Caregiving robots

Abstract

A nursing care robot according to the present disclosure comprises: a head part; a chest part; an arm part attached to the chest part; a movable neck provided between the head part and the chest part and having a neck joint shaft; a movable shoulder provided between the chest part and the arm part and having a shoulder joint shaft; and a movable hip provided below the chest part and having a hip joint shaft. If viewed from the side surface direction of a standard posture, the neck joint shaft is disposed so as to be offset rearward with respect to the shoulder joint shaft, and the hip joint shaft is disposed so as to be offset forward with respect to the shoulder joint shaft.

Description

Technical Field

[0001] This disclosure relates to a care robot.

Background Art

[0002] Industrially, there are robots having a plurality of joint axes (see Patent Documents 1 and 2). On the other hand, in care facilities such as nursing homes, for example, the development of care robots that assist in caring for dementia elderly people and the like as care recipients is desired.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

[0004] Particularly when caring for dementia elderly people and the like as care recipients, a care robot with a highly receptive configuration towards the recipient is desired.

[0005] It is desirable to provide a care robot capable of enhancing the receptivity towards care recipients.

[0006] The care robot according to an embodiment of this disclosure includes a head, a chest, arms attached to the chest, a movable neck provided between the head and the chest and having a neck joint axis, a movable shoulder provided between the chest and the arms and having a shoulder joint axis, and a movable waist provided at the lower part of the chest and having a waist joint axis , at least one sensor and and is provided such that when viewed from the side direction in the standard posture, the neck joint axis is offset rearward with respect to the shoulder joint axis, and the waist joint axis is offset forward with respect to the shoulder joint axis. A care robot according to one embodiment of the present disclosure performs care actions for each individual according to individual operational parameters set for each individual, which are generated based on information regarding each individual's tolerance to the care robot based on measurement information measured by sensors.

[0007] In one embodiment of the care robot according to this disclosure, when viewed from the side in a standard posture, the neck joint axis is offset backward relative to the shoulder joint axis, and the hip joint axis is offset forward relative to the shoulder joint axis. [Brief explanation of the drawing]

[0008] [Figure 1] This is an external view showing an example of the external appearance of a care robot according to the first embodiment of this disclosure, as seen from the front and side. [Figure 2] This is an external view showing an example of the external appearance of a care robot according to the first embodiment, as seen from the rear. [Figure 3] This is an external view showing an example of the external appearance of a care robot according to the first embodiment, as seen from a front-oblique direction. [Figure 4] This is an external view showing an example of the external appearance of a care robot according to the first embodiment, as seen from a diagonal rear view. [Figure 5] This is an external view showing an example of the appearance of the hand of a care robot according to the first embodiment. [Figure 6] This is an explanatory diagram comparing the size of the care robot according to the first embodiment with the size of a typical table. [Figure 7] This is a front view showing the dimensional parameters of each part of the care robot according to the first embodiment. [Figure 8] This is a side view showing the dimensional parameters of each part of the care robot according to the first embodiment. [Figure 9] This is a front view showing an example of the dimensions of each part of the care robot according to the first embodiment. [Figure 10] This is a side view showing an example of the dimensions of each part of the care robot according to the first embodiment. [Figure 11] This is a configuration diagram showing an example of the dimensions of each part of the arm of a care robot according to the first embodiment. [Figure 12] This is an explanatory diagram showing an example of the dimensions of each part of the care robot according to the first embodiment. [Figure 13]It is an explanatory diagram showing an example of the dimensions of each part of the care robot according to the first embodiment. [Figure 14] It is an explanatory diagram showing an example of the dimensions of each part of the care robot according to the first embodiment. [Figure 15] It is an explanatory diagram showing an example of the movable range of the joint axes of each part of the care robot according to the first embodiment. [Figure 16] It is an external view showing an example of a configuration of the eyeball part of the care robot according to the first embodiment. [Figure 17] It is an external view showing an example of a configuration of the eyeball part of the care robot according to the first embodiment. [Figure 18] It is a cross-sectional view showing an example of a configuration of the eyeball part of the care robot according to the first embodiment. [Figure 19] It is a front view showing the parameter of the dimension of the eyeball part of the care robot according to the first embodiment. [Figure 20] It is an exploded view showing an example of the internal configuration of the eyeball part of the care robot according to the first embodiment. [Figure 21] It is a block diagram schematically showing an example of a configuration of a robot operation system according to the first embodiment. [Figure 22] It is an explanatory diagram showing an example of the approach position of the care robot operated by the robot operation system according to the first embodiment to the target person. [Figure 23] It is a flowchart showing an example of the processing operation of the "greeting calming and vital measurement application" by the robot operation system according to the first embodiment. [Figure 24] It is a flowchart following FIG. 23. [Figure 25] It is a flowchart showing an example of the output processing of evaluation data by the "greeting calming and vital measurement application" by the robot operation system according to the first embodiment. [Figure 26] It is an explanatory diagram showing an example of the output result of evaluation data by the "greeting calming and vital measurement application" by the robot operation system according to the first embodiment. [Figure 27] It is an explanatory diagram showing an example of a schedule for implementing a plurality of applications by a robot operation system according to the first embodiment. [Figure 28] It is an explanatory diagram showing an example of a care room targeted by the robot operation system according to the first embodiment. [Figure 29] It is a flowchart showing an example of an implementation operation of a plurality of applications by a robot operation system according to the first embodiment. [Figure 30] It is a flowchart showing an example of an implementation operation of an application when there is an interruption of another application during the implementation of a plurality of applications by a robot operation system according to the first embodiment. [Figure 31] It is an explanatory diagram showing an example of a setting interface for an implementation schedule of an application by a robot operation system according to the first embodiment. [Figure 32] It is an explanatory diagram showing an example of a setting interface for performing individual settings for a care recipient by a robot operation system according to the first embodiment. [Figure 33] It is a flowchart showing an example of a processing operation of an "individual recreation application" by a robot operation system according to the first embodiment. [Figure 34] It is a flowchart following FIG. 33. [Figure 35] It is an explanatory diagram showing an example of an implementation of a "monitoring / vital application" by a robot operation system according to the first embodiment. [Figure 36] It is an explanatory diagram showing an example of an implementation of a "tea distribution application" by a robot operation system according to the first embodiment. [Figure 37] It is an explanatory diagram showing an example of an implementation of a "snack distribution application" by a robot operation system according to the first embodiment. [Figure 38] It is an explanatory diagram showing an example of an implementation of a "hot towel distribution application" by a robot operation system according to the first embodiment. [Figure 39] This is an explanatory diagram showing one embodiment of the "excretion preparation application" using the robot operating system according to the first embodiment. [Figure 40] This is an explanatory diagram showing one embodiment of a "telephone assistance application" using a robot operation system according to the first embodiment. [Figure 41] This is an explanatory diagram showing one embodiment of the "storytelling application" using the robot operation system according to the first embodiment. [Figure 42] This is an explanatory diagram showing one embodiment of the "excretion preparation application" using the robot operating system according to the first embodiment. [Figure 43] This is an explanatory diagram showing one embodiment of the "excrement cleanup application" using the robot operating system according to the first embodiment. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described in detail below with reference to the drawings. The description will be given in the following order. 0. Comparative Example 1. First Embodiment 1.1 Example Configurations of Caregiving Robots (Figures 1-20) 1.2 Function and Effects of Caregiving Robots 1.3 Example configuration and operation of a robot operating system (Figures 21-43) 1.4 Operation and Effects of the Robot Operating System 2. Other Embodiments

[0010] <0. Comparative Example> (Required configuration for caregiving robots) In nursing homes and other care facilities, staff shortages can lead to situations where residents with dementia become unstable during periods of staff absence in the living area and waiting times for care recipients. Examples of instability include restlessness, loneliness, and anger. As a result of this instability, there is a risk of injury from sudden movements such as standing up, and daily routines can be disrupted. This can also lead to an increase in the level of care required, and the amount of care needed will increase. This must be addressed in parallel with individual room care, making it difficult to manage and placing a heavy burden on staff. While existing passive monitoring sensors (fixed cameras, bed sensors, etc.) exist for monitoring care facilities, they can only report incidents such as falls after the fact, making it difficult to detect when a care recipient has become unstable. Many care recipients and their families are reluctant to use surveillance camera-like sensors, resulting in low acceptance among care recipients.

[0011] While there are examples of existing robots (such as single-arm mobile manipulators) being used for caregiving purposes, if their shape is too large or too small, they are not well-received by elderly people with dementia, and the robots are not perceived as conversational partners. If the joint axis arrangement and range of motion differ from that of humans, the movements are difficult to understand, leading to fear and difficulties in communication. On the other hand, while tabletop-sized robots are less likely to frighten people due to their small size, they cannot move autonomously between users, limiting their applications.

[0012] In typical industrial vertical articulated robot manipulators and humanoid robots, the joint axis configuration is primarily designed to prioritize controllability and drive efficiency, with the axes laid out on the same axis without offsetting. While this improves the controllability and drive efficiency of the robot arm, the joint axes of the actual human body are not arranged on the same axis. When attempting to create a human-like appearance to improve acceptance, this results in an unnatural form and reduced acceptance. Alternatively, a multi-degree-of-freedom robot configuration, such as the cervical and lumbar vertebrae of a human, allows for a natural posture even if all joint axes are arranged on the same axis. However, this increases the number of degrees of freedom, leading to unnecessarily complex systems, which is disadvantageous.

[0013] Therefore, there is a need for the development of care robots that can increase the acceptability of care recipients.

[0014] (Regarding the operation of caregiving robots) As mentioned above, existing passive monitoring sensors have low acceptance among those receiving care. Even when speaking to those receiving care using sensors, cameras, and speakers installed in the living environment, many individuals have difficulty localizing sound sources, making effective communication difficult.

[0015] Some facilities install televisions in the living room for residents to watch as a way to prevent them from becoming unstable, but the optimal viewing position varies for each individual, and due to differences in hearing and cognitive characteristics, not everyone is able to watch with satisfaction. Placing individual monitors on each desk is another option, but this requires power management for each monitor and wiring installation costs, which are not low. In nursing homes with unit-type private rooms, the facility often operates a shared living room to serve as a daily living space similar to being at home, and to ensure that residents do not lose their connection to people and society, so the idea of ​​everyone constantly watching individual monitors is not well-received.

[0016] As mentioned above, robots such as single-arm mobile manipulators have been shown to have low acceptance among elderly people with dementia and are not easily perceived as conversational partners. While tabletop-sized robots are less likely to frighten people due to their small size, their inability to move autonomously between care recipients limits their applications. Even with one robot per person, the management effort involved in charging, movement, and system administration is significant, resulting in high implementation costs.

[0017] Furthermore, robots in the form of mobile cart-type robots or industrial robot manipulators have joint axis arrangements and ranges of motion that differ from humans, and their movements are difficult to understand, which can cause fear in the user and make communication difficult. In terms of approaching a destination, the movement plan mainly focuses on efficiency in terms of time and distance, and does not take into consideration the acceptability from the person receiving care.

[0018] Applications for vital sign measurement include the need to measure body temperature, heart rate, blood pressure, and oxygen saturation. While various measuring devices exist, frequent measurements are difficult due to staffing shortages, making automation highly desirable. Body temperature measurement is particularly necessary as an infection prevention measure, and therefore the need for automation is high.

[0019] While it is possible to automatically measure vital signs by attaching non-contact vital sensors to interior walls or ceilings, it is difficult to sense at the optimal measurement location for each person receiving care, resulting in poor measurement accuracy. Automatic measurement using wearable vital sensors is also possible, but the amount of work involved in power management, wearing status management, and system management for each person receiving care is significant, making it costly. Many people receiving care are bothered by wearing items such as watches or accessories and may remove them or bump into them, resulting in low acceptance. Small sensors disguised as clothing buttons are also a possible solution, but similarly, the amount of work involved in individual management is large.

[0020] Therefore, there is a need to develop a robot operation system that can increase the acceptance of care robots by those receiving care.

[0021] <1. First Embodiment> [1.1 Example Configuration of a Caregiving Robot] (Overview of caregiving robots) Figure 1 shows an example of the external appearance of the care robot 100 according to the first embodiment of this disclosure, viewed from the front and side. The left side of Figure 1 shows the front view, and the right side shows the side view. Figure 2 shows an example of the external appearance of the care robot 100 viewed from the rear. Figure 3 shows an example of the external appearance of the care robot 100 viewed from the front at an angle. Figure 4 shows an example of the external appearance of the care robot 100 viewed from the rear at an angle. Figure 5 shows an example of the external appearance of the hand 73 of the care robot 100. Figure 6 shows a comparison of the size of the care robot 100 with the size of a typical table 500.

[0022] The first embodiment of the caregiving robot 100 comprises a head 1 having eyeballs 11, a chest 2, and a base 3 supporting the chest 2. The lower part of the base 3 is, for example, an omnidirectional mobile platform. This allows the caregiving robot 100 to move in all directions.

[0023] Furthermore, the caregiving robot 100 is equipped with arms 7 attached to the upper left and upper right sides of the chest 2. The caregiving robot 100 is also equipped with a movable neck 4 located between the head 1 and the chest 2 and having a neck joint axis 4C. The caregiving robot 100 is also equipped with a movable shoulder 5 located between the chest 2 and the arms 7 and having a shoulder joint axis 5C. Furthermore, the caregiving robot 100 is equipped with a movable waist 6 located at the bottom of the chest 2 and having a waist joint axis 6C.

[0024] The arm portion 7 includes an elbow portion 71, a wrist portion 72, and a hand portion 73.

[0025] A head sensor 51 is provided on the upper front of the head 1. The head sensor 51 is, for example, a distance image sensor.

[0026] A chest sensor 52 is provided on the upper front part of the chest 2. The chest sensor 52 is, for example, a non-contact vital signs sensor.

[0027] A hand sensor 53 is provided on the hand 73. The hand sensor 53 is, for example, a contact-type vital sign sensor.

[0028] The care robot 100 is operated by a robot operation system described later. The robot operation system according to the first embodiment, as described later, implements multiple applications to cause the care robot 100 to perform care actions in accordance with a scheduler created based on the judgment of care staff in a care facility and individual robot operation settings for each person receiving care. The applications include greeting and calming the person receiving care and measuring vital signs. The care robot 100 is configured to be able to implement applications aimed at preventing instability in the person receiving care and regulating their daily rhythm. The care robot 100 is a humanoid mobile manipulator robot that can perform applications such as condition observation, communication, and peripheral tasks for the person receiving care with high acceptability quality. The care robot 100 is capable of person recognition and face recognition using a head sensor 51 and can perform interactions by tracking the eyes of the person receiving care. The height of the care robot 100 is such that it can be slightly looked down upon by a person receiving care in a seated position in a chair. Furthermore, as shown in Figure 6, the height of the caregiving robot 100 is such that it can see the top of a typical table 500.

[0029] (Details of sensor configuration) The head sensor 51 is, for example, a distance image sensor. The head sensor 51 is configured so that its sensing direction is approximately the same as the line of sight of the care robot 100, enabling the practice of Humanitude motion and face tracking motion. Here, the height of a typical table 500 is, for example, about 700 mm, and the height of a typical table 500 in a care facility is, for example, about 660 mm. As shown in Figure 6, for example, the head sensor 51 is positioned to have a panoramic view of the top surface 501 of the table 500. The head 1 is positioned to look up at the face of the person being cared for when they are sitting in a chair (seated posture). doing The head sensor 51 is mounted at a high position on the head 1 (for example, at a height of about 760 mm) and angled upwards by about 5 degrees. The head sensor 51 is positioned so as not to protrude too far from the outer diameter line of the head 1. This makes it possible to recognize objects on a standard table 500, as shown in Figure 6, and to recognize the face of a care recipient in a seated position across the table 500. It also makes it possible to recognize the face of a care recipient in a seated position on a standard bed, and to recognize the face of a care recipient in a supine position on a standard bed. Furthermore, it makes it possible to recognize the face of a care recipient in a seated position at close range at an upward angle, and to recognize the face of a care recipient in a standing position at close range at an upward angle.

[0030] The chest sensor 52 is, for example, a non-contact vital sign sensor. Examples of non-contact vital sign sensors include body temperature sensors, heart rate sensors, and respiration sensors. The chest sensor 52 is mounted on the upper front of the chest 2 (for example, at a height of about 537 mm) and angled upward, for example, by about 10 degrees. This allows measurement by the chest sensor 52 without being affected by the motion of the head 1. It also reduces the occurrence of blind spots caused by the arm 7 during manipulation. Furthermore, it enables vital sign sensing from the face of the care recipient in a seated position, the face of the care recipient in a standing position at a distance (for example, about 2 m), and the face of the care recipient in a supine position at close range. In addition, it enables continuous sensing of changes in the condition of the care recipient while the application is being performed.

[0031] The hand sensor 53 is, for example, a contact-type vital sensor. Examples of contact-type vital sensors include heart rate sensors, blood pressure sensors, and oxygen saturation measurement sensors. The hand sensor 53 is positioned on the outside of the thumb at the tip of the hand 73, as shown in Figure 5. This prevents the hand 73 from pinching the subject's hand during vital sensing. Vital sensing is possible when the subject places or grasps the hand sensor 53, rather than the user having to apply the hand sensor 53 themselves. Such a hand sensor 53 is a familiar interface for elderly people with dementia and is highly acceptable to them. In addition, a sensor for controlling the gripping force can be separately configured on the inside of the hand.

[0032] (Component values ​​for each part) Figure 7 is a front view showing the dimensional parameters of each part of the care robot 100. Figure 8 is a side view showing the dimensional parameters of each part of the care robot 100. Figure 9 is a front view showing an example of the dimensions of each part of the care robot 100. Figure 10 is a side view showing an example of the dimensions of each part of the care robot 100. Figure 11 is a configuration diagram showing an example of the dimensions of each part of the arm 7 of the care robot 100. Figures 12 to 14 are explanatory diagrams showing an example of the dimensions of each part of the care robot 100. Figure 15 is an explanatory diagram showing an example of the range of motion of the joint axes of each part of the care robot 100.

[0033] Figures 9 to 11 show examples of the best values ​​for the dimensions of each part. Figures 12 to 14 show examples of the best values ​​for the dimensions of each part, examples of the best values ​​for the dimensional ratios of each part, and examples of the allowable ratio ranges for the dimensional ratios of each part. Note that the specific numerical values ​​shown in Figures 9 to 15 are examples only, and other values ​​are possible.

[0034] By configuring each part to take the values ​​shown in Figures 9 to 15, it becomes possible to increase the acceptability for those receiving care. The following describes the typical component values.

[0035] As shown on the right side of Figure 1, when viewed from the side in the standard posture, the care robot 100 has the neck joint axis 4C offset backward relative to the shoulder joint axis 5C, and the waist joint axis 6C offset forward relative to the shoulder joint axis 5C. As a result, when viewed from the side in the standard posture, the anterior-posterior positions of the three joint axes, the neck joint axis 4C, the shoulder joint axis 5C, and the waist joint axis 6C, are not aligned vertically in series but are offset in the same backward direction.

[0036] The care robot 100 satisfies the following conditions (1) and (2) such that the three joint axes are offset as described above. Here, L1 is the anterior-posterior distance between the lumbar joint axis 6C and the shoulder joint axis 5C, L2 is the anterior-posterior distance between the shoulder joint axis 5C and the neck joint axis 4C, L4 is the vertical distance between the lumbar joint axis 6C and the shoulder joint axis 5C, and L5 is the vertical distance between the shoulder joint axis 5C and the neck joint axis 4C. 0 <L2 / L1<1.5 ……(1) 0.2 <L5 / L4<0.6 ……(2)

[0037] The care robot 100 is configured to satisfy the following condition (3) regarding its head-to-body ratio. This results in a configuration that makes its head-to-body ratio relatively large. Here, the total head height (height) in the standard posture is L6, and the height is L7. 3.3 <L7 / L6<5.0 ……(3)

[0038] The eyeball section 11 is positioned below the vertical center of the head 1. The care robot 100 is configured to satisfy the following condition (4) regarding the position of the eyeball section 11. Here, L6 is the total head height in the standard posture, and L17 is the vertical distance from the center of the eyeball section 11 to the chin of the head 1. 0.2 <L17 / L6<0.5 ……(4)

[0039] The care robot 100 is configured such that, when viewed from the front, the length of the neck 4 is short enough that the upper end of the chest 2 and the underside of the chin of the head 1 are roughly touching. For this reason, it is configured to satisfy, for example, the following condition (5). Here, L5 is the vertical distance between the shoulder joint axis 5C and the neck joint axis 4C, and L6 is the total head height in the standard posture. 0.3 <L5 / L6<0.6 ……(5)

[0040] The care robot 100 is configured such that, when viewed from the front, the lower part (cheek shape) of the head 1 below the eyeball portion 11 is large enough that the upper end of the chest portion 2 and the area below the chin of the head 1 are almost touching. For this reason, it is configured to satisfy, for example, the following conditions (6) and (7). Here, L17 is the vertical distance from the center of the eyeball portion 11 to the area below the chin of the head 1, L18 is the vertical distance from the center of the eyeball portion 11 to the shoulder joint axis 5C, and L19 is the vertical distance from the center of the eyeball portion 11 to the neck joint axis 4C. 1.3 <L18 / L17<2.5 ……(6) 0.4 <L19 / L17≦1.0 ……(7)

[0041] The caregiving robot 100 is configured such that the range of motion of the pitch axis of the neck 4 is greater in the upward direction than in the downward direction (see Figure 15).

[0042] The care robot 100 is configured such that, when viewed from the side in a standard posture, the front of the face of the head 1 and the front of the chest 2 are at approximately the same position, and the front of the face of the head 1 is located behind the front of the chest 2. For this reason, it is configured to satisfy, for example, the following condition (8). Here, L21 is the distance from the neck joint axis 4C to the front of the face of the head 1 when viewed from the side in a standard posture, and L22 is the distance from the neck joint axis 4C to the front of the chest 2 when viewed from the side in a standard posture. 1 <L22 / L21<1.3 ……(8)

[0043] (Structure of the eyeball) Figures 16 and 17 are external views showing one example configuration of the eyeball section 11 of the care robot 100. Figure 18 is a cross-sectional view showing one example configuration of the eyeball section 11 of the care robot 100. Figure 19 is a front view showing the dimensional parameters of the eyeball section 11 of the care robot 100. Figure 20 is an exploded view showing an example of the internal configuration of the eyeball section 11 of the care robot 100.

[0044] As shown in Figure 20, the eyeball portion 11 has a transparent, solid cylindrical portion 64 having a first end face and a second end face. The eyeball portion 11 also has a planar display 65 provided on the first end face side (lower side in Figure 20) of the cylindrical portion 64 that displays the operation of the pupil portion 62. The eyeball portion 11 also has a hemispherical, transparent spherical portion 63 provided on the second end face side (upper side in Figure 20) of the cylindrical portion 64 that emits display light from the display 65 that is incident on the cylindrical portion 64. The spherical portion 63 constitutes a hemispherical, transparent spherical lens. The outer shape of the spherical portion 63 is configured to form the white of the eye portion 61, as shown in Figure 16.

[0045] As shown in Figure 18, the central position of the eyeball portion 11 is configured to be offset inward from the central position of the outer circumference of the spherical portion 63.

[0046] One method for representing robot eyes is to display the pupils and other features as animations on a display using LCD (Liquid Crystal Display) or OLED (Organic Light Emitting Diode). However, since typical displays are flat, the eyeballs displayed on them are not three-dimensional but remain two-dimensional. Because they are two-dimensional, the robot's sense of presence is lost, and depending on the viewing angle, the display may be difficult to see from anywhere but directly in front. Furthermore, the representation of convergence angle movements is also two-dimensional and difficult to understand.

[0047] Another approach involves designing a physically spherical eyeball component and driving it with an actuator. However, this approach is structurally complex, and while the position of the pupil can be changed, expressing changes in eye expression or blinking is difficult. As a 3D display, using spherical displays or holography technology is also a possible solution, but currently, the cost is high and it is difficult to implement due to the spatial layout constraints of the robot head. Furthermore, in the case of a simple sphere without a cylindrical section 64, the peripheral area is thin, resulting in a lack of three-dimensionality, and it is difficult to align the center of the pupil with the center of the eyeball, resulting in an unnatural appearance.

[0048] Therefore, the care robot 100 has an eyeball section 11 that has a hemispherical transparent spherical section 63 and a transparent solid cylindrical section 64. The spherical section 63 and the cylindrical section 64 are placed on top of a flat display 65 that displays the movement of the pupil section 62. The outer surface of the cylindrical section 64 is made opaque to prevent light from entering. As a result, the displayed image seen from the spherical section 63 is clear and distortion-free. The spherical section 63 is positioned at a distance from the display 65 to create a sense of depth and three-dimensionality. The spherical section 63 is made to have a certain degree of gloss while suppressing light reflection. Within the spherical section 63, circular colored sections express the movement (gaze) of the pupil section 62 in all directions (up, down, left, and right).

[0049] The center of the spherical part 63 is designed as the virtual rotation center of the eyeball, and the movement of the displayed pupil part 62 is also controlled based on the center of the spherical part 63. By providing the cylindrical part 64, a more natural spherical shape is achieved by shifting the initial position of the pupil slightly inward.

[0050] The care robot 100 performs person recognition and face recognition using, for example, a head sensor 51, and maintains fixation on the subject by controlling the position of the pupil 62 of the eye unit 11 and the axes (Roll, Pitch, Yaw) of the neck 4. The position of the pupil 62 tracks and fixates on the subject's position up, down, left, and right, and the convergence angle (crossed eyes, widened eyes) is used to express the distance to the subject. The configuration makes it easy for the subject to understand where the care robot 100's gaze is directed (especially in the near and far directions). For elderly people with dementia in care facilities, high levels of acceptance and recognition are required. The eye unit 11 is configured to meet these needs.

[0051] As described above, the care robot 100 has a three-dimensional structure for the eyeball 11, making it possible to display the movement of the pupil 62 at low cost. This has resulted in a face with eyes that appear to contain a spherical eyeball. In the eyeball 11, the spherical part 63 is composed of a hemispherical spherical lens, so there is no distortion in the lens effect, and it feels natural as an eyeball. The highlight of the pupil can be expressed as the reflected light of a real light, so the responsiveness is also natural in real time. By controlling the gaze before the movement of the neck 4 or the whole body, the acceptability and cognitive ability of the care robot 100 are improved for the person receiving care.

[0052] With the above configuration of the eyeball portion 11, unlike a flat display, the image appears to be displayed or moving on a built-in sphere, which is easily visible from any angle, without distortion, and has a realistic appearance of an eyeball. The center of the pupil portion 62 and the center of the sphere portion 63 are aligned, and there is no sense of incongruity in the thickness and shape of the sphere. Reflected ambient light is projected onto the surface of the spherical portion 63, allowing for a natural, real-time representation of the pupil's highlight. For the person receiving care, this provides the effect of creating a sense of eye contact.

[0053] [1.2 Function and Effects of Caregiving Robots] The care robot 100 according to the first embodiment can be configured in a way that enhances the acceptability of the robot hardware to those receiving care in a human-centered environment (meaning it is easy to understand what it is doing without causing fear). In particular, it can be configured to enhance the acceptability of those receiving care who have cognitive characteristics, such as elderly people with dementia and infants.

[0054] The care robot 100 according to the first embodiment has the following practical configuration to enhance its acceptability. Regarding size, it has a realistic presence equivalent to a two-year-old child, is appropriately small, and is at a height that a seated elderly person can look down on, making it intimidating and not frightening for those receiving care. The height of the head 1 is configured to allow it to see over a typical table 500. The height of the shoulders 5 and the length of the arms 7 are configured to allow it to reach the edges of a typical table 500. Regarding form, it has a large body-to-body ratio and is shaped like a cute grandchild. The eyeballs 11 are positioned at a height that makes eye contact easy, and the meaning of the gaze and images displayed on the eyeballs 11 is understood by those receiving care. Regarding movement, it does not have a different axis of freedom or range of motion than a human, its movements are not frightening, and it is easy to understand what it is doing. It is configured to enable the practice of Humanitude motion. It is configured to enable the implementation of basic applications for an active monitoring robot.

[0055] According to the first embodiment of the care robot 100, the following actions and effects can be obtained.

[0056] 1. As described above, the device configuration enhances acceptability, making it possible to increase acceptability (not frightening, easy to understand) among elderly people with dementia, even with a minimal degree of freedom configuration. 2. Because it is highly accepted by elderly people with dementia, it becomes possible to approach the person receiving care and provide applications such as active monitoring, greeting and calming, vital sign measurement, serving tea, and conversational recreation. 3. Even in the living room or resident's room when staff are not present, it is possible to prevent the care recipient from becoming anxious and to help them stay calm. 4. By repeatedly using the application according to the schedule, the daily routine of the person receiving care can be regulated. 5. By regulating the daily routines of those receiving care and preventing instability, it leads to the overall stabilization of the facility, which in turn leads to increased efficiency in caregiving operations and cost reduction. 6. One robot can care for one unit (approximately 10 people) of a nursing home. 7. The quality of life (QOL) of those receiving care improves. 8. Reduce the workload on staff, allowing them to perform care duties with peace of mind. 9. The number of people wishing to be admitted to facilities that have implemented the system increases. 10. The number of people seeking employment as care workers and nurses at facilities that have implemented the system will increase. 11. They can be loved and cared for like children or grandchildren, and by receiving care, they can have a sense of purpose in their lives.

[0057] Furthermore, the following effects and benefits can be obtained. 1. Regarding sensor placement, it becomes easier to create ample space in the front upper position of the head 1 and the front upper position of the chest 2, thus increasing the flexibility of sensor layout. For example, it becomes possible to place sensors in positions that provide good vital sign sensing for care recipients in sitting and standing positions. 2. The front of the head tends to have a high concentration of parts and is therefore prone to weight buildup. However, because the anterior-posterior positions of the three joint axes—neck joint axis 4C, shoulder joint axis 5C, and waist joint axis 6C—are offset in the same posterior direction, the center of gravity balance from the waist 6 upwards is less prone to eccentric weight distribution.

[0058] [1.3 Example Configuration and Operation of a Robot Operating System] (Overview of the robot operation system) Figure 21 schematically shows one example configuration of a robot operation system according to the first embodiment.

[0059] The robot operation system according to the first embodiment comprises a controller 210, a large information terminal 310, a center PC (personal computer) 320, a care robot 100, and a small information terminal 130.

[0060] The care robot 100 is operated in a care room 400 having a living room 401 and a room 402, as shown in Figure 28 below. There may be multiple care robots 100. In this case, multiple care robots 100 may be operated simultaneously by the robot operation system according to the first embodiment. The care robot 100 has various sensors 110, a speaker 111, and an internal PC 120.

[0061] The various sensors 110 include a vital sensor, a microphone, a distance image sensor, an omnidirectional distance sensor, a tactile sensor, and a force sensor. Some of the various sensors 110 are provided in the head sensor 51, chest sensor 52, and hand sensor 53 mentioned above.

[0062] The robot's internal PC120 includes a motor drive control unit, a movement path control unit, an eyeball display control unit, and an audio input / output control unit. The robot's internal PC120 may be composed of a computer equipped with, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). In this case, various processes performed by the robot's internal PC120 can be realized by the CPU executing processes based on programs stored in ROM or RAM. Alternatively, various processes performed by the robot's internal PC120 may be realized by the CPU executing processes based on programs supplied externally, for example, via a wired or wireless network.

[0063] The small information terminal 130 has an information display monitor and an operation panel. The small information terminal 130 can be held by the hand 73 of the care robot 100.

[0064] The controller 210 is a robot controller device that can be carried or worn by the staff member 200. Multiple controllers 210 may exist and be carried by multiple staff members 200. The controller 210 has a headset 211 (earphones, speaker, microphone) and a small information terminal (information display monitor, operation panel) 212. Since the person being cared for 101 may be curious about the accessories and reach out to them, the earphones of the headset 211 should have an inconspicuous appearance, such as a small in-ear earphone type. Voice input from the controller 210 allows for real-time command operation of the care robot 100 (selection of the person being cared for 101, application selection, start, and stop, etc.). Monitoring results and abnormality notifications from the care robot 100 are also notified to the staff member 200 via the controller 210. In addition, it is possible to output the staff member's voice to the person being cared for 101 from the speaker 111 of the care robot 100 via the controller 210.

[0065] The headset 211 has earphones, a speaker, and a microphone. The small information terminal 212 has an information display monitor and an operation panel. Ru and It holds. The small information terminal 212 is a specific example of an "information terminal" in the technology of this disclosure.

[0066] The large information terminal 310 and the center PC 320 are, for example, placed in the staff room 300.

[0067] The large information terminal 310 includes, for example, an information display monitor and an operation panel.

[0068] The center PC320 includes a sensor information processing unit 321, a measurement result analysis storage unit 322, and an application generation unit 323. The center PC320 may be composed of a computer equipped with, for example, a CPU, ROM, and RAM. In this case, various processes performed by the center PC320 can be realized by the CPU executing processes based on programs stored in ROM or RAM. Alternatively, various processes performed by the center PC320 may be realized by the CPU executing processes based on programs supplied externally, for example, via a wired or wireless network.

[0069] The application generation unit 323 includes a user-specific settings data storage unit 324 and an application execution schedule data storage unit 325.

[0070] The sensor information processing unit 321 corresponds to one specific example of the "information processing unit" in the technology of this disclosure. The application generation unit 323 corresponds to one specific example of the "behavior control unit" in the technology of this disclosure. The user individual setting data storage unit 324 corresponds to one specific example of the "individual setting storage unit" in the technology of this disclosure. The application execution schedule data storage unit 325 corresponds to one specific example of the "schedule storage unit" in the technology of this disclosure. The measurement result analysis storage unit 322 corresponds to one specific example of the "evaluation data storage unit" in the technology of this disclosure.

[0071] Furthermore, some or all of the processing performed by the central PC320 may be performed by the robot's internal PC120. Alternatively, some or all of the processing performed by the central PC320 may be performed by a server in the cloud.

[0072] (Processing performed by each part of the robot operation system) The true need from the care facility is to stabilize the mental state of the care recipient 101 through monitoring (condition observation and communication) during the absence of staff 200. By using a mobile mechanism and manipulator, the care robot 100 can proactively acquire information, and by continuously approaching the care recipient 101 through proactive monitoring, greetings, verbal encouragement, and prompting, it aims to calm the mental state and maintain a stable state. Furthermore, the application group implemented in the robot operation system aims to reduce the workload of staff 200 and further stabilize the mental state of the care recipient 101.

[0073] The sensor information processing unit 321 evaluates the condition of the person receiving care based on measurement information measured by various sensors 110 mounted on the care robot 100. Based on the evaluation results by the sensor information processing unit 321, the application generation unit 323 causes the care robot 100 to gradually approach the person while temporarily pausing at multiple approach positions (waypoints) at different distances from the person, and instructs the care robot 100 to perform care actions, including observing the person's condition and communicating with them. Communication with the person includes speaking to the person. The multiple approach positions may be, for example, the long-distance position P3, the medium-distance position P2, and the short-distance position P1 shown in Figure 22 below.

[0074] The sensor information processing unit 321 may evaluate the subject's condition based on the measurement information measured at each of the multiple approach positions. The evaluation of the subject's condition by the sensor information processing unit 321 includes an evaluation of whether or not the subject has a negative reaction. If the sensor information processing unit 321 evaluates that the subject has no negative reaction, the application generation unit 323 may move the care robot 100 closer to the subject in stages.

[0075] Figure 22 schematically shows an example of the approach position of the care robot 100 to the target person, which is operated by the robot operation system according to the first embodiment.

[0076] The application generation unit 323, for example, pauses the care robot 100 in stages from the initial position P0 to the long-distance position P3 to the medium-distance position P2 to the close-distance position P1. The application generation unit 323 instructs the care robot 100 to, for example, align its face and posture with the direction of the face of the person 101, and to perform speech and motion directed towards the person 101.

[0077] Here, the long-range position P3 may be approximately 2m in radius forward of the subject 101, the medium-range position P2 may be approximately 1.2m in radius forward of the subject 101, and the close-range position P1 may be approximately 0.6m in radius forward of the subject 101. The application generation unit 323 observes the subject 101's reaction at each approach position (waypoint) and, while confirming that there are no negative reactions, gradually moves the care robot 100 closer to the subject 101. Negative reactions are defined as states in which the subject 101 dislikes or is surprised by the recognition result, such as shaking their head from side to side, looking completely down and unable to make eye contact, turning their face to a position directly facing the care robot 100, raising their voice extremely loudly, or making an extreme and large change in posture.

[0078] The sensor information processing unit 321 may further determine the presence or absence of obstacles based on the measurement information. The application generation unit 323 may change the approach angle of the care robot 100 to the person 101 from the front based on the presence or absence of obstacles directly in front of the person 101 determined by the sensor information processing unit 321. Obstacles may be, for example, desks, chairs, cabinets, etc.

[0079] If the sensor information processing unit 321 determines that there is an obstacle, the application generation unit 323 may move the care robot 100 closer to the person 101 such that the approach angle increases as it gets closer. For example, if the sensor information processing unit 321 determines that there is an obstacle, the application generation unit 323 may change the approach angle of the care robot 100 so that at a long distance position P3 it is near 0 degrees relative to the person 101, at a medium distance position P2 it is near 45 degrees relative to the person 101, and at a short distance position P1 it is near 70 degrees relative to the person 101, as shown in Figure 22.

[0080] If the sensor information processing unit 321 determines that there are no obstacles, the application generation unit 323 may cause the care robot 100 to approach the person 101 while maintaining the same approach angle in the frontal direction, regardless of the distance to the person 101. For example, if there are no obstacles directly in front of the person 101, the application generation unit 323 may cause the care robot 100 to approach the person 101 at an angle near 0 degrees at all of the long-range position P3, medium-range position P2, and short-range position P1.

[0081] The application generation unit 323 may move the care robot 100 closer to the person 101 such that the approach angle increases towards the person 101's dominant hand as it approaches the person 101.

[0082] The sensor information processing unit 321 may further determine, based on the measurement information, whether or not the care robot 100 can move on the side of the subject 101's dominant hand. The determination of whether or not movement is possible may be made based on conditions such as the presence or absence of obstacles or whether there is insufficient floor space width for passage.

[0083] If the application generation unit 323 determines, based on the sensor information processing unit 321, that the care robot 100 cannot move on the side of the subject 101's dominant hand, it may arrange for the care robot 100 to approach from a direction different from the subject 101's dominant hand.

[0084] The measurement result analysis storage unit 322 stores evaluation data showing the results of the evaluation by the sensor information processing unit 321. The sensor information processing unit 321 may also generate evaluation data showing the acceptability of the care robot 100 to the care robot 100 as evaluation data, based on the measurement information measured by various sensors 110 when the care robot 100 is made to perform a care action (see Figures 25, 26, and 32 described later). The application generation unit 323 may also make the care robot 100 perform a care action based on the acceptability evaluation data stored in the measurement result analysis storage unit 322 (see Figures 21 to 26 and 32 described later). Here, the evaluation data may include the time the subject 101 gazes at the care robot 100 (the time when their face or eyes meet), the time the subject 101 speaks, whether or not a smile is detected from the subject 101, and whether or not there is a negative reaction. This evaluation data may be defined as the acceptability value. Based on this, the application generation unit 323 determines the optimal approach distance and approach tailored to the acceptability of each subject 101 and causes the care robot 100 to perform the care action.

[0085] The application generation unit 323 may, for example, as shown in Figures 23 to 26 described later, cause the care robot 100 to perform care actions based on Humanitude, based on the cognitive characteristics of the subject 101 and the subject 101's acceptance of the care robot 100.

[0086] The application execution schedule data storage unit 325 stores data for the execution schedules of multiple applications that cause the care robot 100 to perform care actions. The application generation unit 323 may cause the care robot 100 to perform care actions by each application according to the execution schedule stored in the application execution schedule data storage unit 325 (see Figures 27 to 31 described later).

[0087] The application implementation schedule data storage unit 325 stores setting information regarding the selection of applications to be implemented according to the implementation schedule, the selection of the person 101 for whom the application will be implemented, and the time at which the application will be implemented, as implementation schedule setting data, based on instructions from the small information terminal 212 (see Figures 27 and 31 below). The application generation unit 323 may, after having the care robot 100 perform the care actions for each application according to the implementation schedule stored in the application implementation schedule data storage unit 325, modify the implementation schedule setting data stored in the application implementation schedule data storage unit 325 based on the results of the care actions. In this way, the application generation unit 323 may, for example, set up a basic application such as "greeting and calming / vital sign measurement," and applied applications such as "recreation," "tea serving," "excretion assistance," and "visitation assistance," to be executed according to the shift schedule set by the scheduler. The small information terminal 212 receives the implementation schedule settings from the staff 200 of the care facility. The application generation unit 323 may also display the revised implementation schedule setting data on a small information terminal 212 so that it can be edited by the nursing care facility staff 200.

[0088] The user-specific settings data storage unit 324 stores individual operational parameters for the care robot 100 for the person 101, which are set based on information regarding the person's acceptance of the care robot 100 (see Figure 32 below). The application generation unit 323 may cause the care robot 100 to perform care actions based on the operational parameters of the care robot 100 stored in the user-specific settings data storage unit 324. Operational parameters may include settings such as whether or not verbal interaction is permitted, voice volume, speech speed, body movement speed, movement speed, approachable distance, whether or not physical contact is permitted, hobbies and preferences, and other special notes. The settings of the operational parameters are received from the staff 200 of the care facility via the small information terminal 212.

[0089] The application generation unit 323 may, after causing the care robot 100 to perform a care action based on the operation parameters of the care robot 100 stored in the user-specific setting data storage unit 324, modify the operation parameters of the care robot 100 stored in the user-specific setting data storage unit 324 based on the results of the care action, and present the modified operation parameters of the care robot 100 on a small information terminal 212 so that they can be edited by the care facility staff 200. The application generation unit 323 may also learn from the evaluation results of each application execution, automatically generate and propose revised individual settings and revised schedules, and allow the staff 200 to confirm and edit these, thereby causing the care robot 100 to perform the care action.

[0090] (Scheduler, application overview) Figure 23 is a flowchart showing an example of the processing operation of the "Greeting, Calming, and Vital Sign Measurement Application" by the robot operation system. Figure 24 is a flowchart following Figure 23. Figure 25 is a flowchart showing an example of the output processing of evaluation data by the "Greeting, Calming, and Vital Sign Measurement Application" by the robot operation system. Figure 26 shows an example of the output result of evaluation data by the "Greeting, Calming, and Vital Sign Measurement Application" by the robot operation system. Figure 27 shows an example of creating an implementation schedule for multiple applications by the robot operation system. Figure 28 shows an example of a care room targeted by the robot operation system. Figure 29 is a flowchart showing an example of the implementation operation of multiple applications by the robot operation system. Figure 30 is a flowchart showing an example of the application implementation operation when another application interrupts during the implementation of multiple applications by the robot operation system. Figure 31 shows an example of the application implementation schedule setting interface by the robot operation system. Figure 32 shows an example of the setting interface for making individual settings for the care recipient 101 by the robot operation system. Figure 33 is a flowchart showing an example of the processing operation of the "Individual Recreation Application" by the robot operation system. Figure 34 is a flowchart following Figure 33. Figure 35 shows an example of a "monitoring and vital sign application" using a robot operating system. Figure 36 shows an example of a "tea distribution application" using a robot operating system. Figure 37 shows an example of a "snack distribution application" using a robot operating system. Figure 38 shows an example of a "hot towel distribution application" using a robot operating system. Figure 39 shows an example of a "bowel preparation application" using a robot operating system. Figure 40 shows an example of a "telephone assistance application" using a robot operating system. Figure 41 shows an example of a "conversation application" using a robot operating system.Figure 42 shows an example of a "excretion preparation application" using a robot operating system. Figure 43 shows an example of a "excretion cleanup application" using a robot operating system.

[0091] The application generation unit 323 provides a scheduler. The application generation unit 323 automatically generates and proposes execution patterns and scheduling sets of applications to be performed by the care robot 100 during a given day. The application generation unit 323 responds to daily changes in the care facility, such as changes in the condition of the person receiving care 101 (including the degree of dementia, physical condition, emotional changes, and the degree of acceptance of the care robot 100 as parameters), and changes in the work shifts of the staff 200, and proposes an optimal set of applications to minimize the time that staff 200 are absent from the living room 401 (Figure 28). The application generation unit 323 provides a monitoring (condition observation and communication) application as a base load, and on top of that base application, it provides peripheral work applications and recreation applications as an extension of the monitoring application.

[0092] An example of an application provided by the application generation unit 323 is shown below.

[0093] Active monitoring: morning monitoring, midday monitoring, evening monitoring, late-night monitoring Indirect assistance: Vital signs measurement - Long-range non-contact (body temperature, heart rate) - Close-range contact (body temperature, blood pressure, oxygen saturation) Taking orders, distributing hand towels, serving snacks, serving tea. Direct assistance: Transfer assistance (having the person hold on) Peripheral tasks: preparing toilets, cleaning up after toileting, wiping tables, clearing tea trays, clearing snack trays, washing cups, making tea. Recreation: Storytelling (talking about memorable photos, hobbies, photos, etc.), singing, dancing, exercise, hand massage, assistance with things they want to do (learning what they like), telephone assistance (calls with family)

[0094] The above application list was compiled from a pre-created list of 50 applications that could potentially be used in caregiving work. The selection was made in order of importance, based on considerations of needs (degree of difficulty), function, value obtained, and technical feasibility, under the supervision of 200 staff members.

[0095] Regarding the basic application, proactive monitoring, (1) Differences in time of day: morning, noon, evening, and late night (2) Differences in condition between being on the bed in room 402 (Figure 28) and being in a wheelchair in living room 401 (Figure 28) (3) Degree of dementia of 101 people receiving care (4) Differences in acceptance of care robot 100 There are multiple variations in the execution scenarios, depending on the situation. Individual approaches, such as how to maintain distance from and approach the subject 101, greetings, and the content of conversations, are optimized according to the subject 101 and become executable through the schedule and sensing results. The application generation unit 323 automatically generates an individual approach for each subject 101, which is then presented on the large information terminal 310 and the small information terminal 212. After the individual approach is modified and confirmed by the staff 200, it is deployed so that it can be executed by the care robot 100. A storyboard of a representative example of the above application is shown in Figures 35 to 39. Figures 33 and 34 show the implementation flow of an individual recreation application that can be realized by using an approach that increases acceptability, which is the key point of the robot operation system. This application uses relevant photographic images to engage in dialogue, delves into what each subject 101 wants to do, communicates that information to the staff 200 and family, and provides support to fulfill their wishes.

[0096] The application generation unit 323 calculates the estimated time required for each application and each care recipient 101 (calculated from past required time data), and also calculates the required charging standby time from the remaining power of the care robot 100, and automatically generates a schedule shift table of applications that can be implemented within a predetermined time. The estimated time required for each care recipient 101 is calculated based on the application content, the location of the care recipient 101, and individual settings (movement speed, speech speed, and user characteristics (amount of speech, preferences, etc.)). An example of creating a daily schedule is shown in Figure 27. Information such as the name of the care recipient 101, the arrangement of the seat 404, and the arrangement of the room 402 are also registered at the beginning and used as target location information (Figure 28). Figure 28 shows an example of the location of the seat 404 and the configuration of the room 402 in one unit of the care facility. In the robot operation system, for example, by limiting the locations from which to approach the care recipient 101 to two locations—the location of the seat 404 and the location within the room 402—and linking these locations to the care recipient 101, the autonomous movement control load and human recognition detection load of the care robot 100 are reduced, and the stability of application implementation is improved.

[0097] In the robot operation system, applications are executed according to the set schedule after confirmation by staff member 200 (Figure 29). Before and after application execution, the care robot 100 is charged at the charging standby point 403 in the living room 401 (Figure 28). The center PC 320 also saves the input data when the application is executed. The care robot 100 constantly monitors the living room 401 from a fixed position. In monitoring the living room 401 from a fixed position, the care robot 100 continues to detect abnormalities within its observable range through tracking, voice input, and body temperature measurement.

[0098] In the robot operation system, if a set of applications cannot be completed within the calculated scheduled time due to a problem, applications with lower execution priority are canceled, and the next scheduler execution takes priority (Figure 30). The robot operation system also reduces waiting time and allocates it to application execution time in order to schedule the care robot 100 with sufficient charging time. Requests and interrupt applications from staff 200 are also given high priority and processed by interrupting the schedule. Based on the remaining power of the care robot 100, the remaining application execution time, and the next standby charging time, the system automatically selects and executes the schedule after the interrupt from execution patterns A, B, and C. If the scheduled set of applications cannot be completed within the calculated scheduled time due to an interruption, applications with lower execution priority are canceled, and the next scheduler execution takes priority. In order to schedule the care robot 100 with sufficient charging time, waiting time is also reduced and allocated to application execution time. As for applications used as interrupt applications, it has been analyzed that requests from staff 200 for assistance with excretion and greeting / calming are in high demand.

[0099] In nursing care facilities, daily routines are often fixed by schedules for bathing, medical appointments, and recreational activities. Therefore, the robot operation system creates an implementation schedule for the 100 care robots' applications on a weekly basis. For example, Week 1 covers Day 1 to Day 7, and Month 1 covers Week 1 to Week 4 (or Week 5 depending on the month) to create a monthly implementation schedule. In addition, when there are changes in the shifts (number of staff) of the 200 staff members, or changes in schedules such as family visits or medical appointments, the robot operation system prompts the 200 staff members to adjust their work shifts and automatically generates a schedule and detailed flow that reflects the updated work data.

[0100] The robot operation system includes a programming tool for staff members 200 to manually adjust the application schedule set for the care robot 100 presented by the scheduler (Figure 31). It also includes a tool for making individual settings for the person receiving care 101 (Figure 32). Individual settings for the person receiving care 101 include settings for the operation parameters of the care robot 100 (whether or not verbal interaction is permitted, voice volume, speech speed, body movement speed, movement speed, approachable distance, whether or not physical contact is permitted, hobbies and preferences, and other special notes), taking into account information on each person receiving care 101. These settings are performed using a small information terminal 212. Using the small information terminal 212, staff members 200 can select applications and their timing according to the person receiving care 101 from a list and rearrange them using drag-and-drop. Staff members 200 can also decide and execute the use of applications in real time. In the robot operation system, the quality of automatically generated results such as individual settings is improved by creating a database of adjustment results based on the judgments of 200 staff members using the tools shown in Figures 31 and 32, and using it for learning.

[0101] The robot operation system according to the first embodiment is not a fully autonomous robot system. The behavioral changes of the care robot 100 in response to complex situational changes in care settings are difficult even for AI (artificial intelligence), and this system can only be realized through co-creation between experienced staff 200 and the robot operation system. High-quality care can only be provided by humans. The robot operation system serves as a means to extend and replicate the human body, fulfilling their aspirations.

[0102] (Processing flow by the robot operation system) Figures 23 and 24 show the processing flow of an example of the basic application "Greeting, Calming, and Vital Sign Measurement." The distance and angle values ​​shown in Figures 23 and 24 are representative examples, and it is important to go through the stages of long distance, medium distance, and short distance. The above values ​​are set to the optimal values ​​for each individual 101. In the robot operation system, at each waypoint, the care robot 100 performs greetings with speech and motion, and vital sign measurement, measuring the response and checking for any negative reactions before moving to the waypoint. This sensing flow is shown in Figure 25. The measured evaluation data is output as a table so that it can be viewed by the staff member 200 and displayed on a small information terminal 12 such as a tablet operated by the staff member 200 (Figure 26).

[0103] In the robot operation system, when staff member 200 observes subject 101 and determines that the subject is unwilling, they can issue a voice command or other instruction to terminate the application execution. The amount of hand approach position correction is stored as approach parameters for each subject 101, including approach distance, relative angle with subject 101, and hand coordinate position. The system learns the optimal hand approach position for each subject 101, thereby increasing the measurement success rate.

[0104] Next, we will explain the processing operation of the "Greeting, Calming, and Vital Sign Measurement Application" shown in Figure 23.

[0105] In the robot operation system, first, the care robot 100 performs standby charging and fixed-point monitoring at the initial position P0 (standard standby position) (step S101). Next, the robot operation system starts the scheduler set at time t1 (step S102). Next, the robot operation system starts executing the application (user No. 1, location No. 1, individual setting No. 1) set at time t1-1 (step S103). Next, the robot operation system moves the care robot 100 to the long-distance position P3 of seat No. 1 (2m in front of the seated position) (step S104). Next, the robot operation system has the care robot 100 search for the face of user No. 1 (step S105). If a person (care recipient 101) is found in step S105, the robot operation system proceeds to the process in step S108. If no person is found in step S105, the robot operation system then terminates the execution of the application set at time t1-1 and moves the care robot 100 to its initial position P0 (step S106). Next, the robot operation system starts the execution of the application set at time t1-2 (user No. 2, location No. 2, individual setting No. 2) (step S107).

[0106] On the other hand, if a person is detected in step S105, the robot operation system then instructs the care robot 100 to begin speaking and moving, and to perform non-contact vital sign measurement (body temperature) (step S108). If there is a negative reaction in step S108, or if the approach distance setting is met, the robot operation system then proceeds to the process in step S106. If there is no negative reaction in step S108, the robot operation system then proceeds to seat No. 1 medium distance Move the care robot 100 to position P2 (1.2m diagonally 45 degrees forward from the seated position) (step S109).

[0107] If a negative reaction occurs in step S109, the robot operation system proceeds to step S106. If no negative reaction occurs in step S109, the robot operation system then causes the care robot 100 to begin speaking and moving, and to perform non-contact vital sign measurement (body temperature) (step S110). If a negative reaction occurs in step S110, or if an approachable distance setting is found, the robot operation system proceeds to step S106. If no negative reaction occurs in step S110, the robot operation system then moves the care robot 100 to a close-range position P1 of seat No. 1 (0.6m diagonally 70 degrees forward from the seated position) (step S111).

[0108] If a negative reaction occurs in step S111, the robot operation system proceeds to step S106. If no negative reaction occurs in step S111, the robot operation system then instructs the care robot 100 to begin speaking and moving, to perform non-contact vital sign measurement (body temperature), and to perform contact vital sign measurement (heart rate, blood pressure, oxygen saturation) (step S112). If a measurement error occurs in step S112, the robot operation system then corrects the hand approach position (step S114) and repeats the process of step S112. If the measurement is completed in step S112, the robot operation system then instructs the care robot 100 to perform an application termination speech and motion (step S113). Next, the robot operation system moves the care robot 100 to the medium-range position P2, initiates termination speech and motion (step S115), and then proceeds to step S106.

[0109] Next, we will explain the operation of the evaluation data output processing by the "Greeting, Calming, and Vital Sign Measurement Application" shown in Figure 25.

[0110] First, the robot operation system processes the scheduler, individual settings, speech motion, and database (step S201). Next, the robot operation system starts executing the application (user No. 1, location No. 1, individual setting No. 1) set for time t1-1 (step S202).

[0111] Next, the robot operation system moves the care robot 100 to a long-distance position P3 (2m in front of the seated position) and performs speech, motion, and sensing (step S203). If there is no negative reaction in step S203, the robot operation system then proceeds to: medium distance The care robot 100 is moved to position P2 (1.2m diagonally 45 degrees forward from the seated position) and speech, motion, and sensing are performed (step S204). If there is no negative response in step S204, the robot operation system then moves the care robot 100 to close-range position P1 (0.6m diagonally 70 degrees forward from the seated position) and performs speech, motion, and sensing (step S205). Next, the robot operation system terminates the execution of the application set for time t1-1 (step S206).

[0112] Furthermore, in each of steps S203, S204, and S205, the robot operation system outputs evaluation data including gaze time (face and eye direction aligning), speech time, presence or absence of smile detection, and presence or absence of negative reaction (step S207).

[0113] Next, we will explain the workflow of the multiple applications shown in Figure 29.

[0114] First, in the robot operation system, the care robot 100 performs standby charging and fixed-point monitoring in its initial position P0 (standard standby position) (step S301). Next, the robot operation system starts the scheduler set for time t1 (step S302). Next, the robot operation system executes application A (step S303). Application A sequentially executes the application set for time t1-1 (user No. 1, location No. 1, individual setting No. 1), the application set for time t1-2 (user No. 2, location No. 2, individual setting No. 2), and the application set for time t1-n (user No. n, location No. n, individual setting No. n).

[0115] Next, the robot operation system performs standby charging of the care robot 100 at time t1-0. The robot operation system also saves the data obtained by executing application A, and the care robot 100 performs fixed-point monitoring at the initial position P0 (standard standby position) (step S304). Next, the robot operation system starts the scheduler set at time t2 and executes application B (step S305). Next, the robot operation system performs standby charging of the care robot 100. It also saves the data obtained by executing application B, and the care robot 100 performs fixed-point monitoring at the initial position P0 (standard standby position) (step S306). Next, the robot operation system starts the scheduler set at time tn and executes application n (step S307). Next, the robot operation system performs standby charging of the care robot 100. It also saves the data obtained by executing application B, and the care robot 100 performs fixed-point monitoring at the initial position P0 (standard standby position) (step S308).

[0116] Next, we will explain the flow of actions taken by the application when interrupted by another application, as shown in Figure 30.

[0117] First, in the robot operation system, the care robot 100 performs standby charging and fixed-point monitoring in the initial position P0 (standard standby position) (step S401). Next, the robot operation system starts the scheduler and executes application A (step S402). Next, the robot operation system performs an interrupt start and executes an interrupt application (for example, application F) (step S403). After the processing in step S403, if there is sufficient time to perform within the schedule of application A (implementation pattern A), the robot operation system then continues to execute application A (step S404). After the processing in step S403, if there is insufficient time to perform within the schedule of application A and the remaining charge of the care robot 100 does not meet the required amount (implementation pattern B), the robot operation system then cancels the continuation of application A (step S405), and then performs standby charging of the care robot 100, saving the data obtained by executing application A, and fixed-point monitoring by the care robot 100 (step S406).

[0118] After the processing in step S403, if there is insufficient time available within the schedule for application A and the remaining charge of the care robot 100 is sufficient (implementation pattern C), the robot operation system then starts a new scheduler and executes application B (step S407). Next, the robot operation system performs standby charging processing for the care robot 100, data saving processing obtained by executing application B, and fixed-point monitoring processing by the care robot 100 (step S408). Next, the robot operation system starts a new scheduler and executes application n (step S409). Next, the robot operation system performs standby charging processing for the care robot 100, data saving processing obtained by executing application n, and fixed-point monitoring processing by the care robot 100 (step S410).

[0119] Next, we will describe the configuration interface for making the individual settings shown in Figure 32.

[0120] The configuration interface allows users to register the name and face of the person receiving care (101), the location of the seat (404), and the location of the room (402) (Figure 28). Staff members (200) then register individual settings for the robot application related to each person receiving care (101), based on their own judgment, including their characteristics regarding dementia and acceptability.

[0121] For example, when staff member 200 first introduces the care robot 100 to the person receiving care 101, staff member 200 assesses and sets the robot based on the person receiving care 101's reactions and cognitive characteristics. Subsequently, if, for example, the person receiving care 101 changes their reactions or characteristics as they continue to use the robot, staff member 200 adjusts the settings accordingly. Evaluation data after the application is implemented is also communicated to staff member 200 to help them make decisions regarding setting changes. For example, individual response patterns can be registered, and for people receiving care 101 with similar tendencies, a pattern can be selected and set, with the details then adjusted.

[0122] Next, we will explain the processing flow of the "Individual Recreation Application" shown in Figures 33 and 34.

[0123] First, the robot operation system acquires the family information of the subject 101 (step S501). Next, the robot operation system prepares to find out what the subject 101 wants to do (step S502). As preparation, the subject 101 is asked to select from the provided content (photos, etc.) output (displayed) from the application generation unit 323 of the center PC 320 to the small information terminal 130 carried by the care robot 100. Next, the robot operation system performs a process to find out what the subject 101 wants to do (step S503). As a process to find out what the subject 101 wants to do, the care robot 100 first engages in conversation while looking at the photos output (displayed) on the small information terminal 130 and creates a "memory talk album". As photos, for example, personal photos (family photos) and general photos (related photos) are used. As family photos, for example, photos that include some kind of personal episode are used. As related photos, for example, photos that include general local products, specialties, and famous places are used. The robot operation system then uses the care robot 100 to measure the sensitivity of the subject 101 (smile, frequency of speech, volume, etc.), and creates a mental activation map for evaluation.

[0124] If the evaluation of the mental activation map created in step S503 is above a predetermined score (for example, 5 points or more), the robot operation system determines that what subject 101 wants to do has been found (step S504). Next, the robot operation system prepares to learn more about what subject 101 wants to do (step S505). As preparation for learning more, the care robot 100 shows the results of the mental activation map from step S503 to the staff member 200 via a small information terminal 130, and the staff member 200 decides on the content to be provided to learn more about what subject 101 wants to do. Next, the robot operation system performs a process to learn more about what subject 101 wants to do (step S506). As a process to learn more about what subject 101 wants to do, first, the care robot 100 creates an "Things I Want to Do Album" by having a conversation while looking at pictures and a conversation while listening to music. General pictures (related pictures) are used as the pictures. General music (related music) is used as the music. The robot operation system then uses the care robot 100 to measure the sensitivity of the subject 101 (smile, frequency of speech, volume, etc.), and creates a mental activation map for evaluation.

[0125] If the evaluation of the mental activation map created in step S506 is above a predetermined score (for example, 5 points or more), the robot operation system determines that what subject 101 wants to do has been found (step S507). Next, the robot operation system prepares to fulfill what subject 101 wants to do (step S508). As preparation for fulfilling what subject 101 wants to do, the care robot 100 shows the results of the mental activation map in step S506 to the staff member 200 via a small information terminal 130, and the staff member 200 decides what is actually feasible. Next, the robot operation system performs the process of fulfilling what subject 101 wants to do (step S509). As the process of fulfilling what subject 101 wants to do, first, the care robot 100 brings tools and performs conversations while looking at pictures or listening to music, and then performs processing using the "fulfillment application". General pictures (related pictures) are used as the pictures. General music (related music) is used as the music. General tools (related tools) are used as the tools. The robot operation system then measures the sensitivity of the 101 subjects (smiles, speech frequency, voice volume, etc.), creates a mental activation map, and performs an evaluation.

[0126] Through the above process, the wishes of subject 101 are fulfilled (step S510).

[0127] Referring to Figure 35, an example of the "monitoring and vital signs application" will be explained in story format. In the robot operation system, the "monitoring and vital signs application" makes it possible to realize the following care story in, for example, the care room 400 shown in Figure 28.

[0128] Staff member A, while assisting residents in their rooms in the morning, becomes concerned about the resident in living room 401 (care recipient 101) and goes back and forth between living room 401 and room 402. In living room 401, right after waking up, the grandmother (care recipient 101) looks bored (step S351).

[0129] In this situation, care robot 100 slowly approaches and takes the vital signs (Step S352). Care robot 100 takes the vital signs while talking about the grandmother's favorite topics (Step S353). In this way, staff member A can provide care in room 402 with peace of mind. The grandmother forgot her boredom and enjoyed the conversation (Step S354).

[0130] Next, with reference to Figure 36, an example of the "tea serving application" will be explained in story format. In the robot operation system, the "tea serving application" can enable the following care story to be realized, for example, in the care room 400 shown in Figure 28.

[0131] Staff member A has a heavy workload because, while assisting resident 402 with getting up, she needs to timely serve tea to resident 401 (care recipient 101) who has just woken up. In living room 401, immediately after waking up from her nap, the elderly woman (care recipient 101) is alone and looks lonely. Also, the elderly woman has anxieties about using the toilet, so she is not very enthusiastic about drinking water (step S361).

[0132] In this situation, once the grandmother sits down, the care robot 100 goes to get her tea (Step S362). The care robot 100 serves the tea while chatting with the grandmother and encouraging her to stay hydrated (Step S363). In this way, the workload of staff member A is reduced. The grandmother forgets her loneliness and becomes more positive about staying hydrated (Step S364).

[0133] Next, with reference to Figure 37, an example of the "snack distribution application" will be explained in story format. In the robot operation system, the "snack distribution application" can be used to realize, for example, the following care story in the care room 400 shown in Figure 28.

[0134] Staff member A has a heavy workload because, while assisting resident 402 with getting up, she needs to timely distribute snacks to resident 401 (care recipient 101) when she wakes up in living room 401. In living room 401, immediately after waking up from her nap, the elderly woman (care recipient 101) seems bored. Also, the elderly woman is not fond of new snacks and is not very enthusiastic about them (Step S371).

[0135] In this situation, once the grandmother sits down, the care robot 100 goes to get her snack (Step S372). The care robot 100 distributes the snack while chatting with the grandmother and encouraging her to eat (Step S373). In this way, the workload of staff member A is reduced. The grandmother forgets her boredom and happily finishes the new snack (Step S374).

[0136] Next, with reference to Figure 38, an example of the "hot towel distribution application" will be explained in story format. In the robot operation system, the "hot towel distribution application" can be used to realize, for example, the following care story in the care room 400 shown in Figure 28.

[0137] Staff member A has a heavy workload in the kitchen serving meals before lunchtime. In living room 401 before lunchtime, Grandma (care recipient 101) seems bored. Also, Grandma often forgets to wipe her hands with a wet towel (step S381).

[0138] In this situation, when the grandmother sits down, the care robot 100 goes to get a wet towel (step S382). The care robot 100 distributes the wet towels while chatting with the grandmother and encourages her to wipe her hands (step S383). In this way, the workload of staff member A is reduced. The grandmother forgets her boredom and wipes her hands with the wet towel (step S384).

[0139] Next, with reference to Figure 39, an embodiment of the "excretion preparation application" will be described in story format. In the robot operation system, the "excretion preparation application" can realize, for example, the following care story in the care room 400 shown in Figure 28.

[0140] Staff member A is in a difficult situation because she suddenly needs additional toileting supplies. The elderly woman she is assisting (care recipient 101) is worried (Step S391). The elderly man (care recipient 101) waiting in living room 401 is restless because staff member A has been absent for a long time (Step S392).

[0141] In this situation, care robot 100 puts on a bag of incontinence supplies and heads towards staff member A (Step S393). The bag contains diapers, cleaning supplies, etc. Care robot 100 hands the incontinence supplies to staff member A (Step S394). Grandpa is relieved that staff member A's absence time has been shortened (Step S395). Staff member A is happy that she no longer has to go and get the incontinence supplies that she suddenly needs. Grandma feels safe knowing that the staff member is nearby (Step S396).

[0142] Next, we will explain the "Telephone Assistance Application" with reference to Figure 40.

[0143] For example, due to the impact of various infectious diseases, residents of nursing care facilities (those receiving care, 101) may face prolonged restrictions or prohibitions on family visits. Therefore, there is a growing need for telephone-based family visits. This need can be addressed by the robot operation system's "telephone assistance application."

[0144] For example, as shown in Figure 40, a small information terminal 130, such as a tablet capable of making calls (voice or video calls), is attached to one of the hands 73 of the care robot 100. For example, the small information terminal 130 is fixed to the outer surface of the thumb side of the hand 73. Alternatively, the gripping part of the small information terminal 130 is grasped by the hand 73. Then, the "telephone assistance application" is performed according to the flow shown in Figure 40.

[0145] The functions of the small information terminal 130 may include, for example, the ability to receive or make calls. Regarding telephone numbers, only registered numbers may be allowed to make or receive calls. Regarding the timing of calls, for example, a schedule may be primarily based on individual user needs, with calls automatically initiated at a set time. The key point is that the small information terminal 130, capable of making calls, is mounted on the tip (hand 73) of the multi-axis manipulator in the care robot 100, and can be manipulated to a position that is easy for the user to use, allowing for easy access. Some users may have difficulty twisting their neck or body, making it difficult to make calls even if the small information terminal 130 is positioned next to the table 500. In contrast, in typical telepresence robots, the small information terminal 130 is fixed to a torso frame without movable axes. Therefore, it is difficult to position the small information terminal 130 directly in front of a seated user, and controlling its height and pitch angle is also difficult. This results in users having to make calls in an uncomfortable posture.

[0146] While users are in living room 401, they are often seated in front of table 500, which acts as an obstacle, making it difficult to approach them from the front. In the robot operation system according to the first embodiment, the care robot 100 can extend its arm from the side of table 500 and position the small information terminal 130 in an optimal position for the user. For video calls, the robot operation system can capture the face of the user, who is making the call, using, for example, a camera mounted on the small information terminal 130. The robot operation system uses the degrees of freedom of the care robot 100's multi-axis manipulator (mainly using the pitch axis and yaw axis of the wrist joint) to track the user's face using the camera on the small information terminal 130, enabling video calls that always capture the face appropriately. Furthermore, it is possible to approach not only users in a seated position, but also users lying in bed or in a reclined position, using the small information terminal 130 at the optimal position and angle for each.

[0147] The following describes the processing flow of the "Telephone Assistance Application" shown in Figure 40.

[0148] First, the robot operation system uses a small information terminal 130 attached to the care robot 100 to make calls (voice or video calls) to the user's (care recipient 101) family, or to receive calls (voice or video calls) from the user's family (step S601).

[0149] Next, the robot operation system instructs the care robot 100 to perform a greeting and speaking motion towards the user at a long-range position P3 (step S602). Next, the robot operation system instructs the care robot 100 to perform a greeting and speaking motion towards the user at a medium-range position P2 (step S603).

[0150] Next, the robot operation system instructs the care robot 100 to perform greeting and speaking motions to the user at a close-range position P1. For example, the care robot 100 is instructed to explain to the user about making a phone call with family and to place the small information terminal 130 with calling capabilities on the table 500 (step S604).

[0151] Next, the robot operation system directs the care robot 100 to a position where it can easily see the user, and initiates a call (step S605). After the call ends, the robot operation system directs the care robot 100 to perform a greeting and verbal greeting motion towards the user. Next, the robot operation system directs the care robot 100 to perform the greeting and verbal greeting motion again at the medium-range position P2, and then directs the care robot 100 back to the initial position P0 (step S606).

[0152] Next, with reference to Figure 41, we will describe one example of the "Storytelling Application (Stories about memorable photos, photos related to hobbies and preferences, etc.)".

[0153] First, the robot operation system instructs the care robot 100 to perform a greeting and speaking motion towards the user (the person receiving care 101) at a long-range position P3 (step S701). Next, the robot operation system instructs the care robot 100 to perform a greeting and speaking motion towards the user at a medium-range position P2 (step S702).

[0154] Next, the robot operation system instructs the care robot 100 to perform a greeting and speaking motion to the user at a close-range position P1. At this point, the robot operation system instructs the care robot 100 to perform an explanation about a story using photographs (step S703).

[0155] Next, the robot operation system directs the care robot 100 to a position where it can easily see the small information terminal 130, such as a tablet, mounted on its endpiece (step S704). The robot operation system then displays a photograph on the small information terminal 130 and has the care robot 100 tell a story corresponding to the content of the photograph. The photographs used can be those that are tailored to the user's hobbies and preferences, or those related to family or memories. Alternatively, instead of displaying the photograph on the small information terminal 130, the care robot 100 may carry the photograph itself and present it to the user.

[0156] After the conversation ends, the robot operation system instructs the care robot 100 to perform a greeting and verbal interaction motion towards the user. Next, the robot operation system instructs the care robot 100 to perform the greeting and verbal interaction motion again at the medium-range position P2, and then returns the care robot 100 to the initial position P0 (step S705).

[0157] Next, with reference to Figure 42, an embodiment of the "excretion preparation application" will be described.

[0158] First, the robot operation system moves the care robot 100 to the cabinet 601 where the incontinence supplies are stored within the care facility (step S801). Next, the robot operation system has the care robot 100 grasp the incontinence supply bag (unused) placed in the cabinet 601 and move it (step S802).

[0159] Next, the robot operation system directs the care robot 100 towards the resident's room (step S803). Next, the robot operation system moves the care robot 100 to the cabinet 602 inside the resident's room (step S804). Next, the robot operation system directs the care robot 100 to place the incontinence bag inside the cabinet 602 inside the resident's room (step S805).

[0160] Next, with reference to Figure 43, an example of the "excretion cleanup application" will be described.

[0161] First, the robot operation system moves the care robot 100 to the front of the cabinet 602 (or the space for storing incontinence bags in the room) within the care facility (step S901). Next, the robot operation system has the care robot 100 grasp the used incontinence bag located in the cabinet 602 (or on the floor of the room) (step S902).

[0162] Next, the robot operation system moves the care robot 100 to the waste storage room on the same floor within the care facility (step S903). Next, the robot operation system moves the care robot 100 in front of the cabinet 603 inside the waste storage room and places the used excretion bag into the cabinet 603 (or on the floor inside the waste storage room) (step S904).

[0163] [1.4 Operation and Effects of the Robot Operating System] According to the robot operation system of the first embodiment, the following effects and benefits can be obtained.

[0164] (Acquisition of acceptance) 1. By implementing an active monitoring application using a robotic operating system, it becomes possible to perform high-quality applications tailored to the degree of dementia of each care recipient (101), such as approaching them, actively monitoring them, greeting and calming them, measuring vital signs, serving tea, and engaging in conversational recreation. This is achieved by selecting an individual approach according to each care recipient (101). Here, "high quality" refers to a state of high "acceptability" (being able to be near them without being frightened, and having speech and actions that are easy to understand). 2. By implementing applied applications using the robotic operating system, functional effects such as an increase in the frequency of vital sign measurements and an increase in the frequency of hydration by encouraging fluid intake can be expected. It also has the effect of reducing the workload of 200 staff members by supporting tasks such as preparing for excretion. 3. Even in the living room 401 (Figure 28) and resident rooms 402 (Figure 28) when staff 200 are absent, it is possible to prevent the care recipient 101 from becoming anxious and to help them stay calm. 4. By repeatedly using the application according to the schedule, the daily routines of the 101 people receiving care can be regulated. 5. By regulating the daily routines of the 101 individuals receiving care and preventing instability, it will lead to the overall stabilization of the facility, which in turn will make care operations more efficient and reduce costs. 6. One care robot 100 can care for one unit (approximately 10 people) of a care facility. 7. The quality of life (QOL) of the 101 people receiving care will improve. 8. Reduce the workload of the 200 staff members, allowing them to perform care duties with peace of mind. 9. The number of people wishing to be admitted to facilities that have implemented the system increases. 10. The number of applicants seeking employment as care staff (200) and nursing staff (200) at facilities where the system has been implemented will increase. 11. By being loved and cared for like a child or grandchild, the person receiving care can have a role to play in their life.

[0165] (Acquisition of personal memory) 12. Further benefits obtained by achieving the above-mentioned acceptance can be obtained by having big data from state observations. It will also be possible to learn about the personal memories, identity, and episodic memories of each of the 101 care recipients.

[0166] (Dreams, aspirations to achieve) 13. By acquiring personal memory, proactive monitoring and individualized approaches to conversations during greetings will also be optimized. Ultimately, the goal is to slow the progression of dementia as much as possible (by creating indicators from changes in the level of care required and response data). Qualitatively, it is to increase the number of smiles on the faces of grandparents.

[0167] The effects described herein are merely illustrative and not limiting, and other effects may also exist. The same applies to the effects of other embodiments described later.

[0168] <2. Other Embodiments> The technology described herein is not limited to the embodiments described above and can be modified in various ways.

[0169] For example, this technology can also take the following configuration. According to this technology, which has the following configuration, when viewed from the side in a standard posture, the neck joint axis is offset backward relative to the shoulder joint axis, and the lumbar joint axis is offset forward relative to the shoulder joint axis. This makes it possible to improve the acceptability for the person receiving care.

[0170] (1) A head having eyeballs, The chest and, The arm attached to the chest, A movable neck having a neck joint axis is provided between the head and the chest, A movable shoulder having a shoulder joint axis is provided between the chest and the arm, A movable waist having a lumbar joint axis is provided in the lower part of the chest. Equipped with, When viewed from the side in a standard posture, the neck joint axis is offset backward relative to the shoulder joint axis, and the hip joint axis is offset forward relative to the shoulder joint axis. Caregiving robot. (2) When L1 is the anterior-posterior distance between the lumbar joint axis and the shoulder joint axis, L2 is the anterior-posterior distance between the shoulder joint axis and the neck joint axis, L4 is the vertical distance between the lumbar joint axis and the shoulder joint axis, and L5 is the vertical distance between the shoulder joint axis and the neck joint axis, 0 <L2 / L1<1.5 ……(1) 0.2 <L5 / L4<0.6 ……(2) Satisfy The care robot described in (1) above. (3) When the total head height in the standard posture is L6 and the height is L7, 3.3 <L7 / L6<5.0 ……(3) Satisfy The care robot described in (1) or (2) above. (4) The eyeball portion is positioned below the vertical center of the head. A caregiving robot as described in any one of the above (1) to (3). (5) When the total head height in the standard posture is L6, and the vertical distance from the center of the eyeball to the chin of the head is L17, 0.2 <L17 / L6<0.5 ……(4) Satisfy The care robot described in (4) above. (6) When the vertical distance between the shoulder joint axis and the neck joint axis is L5, and the total head height in a standard posture is L6, 0.3 <L5 / L6<0.6 ……(5) Satisfy A caregiving robot as described in any one of the above (1) through (5). (7) When L17 is the vertical distance from the center of the eyeball to the jaw of the head, L18 is the vertical distance from the center of the eyeball to the shoulder joint axis, and L19 is the vertical distance from the center of the eyeball to the neck joint axis, 1.3 <L18 / L17<2.5 ……(6) 0.4 <L19 / L17≦1.0 ……(7) Satisfy A caregiving robot as described in any one of the above (1) through (6). (8) The range of motion of the pitch axis of the neck is configured to be greater in the upward direction than in the downward direction. A caregiving robot as described in any one of the above (1) through (7). (9) When viewed from the side in a standard posture, the front of the face of the head is configured to be behind the front of the chest. A caregiving robot as described in any one of the above (1) through (8). (10) When L21 is the distance from the neck joint axis to the front of the face of the head when viewed from the side in the standard posture, and L22 is the distance from the neck joint axis to the front of the chest when viewed from the side in the standard posture, 1 <L22 / L21<1.3 ……(8) Satisfy The care robot described in (9) above. (11) A distance image sensor is provided on the upper front part of the head. A caregiving robot as described in any one of the above (1) through (10). (12) A vital sensor is provided on the upper front part of the chest. A caregiving robot as described in any one of the above (1) through (11). (13) The aforementioned eyeball portion is, A transparent, solid cylindrical portion having a first end face and a second end face, A display is provided on the first end face side of the cylindrical portion to show the movement of the pupil, A hemispherical transparent spherical portion is provided on the second end face side of the cylindrical portion and emits display light from the display that has been incident on the cylindrical portion. has A caregiving robot as described in any one of the above (1) through (12). (14) The central position of the eyeball in the aforementioned eyeball portion is configured to be offset inward from the central position of the outer circumference of the spherical portion. The caregiving robot described in (13) above.

[0171] This application claims priority based on Japanese Patent Application No. 2021-97442, filed with the Japan Patent Office on 10 June 2021, and all contents of that application are incorporated herein by reference.

[0172] Those skilled in the art will understand that various modifications, combinations, subcombinations, and changes can be conceived depending on design requirements and other factors, and that these fall within the scope of the attached claims and their equivalents.

Claims

1. A care robot that performs care actions on a person receiving care, A head having eyeballs, The chest and, The arm attached to the chest, A movable neck having a neck joint axis is provided between the head and the chest, A movable shoulder having a shoulder joint axis is provided between the chest and the arm, A movable waist is provided in the lower part of the chest and has a lumbar joint axis, at least one sensor and Equipped with, When viewed from the side in a standard posture, the neck joint axis is offset backward relative to the shoulder joint axis, and the hip joint axis is offset forward relative to the shoulder joint axis. Based on the information regarding each individual's acceptance of the care robot, which is generated based on the measurement information measured by the aforementioned sensors, the care actions for each individual are performed according to individual operational parameters set for each individual. Caregiving robot.

2. When L1 is the anterior-posterior distance between the lumbar joint axis and the shoulder joint axis, L2 is the anterior-posterior distance between the shoulder joint axis and the neck joint axis, L4 is the vertical distance between the lumbar joint axis and the shoulder joint axis, and L5 is the vertical distance between the shoulder joint axis and the neck joint axis, 0<L2 / L1<1.5...(1) 0.2<L5 / L4<0.6...(2) Satisfy The caregiving robot according to claim 1.

3. When the total head height in the standard posture is L6 and the height is L7, 3.3<L7 / L6<5.0...(3) Satisfy The caregiving robot according to claim 1.

4. The eyeball portion is positioned below the vertical center of the head. The caregiving robot according to claim 1.

5. When the total head height in the standard posture is L6, and the vertical distance from the center of the eyeball to the chin of the head is L17, 0.2<L17 / L6<0.5...(4) Satisfy The caregiving robot according to claim 4.

6. When the vertical distance between the shoulder joint axis and the neck joint axis is L5, and the total head height in a standard posture is L6, 0.3<L5 / L6<0.6...(5) Satisfy The caregiving robot according to claim 1.

7. When L17 is the vertical distance from the center of the eyeball to the chin of the head, L18 is the vertical distance from the center of the eyeball to the shoulder joint axis, and L19 is the vertical distance from the center of the eyeball to the neck joint axis, 1.3<L18 / L17<2.5...(6) 0.4<L19 / L17≦1.0...(7) Satisfy The caregiving robot according to claim 1.

8. The range of motion of the pitch axis of the neck is configured to be greater in the upward direction than in the downward direction. The caregiving robot according to claim 1.

9. When viewed from the side in a standard posture, the front of the face of the head is configured to be behind the front of the chest. The caregiving robot according to claim 1.

10. When L21 is the distance from the neck joint axis to the front of the face of the head when viewed from the side in the standard posture, and L22 is the distance from the neck joint axis to the front of the chest when viewed from the side in the standard posture, 1<L22 / L21<1.3...(8) Satisfy The caregiving robot according to claim 9.

11. The sensor is, A distance image sensor is provided on the upper front part of the head, A non-contact vital sensor is provided on the upper front part of the chest, A contact-type vital sensor is provided on the hand of the arm, A microphone capable of detecting the speech of the subject and including The caregiving robot according to claim 1.

12. The caregiving behavior includes observing the condition of the subject and communicating with them, The aforementioned arm has a hand capable of holding an information terminal, Using the aforementioned sensor and the information terminal, the caregiving actions include at least observing the condition of the subject and communicating with them. The caregiving robot according to claim 1.

13. The aforementioned eyeball portion is, A transparent, solid cylindrical portion having a first end face and a second end face, A display is provided on the first end face side of the cylindrical portion to show the movement of the pupil, A hemispherical transparent spherical portion is provided on the second end face side of the cylindrical portion and emits display light from the display that has been incident on the cylindrical portion. has The caregiving robot according to claim 1.

14. The central position of the eyeball in the aforementioned eyeball portion is configured to be offset inward from the central position of the outer circumference of the spherical portion. The caregiving robot according to claim 13.

15. The sensor performs measurements to evaluate the state of the subject at each of a plurality of approaching positions at different distances from the subject. The caregiving robot according to claim 1.

Images