is increased, and becomes gentle when the screw is reduced. Therefore, for example, in the case of a person being assisted by M who has a different degree of bending of the waist, the adjustment unit 230 can adjust the inclination angle of the mounting plate 210 according to the degree of bending of the waist of the person being assisted, that is, the forward leaning posture.
  • the placement of the person M1 in FIG. 8A is placed.
  • the inclination angle ⁇ 1 of the plate 210 is set larger than the inclination angle ⁇ 2 of the placement plate 210 of the person being assisted M2 in FIG. 8B.
  • the forward tilting posture in which the angle ⁇ formed between the knee-to-ankle part of the caregivers M1 and M2 and the ground contact surface is around 80 degrees. Can be set.
  • the assisting robot 1 is positioned at the most lowered position and the holding unit 50 is positioned at the most retracted position, as shown in FIG.
  • the mounting plate 210 of the foot mounting portion 200 is erected substantially perpendicular to the grounding surface while being pushed into the guide member 221 and is sandwiched between the support members 222.
  • the person being assisted M or the assistant as shown in FIG. Is pulled out from the support member 222.
  • the mounting plate 210 is rotated rearward and pulled out to the use position, and the convex portion 212 a of the slide portion 212 is fitted into the window portion 221 c of the guide member 221.
  • the screw support member 232 is fitted into the groove 210a of the mounting plate 210, and the upper end of the adjustment screw 231 is brought into contact with the ceiling surface of the groove 210a.
  • the setting of the foot placement unit 200 is completed.
  • the person being assisted M takes a sitting posture, extends both arms, and grips the grips 63a and 63b with both hands through the inside of the U-shape of the side holding portions 65a and 65b. Then, the person being assisted M inserts the armpit holding portions 65 a and 65 b under the armpits, and presses the chest against the body pad 62.
  • the control device 120 first drives the longitudinal actuators 90 and 100 to move the holding unit 50 back and forth and tilt.
  • the control device 120 drives the elevating actuators 70 and 80 while driving the longitudinal actuators 90 and 100. That is, the holding part 50 moves up and down while tilting.
  • the rising height of the holding unit 50 can be set according to the height of the person being assisted. As shown in FIG. 11, the person being assisted in the standing posture is in a forward leaning posture in which the angle formed between the portion of the person being assisted from the knee to the ankle and the ground contact surface is approximately 80 degrees.
  • the raising / lowering operation by the raising / lowering actuators 70, 80 and the forward / backward movement and tilting by the longitudinal actuators 90, 100 are coordinated. Done. Then, when the person being assisted M is in the sitting position, the person being assisted M or the assistant drops his feet from the placement plate 210.
  • the person being assisted M or the assistant lifts the tip of the mounting plate 210. As a result, the screw support member 232 comes out of the groove 210a of the mounting plate 210. The person being assisted M or the assistant pushes the placement plate 210. Thereby, the convex part 212a of the slide part 212 comes off from the window part 221c of the guide member 221. Then, the person to be assisted M or the assistant rotates the placing plate 210 while further pushing it, so that it is in a substantially vertical state. As a result, the mounting plate 210 is lowered by its own weight and fitted into the support member 222. By the above operation, the footrest portion 200 can be stored in a compact manner.
  • the assistance robot 1 is provided on the base 10 and the base 10, and can be moved at least up and down with respect to the base 10 and the foot placement unit 200 on which the foot of the person M can be placed.
  • a holding unit 50 which is provided and holds a part of the body of the person being assisted M, and assists the person assisted by M from standing to standing, and from sitting to sitting.
  • the foot placement unit 200 is provided such that the foot of the person being assisted M is toe-down.
  • the person M who is limited in the range of motion of the ankle is provided with the foot placement portion 200 inclined downward toward the front side with respect to the ground surface, so that the foot placement portion 200 is located with respect to the ground surface.
  • the struts become effective when the vehicle is in a backward tilted posture, so that it is easy to use.
  • the base 10 is provided with the adjusting unit 230 that can adjust the inclination angle of the footrest unit 200, for example, in the case of the person being assisted by M who has different waist bending,
  • the inclination angle of the footrest 200 can be adjusted in accordance with the degree of bending, that is, the forward inclination posture.
  • the adjustment part 230 is provided so that the height of the ankle side of the care receiver M in the foot placement part 200 can be changed, the inclination angle of the foot placement part 200 can be adjusted with a simple configuration, and the cost can be reduced. The rise can be suppressed.
  • the foot placing unit 200 is provided so as to be able to expand and contract in the toe direction when the person being assisted puts his / her foot, and is provided so as to be able to be flipped up with the toe side as a rotation fulcrum after reduction. It is provided so that it can be stored. Thereby, in the case of the person being assisted M who does not need to use the foot placement unit 200, the foot placement unit 200 can be stored in a compact manner, so that the robot operation and the assistance operation are not disturbed. In addition, it is not necessary to secure and manage the storage location as compared to the removable foot placement unit.
  • the foot placement unit 200 is provided with a step 211 on the toe side when the person being assisted puts his / her foot, so that the person being assisted puts his / her foot on the placement plate 210 in a standing posture. Since the toe of the person being assisted comes into contact with the step 211 and can be prevented from shifting to the front side, the center of gravity of the person being assisted is on the sole of the foot and can take a stable standing posture. it can.
  • the foot placement unit 200 is provided such that the inclination angle of the upper surface is 2 degrees to 10 degrees with respect to the ground plane.
  • the inclination angle of the upper surface of the footrest 200 is that if the inclination angle becomes too large, the posture of the person being assisted M becomes unnatural and an extra burden is placed on the person being assisted. The burden placed on the assistant M can be reduced.
  • the assisting robot 1 is configured to be able to move up and down, move back and forth, and swing. Also, a configuration with only one axis for vertical movement, a configuration with only one axis for oscillation, a configuration for combining a plurality of linear motion shafts, a configuration for combining multiple oscillation shafts, and a combination of a linear motion shaft and an oscillation shaft It may be configured.
  • the storage unit 220 stores the mounting plate 210 whose upper surface is inclined. However, even a mounting plate whose upper surface is not inclined can be stored.

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

Abstract

Le robot d'assistance (1) de l'invention est équipé : d'un socle (10) ; de parties repose-pied (200) installées sur le socle (10), et permettant de poser les pieds d'une personne nécessitant une assistance (M) ; et d'une partie maintien (50) qui est agencée de manière à permettre un déplacement au moins vertical vis-à-vis du socle (10), qui maintient une partie du corps de la personne nécessitant une assistance (M), et qui procure à la personne nécessitant une assistance (M) une aide pour se lever d'une position assise à une position debout et une aide pour s'assoir d'une position debout à une position assise. En outre, les parties repose-pied (200) sont agencées de sorte que les pieds de la personne nécessitant une assistance (M) se trouvent penchés en avant.
PCT/JP2016/053498 2016-02-05 2016-02-05 Robot d'assistance Ceased WO2017134814A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2017565366A JP6694449B2 (ja) 2016-02-05 2016-02-05 介助ロボット
PCT/JP2016/053498 WO2017134814A1 (fr) 2016-02-05 2016-02-05 Robot d'assistance

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/053498 WO2017134814A1 (fr) 2016-02-05 2016-02-05 Robot d'assistance

Publications (1)

Publication Number Publication Date
WO2017134814A1 true WO2017134814A1 (fr) 2017-08-10

Family

ID=59499467

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/053498 Ceased WO2017134814A1 (fr) 2016-02-05 2016-02-05 Robot d'assistance

Country Status (2)

Country Link
JP (1) JP6694449B2 (fr)
WO (1) WO2017134814A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220313522A1 (en) * 2019-07-03 2022-10-06 Koubou Ryo, Inc. Transfer device
WO2025062610A1 (fr) * 2023-09-22 2025-03-27 株式会社Fuji Dispositif d'assistance

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06254123A (ja) * 1993-03-05 1994-09-13 Paramount Bed Co Ltd 移動型介護リフト
JP2006204707A (ja) * 2005-01-31 2006-08-10 功 ▲高▼野 着脱式車椅子用フットレスト、車椅子用フットレストおよび車椅子
JP2014061448A (ja) * 2014-01-10 2014-04-10 Fuji Mach Mfg Co Ltd 歩行介助装置
JP2014520604A (ja) * 2011-07-07 2014-08-25 ディヴェロップ，リミテッド ライアビリティー カンパニー 患者に有用な椅子、フレームおよび持上げ用衣服
JP2015177869A (ja) * 2014-03-19 2015-10-08 大和ハウス工業株式会社 移乗支援装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09276335A (ja) * 1996-04-15 1997-10-28 Takaaki Ishii 人体移乗装置
JP5052372B2 (ja) * 2007-03-06 2012-10-17 進 永作 移乗介助機能を備えた車椅子
WO2013015059A1 (fr) * 2011-07-27 2013-01-31 株式会社鍛錬 Outil de déplacement
JP5626295B2 (ja) * 2012-09-03 2014-11-19 ヤマハ株式会社 電子パッド

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06254123A (ja) * 1993-03-05 1994-09-13 Paramount Bed Co Ltd 移動型介護リフト
JP2006204707A (ja) * 2005-01-31 2006-08-10 功 ▲高▼野 着脱式車椅子用フットレスト、車椅子用フットレストおよび車椅子
JP2014520604A (ja) * 2011-07-07 2014-08-25 ディヴェロップ，リミテッド ライアビリティー カンパニー 患者に有用な椅子、フレームおよび持上げ用衣服
JP2014061448A (ja) * 2014-01-10 2014-04-10 Fuji Mach Mfg Co Ltd 歩行介助装置
JP2015177869A (ja) * 2014-03-19 2015-10-08 大和ハウス工業株式会社 移乗支援装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220313522A1 (en) * 2019-07-03 2022-10-06 Koubou Ryo, Inc. Transfer device
US11833093B2 (en) * 2019-07-03 2023-12-05 Koubou Ryo, Inc. Transfer device
WO2025062610A1 (fr) * 2023-09-22 2025-03-27 株式会社Fuji Dispositif d'assistance

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JP6694449B2 (ja) 2020-05-13
JPWO2017134814A1 (ja) 2018-11-29

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