auxiliary device

Abstract

The assist device includes a base, a support member configured to be movable in a vertical direction with respect to the base, a knee support portion configured to support a knee in a lower leg of an assisted person supported by the support member from a front side and restrict movement of the knee in a left-right direction, and a lower leg support portion configured to support the lower leg in the lower leg from the front side, and a width of the lower leg support portion in the left-right direction is smaller than a width of the knee support portion in the left-right direction.

Description

Technical Field

[0001] This invention relates to an auxiliary device. Background Technology

[0002] Patent Document 1 discloses an assistive device that assists a person in standing up. The assistive device is positioned relative to the person sitting on a bed or in a wheelchair, and the person is able to change from a sitting to a standing position by raising a support member that supports the upper body of the person being assisted.

[0003] Existing technical documents

[0004] Patent Document 1: International Publication No. 2018 / 116472 Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] There is a need to improve the practicality of assistive devices by adopting structures that do not easily interfere with seating devices with seat surfaces, such as wheelchairs. Additionally, there is a need to improve the stability of assistive devices, such as preventing tipping over.

[0007] The purpose of this specification is to provide an auxiliary device that can improve stability by suppressing interference with the seating equipment and suppressing the shift of the center of gravity of the person being assisted.

[0008] Technical solutions for solving the problem

[0009] This specification discloses an auxiliary device comprising: a base; a support member configured to move vertically relative to the base and support the upper body of the person being assisted; a knee support portion that supports the knee of the lower leg of the person being assisted, which is supported by the support member, from the front and restricts the lateral movement of the knee; and a lower leg support portion that supports the lower leg from the front, wherein the lateral width of the lower leg support portion is smaller than the lateral width of the knee support portion.

[0010] Invention Effects

[0011] With this structure, the lateral movement of the knees of the person being assisted is restricted, thus suppressing shifts in the person's center of gravity. In particular, by specifying the lateral position of the knees of the person being assisted in a standing position, balance is improved, thereby enhancing stability. Furthermore, the lateral width of the lower leg support is set to be smaller than that of the knee support. This makes the lower leg support located below the knee support more compact, thus reducing interference with the seating device. As a result, it can be positioned closer to the seating device, thereby increasing the degree of freedom in positioning relative to the person being assisted and improving the practicality of the assistive device. Attached Figure Description

[0012] Figure 1 This is a perspective view of the auxiliary device of the first embodiment, viewed from a slightly lower rear angle.

[0013] Figure 2 This is a side view of the assistive device in a state where the person being assisted is in a seated position.

[0014] Figure 3 This is a side view of the assistive device in a state where the person being assisted is in a standing position.

[0015] Figure 4 This is a 3D view of the calf support pad from a diagonal front perspective.

[0016] Figure 5 This is a three-dimensional diagram representing the first way of using a calf support pad.

[0017] Figure 6 This is a three-dimensional view taken from a slightly rearward angle, showing the assistive device close to the wheelchair; a portion of the wheelchair is omitted.

[0018] Figure 7 This is a three-dimensional diagram representing the second type of calf support pad.

[0019] Figure 8 This is a three-dimensional diagram representing a calf support pad.

[0020] Figure 9 This is a three-dimensional diagram representing the fourth type of calf support pad.

[0021] Figure 10 This is a three-dimensional diagram representing the fifth type of calf support pad.

[0022] Figure 11 It is a three-dimensional diagram showing the state in which the left pad and the right pad are offset in the front-back direction.

[0023] Figure 12 This is a perspective view of the auxiliary device of the second embodiment, viewed from a rearward angle.

[0024] Figure 13 yes Figure 12 The XIII-XIII sectional view in the figure omits all components except for the cover and the lower leg support pad.

[0025] Figure 14 This is a block diagram representing the control device and controller of the auxiliary device.

[0026] Figure 15 This is a schematic diagram of the controller.

[0027] Figure 16 This is a flowchart illustrating the standby process after the power is turned on. Detailed Implementation

[0028] 1. First Implementation Method

[0029] 1-1. Structure of Auxiliary Device 1

[0030] Reference Figures 1-3 The structure of the assistive device 1 according to the first embodiment will be described. The assistive device 1 assists a person M (see reference 1) who sits on a seated device (e.g., a wheelchair 90) with a seat surface. Figure 2 (etc.) to assist in the action of standing up from a sitting position and sitting down from a standing position. In addition, the above-mentioned seating equipment may include, in addition to wheelchair 90, general-purpose chairs without wheels, toilets, and beds for assistance.

[0031] In addition, such as Figure 3 As shown, the assistive device 1 assists the transfer between, for example, a wheelchair 90 and a bed (not shown) by supporting the upper body of the person being assisted in a standing position. Furthermore, the assistive device 1 is used to assist the person being assisted, M, in moving towards a target (e.g., wheelchair 90, bed, toilet) by having an assistant pull the assistive device 1.

[0032] Additionally, "standing posture" refers to the posture of the lower body of the person being assisted, M, when standing. Therefore, in this instruction manual, as... Figure 3 As shown, the standing posture includes the posture of the person being assisted, M, in which the buttocks are raised from a sitting position, the lower body is standing, and the upper body is leaning forward. In other words, the assistance in standing up refers to the action of raising the buttocks of the person being assisted, M, and leaning forward to achieve a posture in which the mass of the upper body is transferred to the assistive device 1. Furthermore, the assistance in sitting down refers to the action of lowering the position of the buttocks of the person being assisted, M.

[0033] 1-1-1.Abutment 10

[0034] like Figure 1As shown, the auxiliary device 1 includes a base 10. More specifically, the base 10 has a main frame 11 that constitutes the main body. The main frame 11 is mainly composed of metal tubular components that are U-shaped when viewed from above, and multiple auxiliary tubes connecting the tubular components to portions extending along the front-back direction on both sides. The base 10 has a support bracket 12 fixed to the main frame 11. The support bracket 12 supports the casters 15-17 (described later) and the drive device 20.

[0035] The base 10 has a foot pedal 13. The upper surface of the foot pedal 13 is horizontally positioned on the main frame 11. The foot pedal 13 supports the feet of the person being assisted, M. The base 10 has a pair of front casters 15, a middle caster 16, and a rear caster 17 at three different positions in the front-rear direction and in the left-right direction on the main frame 11.

[0036] A pair of front casters 15, a pair of middle casters 16, and a pair of rear casters 17 are respectively fixed to the main frame 11 via support brackets 12. In this embodiment, each caster 15-17 has a steering function to change the direction of movement. Thus, the auxiliary device 1 is configured to not only move and change direction in the forward and backward direction, but also move laterally (moving towards the side) and rotate in place (rotating in place).

[0037] 1-1-2. Drive unit 20 and cover component 25

[0038] like Figure 2 As shown, the auxiliary device 1 includes a drive device 20 for driving the support member 30. The drive device 20 has an arm 21 connecting the base 10 and the support member 30. The drive device 20 uses an actuator 22 to drive the arm 21, causing the support member 30 to tilt and move in the vertical and horizontal directions. The drive device 20 drives the actuator 22 based on commands from the control device 71 described later.

[0039] The auxiliary device 1 includes a cover member that covers at least the rear portion of the arm 21 of the drive device 20 (in this embodiment, the cover member 25 covers the rear, side, and a portion of the front portion of the arm 21. The cover member 25 is manufactured by resin molding or the like).

[0040] 1-1-3. Support component 30 and handle 35

[0041] like Figures 1-3 As shown, the auxiliary device 1 includes a support member 30. The support member 30 supports the upper body of the person being assisted, M. The support member 30 is supported so that it can rotate about a horizontal axis of rotation relative to the arm 21 of the drive device 20. With the structure described above, the support member 30 is configured to be movable in the vertical direction relative to the base 10, and in this embodiment, it is configured to be movable in the front-back direction.

[0042] The support member 30 includes a body support portion 31 and a pair of underarm support portions 32. The body support portion 31 is formed in a planar shape that approximates the body shape of the person being assisted, M. The body support portion 31 is formed of a material that can be flexibly deformed. The support surface of the body support portion 31 contacts the front surface of the upper body of the person being assisted, thus supporting the body from the front. More specifically, the support surface of the body support portion 31 supports the area from the chest Mb to the abdomen of the person being assisted, M.

[0043] A pair of underarm supports 32 are supported on the body support 31, supporting the underarms of the person being assisted, M. Specifically, a pair of underarm supports 32 are located on the left and right sides of the body support 31. The underarm supports 32 are supported on the body support 31 in a swinging manner. The underarm supports 32 are formed in an L-shape from rod-shaped components. The surface of the underarm supports 32 is covered with a softly deformable material.

[0044] The auxiliary device 1 includes a handle 35. The handle 35 is formed in a generally quadrilateral frame shape. The handle 35 extends forward and upward from the rear end of the arm of the drive device 20. The side portion of the handle 35 is held by the hands of the person being assisted, M. In addition, the person being assisted holds the side portion and the front portion of the handle 35 in order to move the auxiliary device 1.

[0045] 1-1-4. Lower leg support device 40

[0046] like Figure 1 As shown, the auxiliary device 1 includes a lower leg support device 40. The lower leg support device 40 is mounted on the base 10 and is a component that allows the knee Mk or lower leg Mh of the person being assisted in standing to abut against it. The lower leg support device 40 is provided to stabilize the standing or sitting movements of the person being assisted by specifying the position of their knee Mk or lower leg Mh. Figure 4 As shown, the calf support device 40 includes: a support rod 41, a position adjustment part 42, and a calf support pad 43.

[0047] The support rod 41 consists of a metal tubular component 411 that forms an L-shape when viewed from the side and a plate 412 fixed to the front end of the upwardly extending portion. A leg support pad 43 is provided on the plate 412. A plurality of pin holes 421 are formed in the forward-extending portion of the tubular component 411, which are equally spaced in the front-rear direction and pass through in the vertical direction.

[0048] The position adjustment unit 42 can adjust the position of the calf support pad 43 relative to the base 10 in the front-rear direction. In this embodiment, the position adjustment unit 42 is composed of a plurality of pin holes 421 formed in the tube member 411, a support tube 422 provided on the base 10, and a fixing pin 423. The inner diameter of the support tube 422 is formed to be slightly larger than the outer diameter of the tube member 411. The support tube 422 supports the tube member 411 so that it can slide in the front-rear direction. In addition, a pin hole 422A extending in the vertical direction is formed in the support tube 422.

[0049] The fixing pin 423 restricts the relative movement of the support rod 41 in the front-back direction relative to the support tube 422 by inserting it through the pin hole 422A of the support tube 422 and the pin hole 421 of the support rod 41. With this structure, the position adjustment part 42 can adjust the position of the calf support pad 43 provided on the support rod 41 in the front-back direction in several stages by making the fixing pin 423 pulled out. In addition, the position adjustment part 42 positions the calf support pad 43 in the front-back direction by providing the fixing pin 423.

[0050] The calf support pad 43 is a cushioning member extending in the left-right direction. The calf support pad 43 is covered by a protective cover, such as cloth or leather. The calf support pad 43 supports at least one of the knee Mk and calf Mh in the lower leg Mg of the person being assisted, which is supported by the support member 30. In this embodiment, the calf support pad 43 can be interchangeably mounted on the base 10. Specifically, a calf support pad selected from a variety of calf support pads 43 with different shapes, corresponding to at least one of the physique of the person being assisted M and the required level of assistance, is mounted on the base 10. Details regarding the replacement of the calf support pad 43 will be described later.

[0051] Here, as an example, Figures 1-5 The calf support pad 43 shown supports both the knee Mk and the calf Mh within the calf Mg. The calf support pad 43 consists of a knee support portion 50 and a calf support portion 60. The knee support portion 50 supports the knee Mk within the calf Mg of the assisted person M, which is supported by the supported component 30, from the front. Here, the center of gravity of the assistive device 1 used for standing increases when the assisted person M is in a standing position, therefore, improved stability is particularly required.

[0052] Therefore, the auxiliary device 1 of this embodiment employs a knee support 50 that restricts the lateral movement of the knee Mk in the lower leg Mg of the assisted person M, which is supported by the support member 30 in a standing position. With this structure, the lateral movement of the knee Mk of the assisted person M, which is supported by the auxiliary device 1, is restricted, thus suppressing the shift of the assisted person M's center of gravity. In particular, by defining the lateral position of the knee Mk of the assisted person M in a standing position, the overall center of gravity can be maintained near the center in the lateral direction of the auxiliary device 1. As a result, overall balance is improved, and stability is enhanced.

[0053] Specifically, the knee support 50 has a main body 51 and a limiting member 52. The main body 51 is planar and fixed to the plate 412 of the support rod 41. The limiting member 52 has protrusions at both ends of the main body 51 in the left-right direction, extending in the vertical direction and protruding from the support surface of the main body 51 that contacts the knee Mk of the person being assisted M in contact with it. The limiting member 52 contacts the knee Mk of the person being assisted M when it is in contact with the support surface of the main body 51 or when it is separated from the support surface and moves outward in the left-right direction, thus limiting the movement of the knee Mk.

[0054] The lower leg support 60 supports the lower leg Mh of the assisted subject M, which is supported by the supported component 30, from the front. For example... Figure 5 As shown, the calf support 60 is integrally formed with the main body 51 of the knee support 50 in this embodiment, and has a support surface that extends downward from the support surface of the main body 51. Therefore, when the person being assisted stands up, sits down, or maintains a standing posture, in addition to the support member 30, the calf support pad 43 supports the knee Mk or calf Mh, thus distributing the load and reducing the load on each part. Furthermore, by guiding the posture of the part lower than the knee Mk through the calf support 60, a stable posture can be achieved during the standing up movement.

[0055] On the other hand, since the lower leg support 60 is located below the knee support 50, there is a concern about interference with seating devices such as the wheelchair 90. In other words, if the support surface in the lower leg support 60 that contacts the lower leg Mh of the person being assisted M is increased in the lateral direction, the freedom of position for the lower leg Mh to contact the support increases, but on the other hand, it becomes easier to interfere with other components such as the seating device. Therefore, there is a risk that the assistive device 1 may not be able to get sufficiently close to the seating device, or that getting close may become difficult.

[0056] Therefore, in this embodiment, the calf support portion 60 of the auxiliary device 1 is formed such that its width in the left-right direction is smaller than that of the knee support portion 50. Specifically, the width Wh of the calf support portion 60 in the left-right direction is smaller than the width Wk of the knee support portion 50 in the left-right direction (Wh < Wk). Furthermore, in this embodiment, the outer edge of the calf support portion 60 in the left-right direction is located closer to the center than the restricting member 52 of the knee support portion 50. In other words, the calf support portion 60 adopts the above-described structure in order to support the calf Mh at a position closer to the inside of the restricting member 52, based on the premise that the knee Mk is restricted from moving outward in the left-right direction by the restricting member 52.

[0057] The knee support portion 50 and the lower leg support portion 60 constituting the lower leg support pad 43 are respectively configured such that, during the assisted standing action, when the assistive device 1 is positioned relative to the person being assisted sitting on the seating device, it is within a range that does not interfere with the seating device. Here, the wheelchair 90, as a seating device, has a pair of footrests 92 capable of supporting the feet of the person being assisted M. Each pair of footrests 92 is configured to rotate about an axis extending in the front-back direction, and when not in use, it is in a pop-up folded state (see reference). Figure 6 ).

[0058] Furthermore, when the seating device is a wheelchair 90, the knee support 50 is positioned above the upper end of the pair of footrests 92 in the folded state. Additionally, the lateral width Wh of the lower leg support 60 is smaller than the lateral width of the pair of footrests 92 in the folded state. Therefore, the assistive device 1 can prevent interference between the lower leg support 60 and the footrests 92. Thus, as... Figure 2 As shown, the assistive device 1 can get close enough to the person being assisted, M, who is seated in the wheelchair 90, and can make it easy for him to get on and off the assistive device 1, and can improve the stability of the motion assistance.

[0059] However, in the assistive device 1 that assists in standing by supporting the upper body with the support member 30, from the viewpoint of increasing leg strength through rehabilitation, it is preferable that the person being assisted, M, maintains the posture to a certain extent through their own leg strength. Furthermore, when the lower leg Mg is supported on the lower leg support pad 43 in a standing position, the posture of the part lower than the knee Mk is affected, thus the proper positional relationship of the foot relative to the knee Mk affects the stability of posture maintenance. Additionally, due to the physical limitations of the person being assisted, the range of motion of the ankle is sometimes narrower than usual, and it is desirable to consider supporting the lower leg Mg in a way that reduces the burden on the person being assisted, M.

[0060] Therefore, in the calf support pad 43, the angle θg of the portion that supports at least one of the knee Mk and calf Mh in the calf Mg from the front and extends over a predetermined vertical range relative to the horizontal plane is set in the range of 65 degrees to 75 degrees. In this embodiment, as... Figure 2 and Figure 3 As shown, the angle θg of the calf support pad 43 supporting the knee Mk and calf Mh is set to approximately 70 degrees. For example, if the calf support pad 43 is greater than 75 degrees, there is concern that the distance in the front-to-back direction from the foot supporting its own weight to the body's center of gravity (near the waist) will become longer. On the other hand, if the calf support pad 43 is less than 65 degrees, the load exerted by the upper body on the support member 30 will increase, and there is also concern that the ankle will need to bend more.

[0061] In contrast, by setting the calf support pad 43 within the range of 65 to 75 degrees, postural stability can be achieved when transitioning from a sitting to a standing position. Furthermore, during such a posture change, the range of ankle flexion remains within its flexible range, thus reducing the burden on the person being assisted (M). As a result, leg strength can be increased through rehabilitation.

[0062] 1-1-5. Control device 71 and controller 80

[0063] like Figure 14 As shown, the auxiliary device 1 includes a control device 71. The control device 71 controls the operation of the drive device 20. When the power is turned on by operating the power switch 72, the control device 71 performs a standby process that enables the drive device 20 to operate. When the standby process is performed, the auxiliary device 1 becomes capable of accepting operation from the controller 80.

[0064] The aforementioned controller 80 accepts operations from either the assisted party M or the assisting party. For example... Figure 14 and Figure 15 As shown, the controller 80 comprises, for example, a stand-up button 81, a seat-down button 82, and a battery level indicator 83. The stand-up button 81 is a button that assists in the upward movement of the support member 30, i.e., the stand-up action. The seat-down button 82 is a button that assists in the downward movement of the support member 30, i.e., the seat-down action. The control device 71 controls the operation of the drive device 20 based on the operation of the controller 80.

[0065] The battery level gauge 83 is a display device that shows the remaining amount of power supplied to the actuator 22 of the drive unit 20, i.e., the battery. The control unit 71 periodically checks the battery level while the power is on. The battery level gauge 83 displays the detected battery level in multiple stages, for example. As an example, such as... Figure 15As shown, the battery level gauge 83 indicates the remaining battery level in four stages. Furthermore, the battery level gauge 83 can indicate the battery status through displayed color and lighting pattern, or it can display a specific numerical value (e.g., "80%").

[0066] 1-2. Action assistance based on auxiliary device 1

[0067] Reference Figure 2 and Figure 3 The assistance provided by the assistive device 1 for standing and sitting actions will be explained. First, the assistive device 1, with the body support 31 of the support member 30 angled toward the chest Mb of the person being assisted (M), moves backward to approach the person being assisted (M) seated in the wheelchair 90. At this time, the footrests 92 of the wheelchair 90 are in a pre-launched state. At this time, the knee support 50 is positioned above the upper end of the pair of footrests 92 in their folded state, avoiding interference with the pair of footrests 92 (see reference). Figure 6 ).

[0068] Here, the width of the footrest 13 in the left-right direction is set to be shorter than the left-right separation distance of the pair of front wheels 91 of the wheelchair 90. Therefore, the rear end of the footrest 13 is configured to move rearward by passing inside the pair of front wheels 91 of the wheelchair 90. Figure 2 As shown, the base 10 is positioned such that its rear end is located behind the front wheel 91 of the wheelchair 90. Next, the person being assisted, M, places both feet on the footrest 13 and brings their lower legs Mg into contact with the lower leg support pad 43.

[0069] More specifically, the knee Mk is positioned so that it contacts the support surface of the main body component 51 of the knee support 50 and is located inside a pair of limiting members 52. Additionally, the lower leg Mh is positioned so that it contacts the support surface of the lower leg support 60. Furthermore, the person being assisted, M, leans forward by pressing their chest Mb against the torso support 31. Additionally, the person being assisted, M, extends both hands towards the handle 35 and supports their armpits against a pair of underarm supports 32. Thus, the person being assisted, M, is able to sit in the assistive device 1.

[0070] Next, the drive device 20 is activated, and the support component 30 moves upward and forward while tilting. Thus, the assisted subject M moves from... Figure 2 The sitting posture shown has changed to Figure 3 The figure shows a standing posture with legs extended. The assistive device 1 moves and rotates to support the person M in this standing position, assisting in the sitting action at a position and angle corresponding to the desired outcome. Since the assistance in sitting is the reverse of the assistance in standing described above, detailed explanations are omitted.

[0071] In this series of movements, the calf support pad 43, with its limiting component 52, prevents the knee Mk of the person being assisted M from moving outward in the lateral direction of the calf support pad 43. This suppresses changes in the center of gravity during various postures and transitions between postures, thus improving movement stability.

[0072] Furthermore, the lower leg support pad 43 has a lower leg support section 60, which guides the posture of the person being assisted (M) below the knee (Mk) to a stable posture during standing and sitting. Additionally, the lateral width Wh of the lower leg support section 60 is smaller than the lateral width of the pair of footrests 92 in the folded state. This allows the assistive device 1 to be positioned close enough to the wheelchair 90, facilitates easy mounting and dismounting of the assistive device 1, and improves the stability of the movement assistance.

[0073] Furthermore, by setting the angle of the support surface in the calf support pad 43 relative to the horizontal plane to approximately 70 degrees, stability can be achieved for both standing and sitting movements. Additionally, during changes in the posture of the person being assisted (M) during such movements, the range of ankle flexion remains within a flexible range, thus reducing the burden on the person being assisted (M). As a result, leg strength can be increased through rehabilitation.

[0074] 1-3. Replacement structure of calf support pad 43

[0075] As described above, the angle and shape of the calf support pad 43 of the calf support device 40 may vary depending on the physical limitations of the person being assisted, such as the body. In particular, among assistive devices with a wide variety of physiques and required levels of assistance, if multiple people are using the assistive device 1, it is desirable to apply an appropriate calf support pad 43.

[0076] Therefore, in this embodiment, the auxiliary device 1 installs a calf support pad selected from a variety of calf support pads 43 of different shapes, corresponding to at least one of the physique of the person being assisted M and the required level of assistance, onto the base 10. Furthermore, the required level of assistance for the person being assisted M is determined based on indicators such as the leg strength, ankle, and range of motion of joints such as the knee Mk.

[0077] In this embodiment, the calf support device 40 uses the support rod 41 and the calf support pad 43 as units, and adopts a replaceable structure that utilizes the position adjustment part 42. That is, the replaceable structure allows the support rod 41 to be removed from the support tube 422 with the fixing pin 423 of the position adjustment part 42 pulled out. Hereinafter, the method by which the calf support pad 43 can be installed on the auxiliary device 1 will be described.

[0078] like Figure 4 and Figure 5 As shown, the calf support pad 43A of the first embodiment has a knee support portion 50A and a calf support portion 60A. The knee support portion 50A is composed of a main body component 51A and a pair of limiting components 52A. The calf support portion 60A is integrally formed with the main body component 51A and has the same support surface as the main body component 51A. Since the details of the calf support pad 43A have already been described, they are omitted here.

[0079] like Figure 7 As shown, the second type of calf support pad 43B has a knee support portion 50B but no calf support portion 60. The second type of calf support pad 43B is suitable for, for example, a person M with a certain degree of leg strength who can maintain a standing posture even without calf support. Furthermore, space can be ensured below the knee support portion 50B.

[0080] Here, depending on the required level of assistance for the person being assisted, the leg strength and range of motion of the left and right legs differ. Therefore, to address such a situation, the lower leg support pad 43 is required to have an asymmetrical shape. For this purpose, the lower leg support pad 43C of the third embodiment and the lower leg support pad 43D of the fourth embodiment are arranged as a pair in the left-right direction of the base 10, and have a left pad portion 45 and a right pad portion 46 that can be independently adjusted in the front-back direction relative to the base 10.

[0081] like Figure 8 As shown, the left side pad 45C of the third type of calf support pad 43C consists of a main body component 51C and a limiting component 52C that are centrally divided in the left-right direction. The right side pad 46C consists of another main body component 51C and another limiting component 52C that are centrally divided in the left-right direction. The left side pad 45C and the right side pad 46C are supported by support tubes 422 via their respective support rods 41 and positioned by fixing pins 423, and are adjusted to different front-back positions (see reference). Figure 11 ).

[0082] like Figure 9 As shown, the fourth type of calf support pad 43D has a knee support portion 50D on its left side pad portion 45D and a knee support portion 46D on its right side pad portion 46D, but no calf support portion 60. Similar to the second type, the fourth type of calf support pad 43D is suitable for a person M who has a certain degree of leg strength and can maintain a standing posture even without calf support. Furthermore, space is ensured below the knee support portion 50D.

[0083] Furthermore, in the third and fourth embodiments, the left pad 45 and the right pad 46 are completely separated and their respective facing surfaces are in contact. In contrast, the left pad 45 and the right pad 46 can also be configured to have sliders on their respective facing surfaces that restrict relative movement in the vertical direction but allow relative movement in the front-back direction.

[0084] like Figure 10 As shown, the fifth type of calf support pad 43E has a knee support portion 50E extending vertically and having two parallel grooves. Specifically, the two grooves are formed by two limiting members 52E forming a groove bottom 521 and a pair of groove sides 522, respectively. The person being assisted, M, restricts the lateral movement of the knee Mk by contacting the groove bottom 521, thus maintaining the posture of the calf Mg.

[0085] As described above, the calf support device 40 allows for the replacement of the support rod 41 and the calf support pad 43 as a unit. Alternatively, the calf support device 40 may be configured such that, for example, the support rod 41 and the position adjustment part 42 are common components, and the calf support pad 43 can be removed from the plate 412 of the support rod 41 in a replaceable manner.

[0086] 2. Second Implementation Method

[0087] 2-1. Structure of the second type of auxiliary device 101

[0088] Reference Figure 12 and Figure 13 The structure of the auxiliary device 101 according to the second embodiment will now be described. Here, the main difference between the auxiliary device 101 of the second embodiment and the auxiliary device 1 of the first embodiment lies in the structure of the arm 21 and actuator 22 of the drive device 120, which differs in order to achieve multi-functionality. Furthermore, along with this, as... Figure 12 As shown, the shape of the cover component 125 of the auxiliary device 101 is different.

[0089] Compared to the cover member 25 of the first embodiment, the cover member 125 is larger at the rear. Therefore, in order to prevent interference with the cover member 125, the lower leg support device 140 may have a limited range of motion in the front-rear direction. In contrast, the auxiliary device 101 of this embodiment adopts a structure that can prevent interference with the cover member 125 and can sufficiently ensure the range of motion of the lower leg support pad 143 in the front-rear direction. In addition, the other structures of the auxiliary device 101 are substantially the same as those of the auxiliary device 1 of the first embodiment, so detailed description is omitted.

[0090] The calf support pad 143 (the calf support pad 43F of the fifth type) has at least a knee support portion 150. The knee support portion 150 has a pair of limiting members 152 and connecting members 153. For example... Figure 13 As shown, each of the pair of limiting members 152 is formed into a groove shape that opens rearward when viewed from above, and the groove side portion 522 restricts the lateral movement of the knee Mk. A connecting member 153 is disposed on the rear side of the cover member 125. The connecting member 153 connects the pair of limiting members 152 with the bottom 521 of the grooves of the pair of limiting members 152 respectively positioned forward of the rear end 251 of the cover member 125.

[0091] With this structure, the cover component 125 and the calf support pad 143 can be positioned in an overlapping relationship in the front-back direction. This allows the front-back position to be adjusted by moving the calf support pad 143 further forward, thus ensuring a sufficiently wide range of motion. Furthermore, by restricting the lateral movement of the knee Mk of the person being assisted (M) by the calf support pad 143, the shift of the center of gravity of the person being assisted (M) can be suppressed. Therefore, the lateral position of the knee Mk of the person being assisted (M) can be determined, improving overall stability.

[0092] 2-2. Regarding the calf support device 140

[0093] In this embodiment, the calf support device 140 is described using a structure that only has a knee support portion 150 as an example. In contrast, the calf support device 140 can also be configured in the same way as the first embodiment, further comprising a calf support portion 60 that supports the calf Mh in the calf Mg from the front.

[0094] In this structure, the width Wk of the calf support portion 60 in the left-right direction is preferably set to be smaller than the width Wk of the knee support portion 50 in the left-right direction. Furthermore, the outer edge of the calf support portion 60 in the left-right direction is preferably located near the central side of the base 10 in the left-right direction, closer to the inner surface of the two groove side portions 522 located on the outer side in the left-right direction of the knee support portion 150. With this structure, the calf support device 140 can be miniaturized, and interference with other devices such as seating equipment can be prevented.

[0095] 3. Third Implementation Method

[0096] 3-1. Overview of Auxiliary Device 1

[0097] The auxiliary device 1 has the following function: when the power is turned on by operating the power switch 72, it notifies the user that the power is on. Specifically, it notifies the user by illuminating an indicator light built into the power switch 72. In addition, the auxiliary device 1 notifies the user of the power being on, for example, by displaying the remaining battery level in the battery level gauge 83 of the controller 80.

[0098] Furthermore, when the power is turned on by operating the power switch 72, the auxiliary device 1 performs standby processing to enable the drive device 20 to operate. During this standby processing, tasks such as detecting the remaining battery level, checking the operating status of the actuator 22, and reading the operating program may be performed, requiring a predetermined time from the power-on period. From a safety perspective, the auxiliary device 1 controls the system so that it does not perform any corresponding actions even if the controller 80 is operated before the standby processing ends.

[0099] On the other hand, if the user turns on the power by operating the power switch 72, and the indicator light on the power switch 72 illuminates, and the battery level gauge 83 displays a remaining battery level during standby processing, it is assumed that the user can use the device and operate the controller 80. However, in reality, during standby processing, the actions corresponding to the above-mentioned operations are not performed.

[0100] Therefore, even though the user presses the button on the controller 80, the support member 30 does not move, thus creating a potential risk of mistakenly believing that the auxiliary device 1 has malfunctioned. Ideally, the auxiliary device 1 should, upon power-on, display a state indicating that it has transitioned from standby mode to a state where it can accept operation of the controller 80, allowing the user to recognize it as being in preparation before this display. For this purpose, the auxiliary device 1 in this embodiment employs a structure that displays a transition to standby mode as follows.

[0101] 3-2. Structure of Auxiliary Device 1

[0102] like Figure 1 and Figure 14 As shown, the auxiliary device 1 includes: a base 10, a drive device 20, a support member 30, and a display device. After the drive device 20 is powered on, the display device transitions to a standby state capable of driving the support member 30. In this embodiment, as... Figure 15 As shown, the display device is the battery level gauge 83 of the controller 80. The battery level gauge 83, as a display device, can display the standby status in various ways.

[0103] In this embodiment, the battery level gauge 83 displays the remaining battery level after the standby process ends and the device transitions to a state where it can accept operation of the controller 80 (i.e., the drive unit 20 is in standby mode). At this time, the battery level gauge 83 may also indicate that it is not in standby mode during standby processing by turning off, flashing, or displaying a different color than the usual display.

[0104] 3-3. Standby processing after power is turned on

[0105] Reference Figure 16 The standby processing after power is turned on based on auxiliary device 1 will be described. Standby processing is performed by control device 71 when the power is turned on by operating power switch 72. First, power switch 72 turns on the built-in light, and through this operation, the user is notified that the power is turned on (S11).

[0106] Next, the control device 71 performs initialization processing (S12). Specifically, as initialization processing, the control device 71 appropriately performs checks on the remaining battery level, the operating status of the actuator 22, the loading of the operating program, and the initialization of the memory. At this time, even if the control device 71 detects the remaining battery level, it does not cause the battery level gauge 83 of the controller 80 to display the reading. The battery level gauge 83 remains off.

[0107] The control device 71 determines whether the initialization process has ended and whether the drive device 20 has switched to standby mode (S13). If the drive device 71 has not switched to standby mode (S13: No), the control device 71 continues to repeat the above determination. In addition, in this standby mode, even if the stand-up button 81 or the like on the controller 80 is pressed, the control device 71 will not accept the assistance request for the stand-up action.

[0108] When the drive unit 20 switches to standby mode (S13: Yes), the control device 71 causes the battery level gauge 83 of the controller 80 to display the detected remaining battery level (S14). Thus, the battery level gauge 83 displays the remaining battery level and simultaneously notifies the user that the system is in a state where operation based on the controller 80 is possible. The control device 71 then terminates the standby process.

[0109] According to the structure described above, when the user first turns on the power switch 72, the built-in light illuminates, thus indicating that the power is on. Furthermore, the battery level gauge 83 remains off until the standby period ends, so the user can recognize that the drive unit 20 does not operate even when the controller 80 is activated. Additionally, since the battery level gauge 83 illuminates after the standby period ends, the user can recognize that the standby state, triggered by operating the controller 80, has transitioned to operation of the drive unit 20.

[0110] 3-4. Various methods of display devices

[0111] In this embodiment, the display device is configured as a battery level gauge 83. In contrast, the auxiliary device 1 may also be configured as a dedicated display device that indicates whether it is in standby mode. Furthermore, this display device may be located not only on the controller 80, but also on a part of the auxiliary device 1 that is visually accessible to the user. Additionally, the display device may be, for example, a light built into the power switch 72, which flashes when the power is on and not in standby mode, lights up when the power is on and the device switches to standby mode, and turns off when the power is off.

[0112] Explanation of reference numerals in the attached figures

[0113] 1. 101. Auxiliary device; 10. Base; 20. 120. Drive device; 21. Arm; 22. Actuator; 25. 125. Cover component; 251. (Rear end of the cover component); 30. Support component; 40. 140. Lower leg support device; 42. Position adjustment part; 43. 43A-43F, 143. Lower leg support pad; 45. 45C, 45D. Left side pad; 46. 46C, 46D. Right side pad; 50. 50A-50E, 150. Knee support part; 51. 51A-51E. Main body component; 52. 52A-52E. 152. Limiting component; 521. Bottom of the slot; 522. Side of the slot; 153. Connecting component; 60, 60A, 60C. Lower leg support; 61. Outer edge; 71. Control device; 72. Power switch; 80. Controller; 83. Battery level gauge (display device); 90. Wheelchair (seat equipment); 91. (Pair) of front wheels; 92. Foot pedal; M. The person being assisted; Mb. Chest; Mg. Lower leg; Mk. Knee; Mh. Lower leg; Wk. (Wide of knee support); Wh. (Wide of lower leg support); θg. (Angle of support part).

Claims

1. An auxiliary device comprising: abutment; The support component is configured to be movable in the vertical direction relative to the base to support the upper body of the person being assisted. A knee support has: a main body component formed in a planar shape, having a support surface that supports the knee in the lower leg of the person being assisted, which is supported by the support component, from the front; And a limiting component, which protrudes from the support surface of the main body component in the normal direction at both ends in the left and right directions to limit the movement of the knee in the left and right directions; and The lower leg support portion is integrally formed with the main body component of the knee support portion. A support surface formed by extending the main body component downward supports the lower leg from the front of the lower leg portion. The outer edge in the left and right directions is located closer to the center side than the limiting component, so that the width of the lower leg support portion in the left and right directions is smaller than the width of the knee support portion in the left and right directions.

2. The auxiliary device according to claim 1, wherein, The knee support is formed into a groove shape that opens rearward when viewed from above, and has a pair of limiting members on the side of the groove that restrict the movement of the knee in the left-right direction.

3. The auxiliary device according to claim 2, wherein, The auxiliary device also includes: An arm connecting the base and the support member; and A cover component that covers at least the rear portion of the arm. The knee support has a connecting member disposed on the rear side of the cover member, connecting the pair of limiting members disposed such that the bottom of the grooves of the pair of limiting members is forward of the rear end of the cover member.

4. An auxiliary device comprising: abutment; The support component is configured to be movable in the vertical direction relative to the base to support the upper body of the person being assisted. An arm connects the base to the support component; A cover component that covers at least the rear portion of the arm; and The knee support provides frontal support to the knee in the lower leg of the person being assisted, which is supported by the support member, and restricts lateral movement of the knee. The knee support portion has: A pair of limiting members, formed into a slot shape that opens rearward when viewed from above, restricting the lateral movement of the knee on the sides of the slot; and A connecting component is disposed on the rear side of the cover component. The connecting member is configured such that its front end face is located rearward relative to the front end faces of the pair of limiting members. The connecting member connects the pair of limiting members with the bottom of the groove of the pair of limiting members being forward of the rear end face of the cover member, so that the cover member and the knee support form an overlapping positional relationship in the front-back direction.

5. The auxiliary device according to claim 4, wherein, The auxiliary device also includes a lower leg support portion, which supports the lower leg from the front, and the width of the lower leg support portion in the left-right direction is smaller than the width of the knee support portion in the left-right direction.

6. The auxiliary device according to any one of claims 2 to 3 and 5, wherein, The outer edge of the lower leg support in the left-right direction is located on the central side of the base in the left-right direction, which is closer to the inner surface of the groove side of the knee support than the inner surface of the groove side of the knee support.

7. The auxiliary device according to any one of claims 1 to 3 and 5, wherein, The auxiliary device is used to assist the person being assisted in standing up from a seated seating device with a seat surface. The knee support and the lower leg support are respectively configured such that, when assisting the standing action, the assisting device is positioned relative to the person being assisted seated on the seat equipment within a range that does not interfere with the seat equipment.

8. The auxiliary device according to any one of claims 1 to 3 and 5, wherein, The assistive device is used to help the person in the wheelchair to stand up. The wheelchair has a pair of footrests capable of supporting the feet of the person being assisted. The pair of foot pedals are each configured to rotate about an axis extending in the front-to-back direction, and to pop up in a folded state when not in use. The knee support is located above the upper end of the pair of foot pedals in the folded state. The width of the lower leg support in the left-right direction is smaller than the width of the pair of foot pedals in the left-right direction when they are in the folded state.

9. The auxiliary device according to any one of claims 1 to 3 and 5, wherein, The knee support portion and the lower leg support portion constitute a lower leg support pad. The calf support pad is installed on the base in a replaceable manner. One of the various calf support pads, each with a different shape, is selected from among the calf support pads and is installed on the base, corresponding to at least one of the physique of the person being assisted and the required level of assistance.

10. The auxiliary device according to claim 1, wherein, One of the various calf support pads, each with a different shape, is selected from among the calf support pads and is installed on the base, corresponding to at least one of the physique of the person being assisted and the required level of assistance.

11. The auxiliary device according to claim 9, wherein, The auxiliary device also includes a position adjustment unit, which can adjust the position of the lower leg support pad relative to the base in the front-rear direction.

12. The auxiliary device according to claim 10, wherein, The auxiliary device also includes a position adjustment unit, which can adjust the position of the lower leg support pad relative to the base in the front-rear direction.

13. The auxiliary device according to claim 11, wherein, The calf support pad has a left pad portion and a right pad portion, which are arranged as a pair in the left-right direction of the base and can be independently adjusted in the front-back direction relative to the base.

14. The auxiliary device according to claim 12, wherein, The calf support pad has a left pad portion and a right pad portion, which are arranged as a pair in the left-right direction of the base and can be independently adjusted in the front-back direction relative to the base.

15. The auxiliary device according to claim 1, wherein, The angle between the portion of the calf that supports the lower leg from the front within a predetermined vertical range and the horizontal plane is set in the range of 65 degrees to 75 degrees.

16. The auxiliary device according to claim 9, wherein, The angle between the portion of the calf that supports the lower leg from the front within a predetermined vertical range and the horizontal plane is set in the range of 65 degrees to 75 degrees.

17. The auxiliary device according to any one of claims 10 to 14, wherein, The angle between the portion of the calf that supports the lower leg from the front within a predetermined vertical range and the horizontal plane is set in the range of 65 degrees to 75 degrees.

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