Standing up aid

Abstract

To provide a standing-up auxiliary machine for supporting standing-up that corresponds to the physique and the body condition of a user.SOLUTION: A standing-up auxiliary machine includes a base (10), a shaft part (12) whose one end is connected to the base (10) to be able to move at least vertically, a support part (14) provided at the other end of the shaft part (12), a control part (56) for controlling the movement of the shaft part (12), and a user information input part (58) for inputting information of a user (J). In the standing-up auxiliary machine, the control part (56) changes a first movement speed in accordance with at least either of body information or health information of the user (J) inputted from the user information input part (58) when a speed at which the support part (14) is moved is regarded as the first movement speed when the user (J) stands up.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a standing aid. [Background technology]

[0002] Users with weak knees or legs need to exert a lot of effort to stand up by themselves from a sitting position in a chair, which places a great burden on the body. Therefore, a device that assists in standing up from a chair has been proposed. Patent Documents 1 and 2 disclose this type of device, which includes a base and an axis that is expandable and contractable in the vertical direction relative to the base, and a member that is held by the user or that holds the user is disposed above the axis, and the axis is expanded and contracted to assist the user in standing up. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-134430 A [Patent Document 2] WO2017-141372 publication Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is desirable to provide assistive movements that are tailored to the individual physical and health circumstances of the user. An object of the present invention is to provide a standing assistance device that assists a user in standing up in a manner suited to the individual circumstances of the user. [Means for solving the problem]

[0005] In one aspect of the present invention, in a standing assistance device including a base, an axle portion having one end connected to the base and capable of at least vertical movement, a support portion provided at the other end of the axle portion, a control portion for controlling the movement of the axle portion, and a user information input portion to which information of a user is input, when a speed at which the support portion moves when the user stands up is set to a first moving speed, the control portion changes the first moving speed in response to at least one of physical information and health information of the user input from the user information input portion. The support unit has a pair of elbow rests that support the elbows of the user, and the control unit does not move the support unit when a predetermined load is not applied to the pair of elbow rests. This is a standing-up aid that is characterized by the following: Effect of the Invention

[0006] According to one aspect of the present invention, assistance in standing up can be provided according to the individual circumstances of the user. [Brief description of the drawings]

[0007] [Figure 1] FIG. 2 is a perspective view showing the overall configuration of the standing assistance device. [Diagram 2] FIG. 4 is a diagram showing a movable mechanism of the standing assistance device. [Diagram 3] 13 is a diagram showing a schematic view of a path of a support part when a shaft part of the standing assistance device is movable. FIG. [Figure 4] 1 is a block diagram showing a functional configuration of a control system for a standing assistance device according to a first embodiment. [Diagram 5] 10A to 10C are diagrams illustrating the operation of the standing-up assist device. [Figure 6] 13 is an example of a screen on which physical information is input from a user information input unit. [Figure 7] 13 is an example of a screen on which health information is input from a user information input unit. [Figure 8] 10 is a flowchart showing the operation of the standing up assist device during a standing up motion. [Figure 9] 11 is an explanation of speed control in the standing up assist operation. [Figure 10] 10 is a flowchart showing the operation of the standing assistance device during a seating motion. [Figure 11] 11 is an explanation of speed control in the seating assistance operation. [Figure 12] FIG. 11 is a block diagram showing a functional configuration of a control system for a standing assistance device according to a second embodiment. [Figure 13] 11 is a diagram illustrating a change in the support position of the standing assistance device depending on the height of the user. FIG. [Figure 14] 10 is a flowchart showing the operation of the standing up assist device during a standing up motion. [Figure 15] This is an explanation of trajectory control in the standing-up assist operation. [Figure 16] 10 is a flowchart showing the operation of the standing assistance device during a seating motion. [Figure 17] This is an explanation of trajectory control in seating assistance operation. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] [First embodiment] A first embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is a perspective view showing the overall configuration of a standing assist device 1 according to this embodiment. The standing up assistance device 1 is a device that assists the standing up and sitting down movements of a user J (see FIG. 3). The standing up movement refers to the movement of the user J from a seated state in which the user J sits on a seat K (see FIG. 3) such as a chair or bed to a standing state without changing the direction of the body. The sitting down movement refers to the movement of the user J from a standing state to a sitting state by lowering his / her hips and sitting on the seat K without changing the direction of the body.

[0009] In the following description, the direction in which a seated user J stands up when standing up is referred to as the forward DF, and the direction in which a standing user J moves his / her hips (buttocks) when sitting down is referred to as the backward DB. Of the directions perpendicular to the forward DF and backward DB, the side on which the left hand of user J facing the forward DF is located is referred to as the left direction DL, and the side on which the right hand of user J is located is referred to as the right direction DR. The vertical upward direction is referred to as the upward direction DU, and the vertical downward direction is referred to as the downward direction DD.

[0010] Moreover, the body movements of a healthy person who does not require assistance when standing up or sitting down are called "natural movements." The standing up assistance device 1 of this embodiment has a configuration that assists the user J to stand up and sit down with movements close to natural movements. By standing up and sitting down with movements close to natural movements, the user J can stand up and sit down using his / her own strength appropriately without relying solely on assistance.

[0011] The structural configuration of the standing assist device 1 will be described.

[0012] FIG. 1 is a perspective view showing the overall configuration of a standing assistance device 1. As shown in FIG. As shown in the figure, the standing assist device 1 includes a base portion 10, a shaft portion 12, a support portion 14, and a grip portion 16. The base 10 corresponds to the base part of the structure (skeleton) of the standing-up aid 1, and includes a base plate 20 which is a main frame on which the shaft part 12 is erected. Furthermore, the base 10 of this embodiment includes a pipe frame 22 which is substantially C-shaped in plan view with the rear DB open, and wheels 24 which movably support the pipe frame 22, and the base plate 20 is supported by the pipe frame 22 inside the pipe frame 22. The wheels 24 are provided on the left and right sides of the front and rear ends of the pipe frame 22, respectively, to stabilize the balance of the standing-up aid 1 in the front-rear and left-right directions. Each wheel 24 is a caster which can move freely in any direction, and by including the wheels 24, the standing-up aid 1 moves in accordance with the walking of the user J in a standing position, and can also be used as a so-called walking aid.

[0013] The shaft portion 12 is a portion extending from the base portion 10 to the upper DU, with a lower end portion 12D joined to the base plate 20 of the base portion 10 and an upper end portion 12U to which the support portion 14 is fixed. In other words, the shaft portion 12 also functions as a portion that supports the support portion 14 in the upper DU of the base portion 10. The shaft portion 12 is rotatable in the front-rear direction about the lower end portion 12D and is extendable in the up-down direction, allowing the support portion 14 to move in both the front-rear direction and the up-down direction. The configuration of the shaft portion 12 will be described later.

[0014] The support section 14 is a section that supports the body of the user J, and in this embodiment, the support section 14 includes a rod-shaped member 30 that is generally C-shaped in plan view with an open rear DB. Specifically, the rod-shaped member 30 has a pair of left and right elbow rests 31 that extend in the front-rear direction, and a connecting section 32 that connects the front ends of the elbow rests 31. Each elbow rest 31 is a section that supports the elbow of the user J, and is provided with a cup-shaped elbow support member 33 into which the elbow fits. The elbow support member 33 has a pair of left and right side walls 33S and a rear wall 33B located behind the elbow DB, with the side walls 33S preventing the elbow from moving left and right, and the rear wall 33B supporting the elbow from the rear DB.

[0015] The support part 14 is also provided with a pair of left and right gripping parts 16 which are parts that the user J grasps with his or her hands. In this embodiment, the gripping parts 16 are integrally formed with a rod-shaped member 30 which constitutes the support part 14. Specifically, the rod-shaped member 30 has parts which are bent upward at the front end of each of the left and right elbow rest parts 31, and these parts are configured as the gripping parts 16. Note that gripping portion 16 may be configured separately from rod-shaped member 30 constituting support portion 14 by providing a member (e.g., rod-shaped member) of a shape that can be gripped by user J on each elbow rest portion 31. Also, the attachment position of elbow rest support member 33 may be configured to be adjustable in the front-rear direction to match the length from user J's hand to his / her elbow. This allows user J to adjust the attachment position of elbow rest support member 33 so that he / she can always grip gripping portion 16 with his / her elbow stored in elbow rest support member 33.

[0016] Additionally, the support section 14 is provided with a chest support section 36 between the pair of left and right elbow rests 31. The chest support section 36 includes a plate member 36A mounted across the pair of left and right elbow rests 31 and a bulging chest support member 36B fixed to the approximate center of the plate member 36A, and the chest support section 36, including the chest support member 36B, is substantially entirely covered with a resilient member such as urethane foam. When the user J is in an upright position or in a bent-over position, the chest can be pressed against the chest support section 36 to support the upper half of the body.

[0017] Fig. 2 is a diagram showing a movable mechanism of the standing assistance device 1. Note that Fig. 2 is a schematic diagram, and the dimensions, shapes, and positions of each member are different from those in Fig. 1. The shaft portion 12 of the standing assist device 1 includes a first shaft member 41 and a second shaft member 42, each of which is extendable in the vertical direction, and each of which has a lower end connected to the base 10. In this embodiment, the first shaft member 41 includes a hollow cylindrical outer tube 41A and a rod 41B coaxially accommodated in the outer tube 41A so as to be linearly movable, and has a linear motion device in which the entire shaft member 12 extends and retracts as the rod 41B advances and retreats linearly. Similarly, the second shaft member 42 includes a hollow cylindrical outer tube 42A and a rod 42B coaxially accommodated in the outer tube 42A so as to be linearly movable, and has a linear motion device in which the entire shaft member 12 extends and retracts as the rod 42B advances and retreats linearly. In this embodiment, these linear motion devices use electric cylinders having a ball screw and a motor that rotates and drives the ball screw. The movement when assisting the standing up motion and the movement when assisting the sitting down motion, which is the movement substantially opposite to the standing up motion, are in a substantially opposite relationship, and by using a cylinder having a ball screw and a motor as the linear motion device, such forward and reverse movements can be easily realized, and positioning and speed control become possible. Note that the linear motion device can use other well-known or publicly known mechanisms.

[0018] The first shaft member 41 and the second shaft member 42 are arranged side by side in the front-rear direction, and the respective outer cylinders 41A, 42A are provided on the base 10 (base plate 20) so as to be rotatable in the front-rear direction, and the first shaft member 41 and the second shaft member 42 are driven individually by the first actuator 51A and the second actuator 51B (see Figs. 1 and 4). In this embodiment, the first shaft member 41 and the second shaft member 42 are each pivotally supported at their lower ends 41AD, 42AD by the base 10 so as to be rotatable, and the respective rotation axes O1, O2 are provided on the lower ends 41AD, 42AD.

[0019] Here, the tip of the rod 41B of the first shaft member 41 corresponds to the upper end 12U of the shaft portion 12, and the support portion 14 is fixed to the tip. As a result, the support portion 14 moves along an arc E centered on the rotation axis O1 as the first shaft member 41 rotates, at a height position supported by the first shaft member 41. Since the length of this arc E increases in proportion to the length (height) of the first shaft member 41, which is the rotation radius, the movable range of the support portion 14 can be significantly expanded compared to the configuration in which the support portion is rotatably supported by the tip of a shaft portion erected on a base so as not to rotate, as in the above-mentioned Patent Documents 1 and 2. Furthermore, the fixing portion (upper end 12U of shaft 12) between support 14 and first shaft member 41 is fixed by any fastening means such as welding, bolts, screws, etc. so that support 14 cannot rotate relative to shaft 12. This prevents a situation in which support 14 rotates unintentionally relative to shaft 12 while a user is holding grip 16, causing the force of the rotation to act on the user's wrist and injure the user's wrist.

[0020] The second shaft member 42 has a tip end of a rod 42B rotatably coupled to an outer cylinder 41A which is a non-movable part of the first shaft member 41. Specifically, as shown in Fig. 1 above, a pair of plate-shaped coupling pieces 44 are provided on the outer cylinder 41A of the first shaft member 41, and as shown in Fig. 2, the tip end of a rod 42B of the second shaft member 42 is pivotally supported by the coupling pieces 44 with a pin or the like, so that the tip end passively rotates in response to the rotation and expansion / contraction of the first shaft member 41 and the second shaft member 42.

[0021] In this embodiment, as shown in Fig. 1, the standing assist device 1 includes a cover member 49 that covers the entire circumference of the first shaft member 41 to improve stability and prevent rattling, and the second shaft member 42 is connected to the first shaft member 41 via the cover member 49. Specifically, the cover member 49 includes a first cover member 49A that contains the outer tube 41A of the first shaft member 41 and is immovable relative to the outer tube 41A, and a second cover member 49B that contains the rod 41B, and the connecting piece 44 is provided on the first cover member 49A, and the tip of the rod 42B of the second shaft member 42 is connected to the connecting piece 44.

[0022] FIG. 3 is a diagram showing a schematic trajectory of the support part 14 when the shaft part 12 of the standing assist device 1 is movable. In the standing assistance device 1, the first shaft member 41 rotates about the rotation axis O1 of the lower end portion 41AD and expands and contracts in the vertical direction, so that the support part 14 can move in various trajectories between a position PA corresponding to the user J in a seated position (hereinafter referred to as the seated position) and a position PB corresponding to the user J in a standing position (hereinafter referred to as the standing position). As shown in Fig. 3, such trajectories include a first trajectory F1, a second trajectory F2, a third trajectory F3, and a fourth trajectory F4.

[0023] The first trajectory F1 is a trajectory that connects the sitting position PA and the standing position PB in a diagonal straight line. The second trajectory F2 is a trajectory of the first trajectory F1 extending diagonally and linearly, which includes a section F2A that extends forward F1 at the start of the standing-up movement, and a section F2B that extends straight up at the end of the standing-up movement. The third trajectory F3 is different from the first trajectory F1 and the second trajectory F2 in that it does not include any trajectory that extends linearly in a diagonal direction. That is, the third trajectory F3 is a trajectory that is composed of a section F3A that extends from the sitting position PA to a position Pα directly below the standing position PB, and a section F3B that extends from the position Pα directly below to the standing position PB directly above. The fourth trajectory F4 includes a section F4A extending from the sitting position PA, past the position Pα directly below the standing position PB, and further to a predetermined front end position Pβ in the forward direction DF, a section F4B extending linearly diagonally upward and forward from the predetermined front end position Pβ, and a section F4C extending from the upper end of the movement trajectory F4 to the standing position PB. The fourth trajectory F4 is a trajectory that corresponds to the natural movement, and the relationship between the fourth trajectory F4 and the natural movement will be described later.

[0024] FIG. 4 is a block diagram showing a functional configuration of a control system 50 related to the operation of the standing assist device 1. As shown in FIG. The standing assistance device 1 includes a drive unit 51, a user operation unit 52, an elbow support detection unit 54, a control unit 56, a user information input unit 58, and a display device 60. The driving unit 51 drives the shaft portion 12 to rotate and expand and contract, and includes a first actuator 51A and a second actuator 51B which are driving sources for the first shaft member 41 and the second shaft member 42, respectively. As shown in FIG. 1, the first actuator 51A and the second actuator 51B are disposed at the lower ends 41AD and 42AD of the first shaft member 41 and the second shaft member 42, respectively, thereby lowering the center of gravity of the standing-up assist device 1 and improving stability. The first actuator 51A and the second actuator 51B can be disposed at any position, such as near the lower ends 41AD and 42BD, as long as they are located on the side of the lower ends 41AD and 42AD of the first shaft member 41 and the second shaft member 42, respectively, and lower the center of gravity.

[0025] The user operation unit 52 is a portion operated by the user J to receive assistance for the standing up motion and assistance for the sitting down motion, and includes an operation detection device that receives the operation and outputs it to the control unit 56. In this embodiment, the operation detection device of the user operation unit 52 includes momentary switches, which are an example of an operation input device, for each operation input for receiving assistance for the standing up motion and for receiving assistance for the sitting down motion, and also includes a standing up instruction sensor 52A and a sitting down instruction sensor 52B that detect the operation input of each momentary switch. In this embodiment, both momentary switches are disposed on the support unit 14. Specifically, a momentary switch corresponding to assistance for the standing up motion is disposed on the right hand grip 16, and a momentary switch corresponding to assistance for the sitting down motion is disposed on the left hand grip 16.

[0026] The elbow rest detection unit 54 detects, based on the load applied to the elbow rest support member 33, whether user J is ready to receive assistance in standing up or sitting down by assuming a position with his / her elbow fully pressed against the elbow rest support member 33.It is equipped with a load sensor 54A arranged on the elbow rest support member 33 and outputs detection information to the control unit 56.

[0027] The control unit 56 controls the drive unit 51 in response to the operation of the user J on the user operation unit 52. Specifically, when a stand-up instruction is detected by the stand-up instruction sensor 52A, the control unit 56 controls the drive unit 51 so that the support unit 14 moves from the seated position PA to the standing position PB. Also, when a seated instruction is detected by the seated instruction sensor 52B, the control unit 56 controls the drive unit 51 so that the support unit 14 moves from the standing position PB to the seated position PA. However, when the control unit 56 determines, based on the detection information of the elbow rest detection unit 54, that a predetermined load is not applied to the elbow rest support member 33 and that the user J has not sufficiently pressed his / her elbow against the elbow rest support member 33, the control unit 56 does not drive the drive unit 51 even if the user operation unit 52 is operated. This prevents a situation in which the support part 14 moves when the user J is not in a position to receive assistance with standing up or sitting down, causing only the hand of the user J holding the grip part 16 to be pulled by the movement of the support part 14, and the torso part cannot keep up with the movement (for example, when assisting with standing up, the torso part remains on the side of the seat K).

[0028] The control unit 56 has a computer equipped with a processor such as a CPU or MPU, a memory unit 70 having a memory device such as a ROM or RAM, a storage device such as an HDD or SSD, and an input / output interface I / F unit 68 for connecting sensors, peripheral devices, etc., and realizes various functions by the processor executing computer programs stored in the memory device or storage device.

[0029] By executing programs stored in the memory unit 70 or the like, the CPU realizes the functions of a calculation unit 62 that performs various calculations, the functions of a judgment unit 64 that makes judgments in control, and the functions of a speed control unit 66 that controls the movement speed of the drive unit 51.

[0030] The standing up assist device 1 is provided with a display device 60 (see FIG. 1) that displays and presents various information to the user J, and a user information input unit 58 for inputting various information to the control unit 56. The display device 60 is a display device such as a liquid crystal panel or an organic EL panel. The user information input unit 58 is a touch panel screen provided on the surface of the display device 60. The user information input unit 58 and the display device 60 may be devices independent of the standing up assist device 1 itself and connected to the control unit 56 by wired or wireless communication means. The user information input unit 58 and the display device 60 may be a so-called smartphone or tablet PC fixed to the support unit 14 of the standing up assist device 1.

[0031] Here, in the standing up assistance device 1 of this embodiment, when assistance with the standing up and sitting down movements is instructed by the user J, the control unit 56 controls the drive units 51 (the first actuator 51A and the second actuator 51B, respectively) so that the support unit 14 moves along the fourth trajectory F4, regardless of the instruction, thereby assisting the user J to stand up or sit down with a movement that is close to a natural movement.

[0032] Figure 5 is a diagram showing the movement of a healthy person who does not need assistance when standing up and the correspondence with the fourth trajectory F4. Note that when a healthy person sits down, the movement roughly matches the movement when standing up rewound in time. As shown in the figure, the movement when standing up includes three phases, the first phase P1, the second phase P2, and the third phase P3, during the time when the able-bodied person moves from a seated state to a standing state. The first phase P1 is a phase (flexion phase) in which the able-bodied person lifts his / her hips off the seat K and bends his / her body so as to lean forward, shifting his / her center of gravity to the front DF. The second phase P2 is a phase (transition phase) in which the able-bodied person raises his / her upper body. The third phase P3 is a phase (extension phase) in which the able-bodied person extends his / her knees and legs.

[0033] On the other hand, the fourth trajectory F4 includes three sections F4A, F4B, and F4C, as shown in Figure 3, and as shown in Figure 5, section F4A (first section) corresponds to the movement of the first phase P1, and the two sections (second sections) of sections F4B and F4C correspond to the movements of the second phase P2 and the third phase P3. Specifically, as described above, the section F4A is a trajectory along which the support part 14 moves from the sitting position PA to a predetermined front end position Pβ in the forward DF beyond the position Pα directly below the standing position PB, and is a trajectory along which the support part 14 moves in accordance with the movement of the body of the user J when he / she bends forward in the first phase P1. In this embodiment, the front end position of the section F4A is set to a position where the first shaft member 41 is inclined toward the forward DF at a predetermined angle between about 10 degrees and about 20 degrees from the vertical direction. In addition, the two sections F4B and F4C are trajectories for moving the support part 14 from the predetermined front end position Pβ to the standing position PB, and are the trajectories along which the support part 14 moves in accordance with the movement of the user J's body when he or she raises his or her upper body and extends his or her knees and hips in the second phase P2 and the third phase P3.

[0034] In this way, by moving the support part 14 along the fourth trajectory F4, the user J can stand up and sit down with movements close to natural movements, and can stand up and sit down using his / her own strength appropriately without relying solely on assistance. This provides appropriate assistance to users who require a relatively light level of assistance.

[0035] 5, the contraction action of the second shaft member 42 during the standing up action transitions the inclination of the entire shaft portion 12 from the first phase P1 (seated state) to the second phase P2. This contraction speed is referred to as the first contraction speed. Next, the extension action of the first shaft member 41 transitions from the second phase P2 to the fourth phase P4 (standing state). This extension speed is referred to as the first extension speed. And the speed at which the support portion 14 moves during this series of steps from the first phase P1 to the fourth phase P4 when the user J stands up is referred to in this specification as the first movement speed. The control unit 56 changes the first moving speed in response to at least one of the physical information and the health information of the user J inputted from the user information input unit 58.

[0036] The contraction motion of the first shaft member 41 during the sitting down motion transitions from the fourth phase P4 to the second phase P2. This contraction speed is referred to as the second contraction speed. Next, the extension motion of the second shaft member 42 transitions from the second phase P2 to the first phase P1. This extension speed is referred to as the second extension speed. The speed at which the support part 14 moves during this series of motions from the fourth phase P4 to the first phase P1 when the user is sitting down is referred to in this specification as the second movement speed. The control unit 56 changes the second moving speed in accordance with at least one of the physical information and the health information of the user J inputted from the user information input unit 58. It is desirable for the second movement speed to be slower than the first movement speed. The second extension speed may also be slower than the first contraction speed. By making the second extension speed slower than the first contraction speed, the user J can sit down more slowly when sitting down. The first extension speed may also be slower than the second contraction speed. By avoiding a sudden change in speed when standing up, the user J can stand up more slowly. The control unit 56 may perform control to change the speed and trajectory of the assistive movement between the first and fourth phases in accordance with the user J's physical information and health condition.

[0037] Examples of the user information input unit 58 are shown in Figs. 6 and 7. First, a screen for inputting physical information of user J is displayed on the user information input unit 58 fixed to the upper side of the support unit 14 (see Fig. 6). The physical information is at least one of information regarding the user J's height, weight, or center of gravity position when standing up. The physical information may include information such as the sitting height and arm length. For example, Fig. 6 shows a screen on which the user J or his / her assistant can input the height and weight of the user J. For example, if the user J is heavy, it may be a heavy burden for the user J to stand up by himself / herself, so it is considered that the control unit 56 performs control to slow down the speed of the assisting action.

[0038] The user information input unit 58 may accept absolute values ​​of height and weight, or may select from broad categories such as "high" and "low" or "heavy" and "light." Alternatively, a method may be adopted in which a value that applies to user J is selected from a table with increments of 10 cm for height and 5 kg for weight. A format may also be used in which an average height, for example 165 cm for a man, is used as a base, with a distinction made between plus and minus from this. Also, a format may be used in which a BMI (Body Mass Index) value is input instead of weight itself. Regarding the center of gravity when standing up, the user can select "front" or "back," or input whether or not they use a cane when walking normally. For those who use a cane, the center of gravity when standing up can be set to "front."

[0039] The method for user J to input information into user information input unit 58 may be a method in which an identification number linked to user J is input. In other words, for example, the identification number of user J and physical information may be linked and stored in advance in storage unit 70 of control unit 56, and when user J inputs the identification number into user information input unit 58, the physical information may be called up from storage unit 70.

[0040] 7 shows an example of an input screen on which user J inputs health information into user information input unit 58. Health information is information relating to the condition of a specific part of the body of user J. User J or his / her assistant inputs, into user information input unit 58, whether or not each part of the body is functioning to its full potential. The specific part of the body of user J includes at least one of the lower back and knees. When the condition of the knees or lower back, which are considered to have a large effect on the standing-up motion, is such that, for example, there is no problem with the knees but there is pain in the lower back, the user J inputs his / her health condition as shown in Fig. 7. Of course, the health condition may also be stored in association with the identification number of the user J, and the health information may be called up from the storage unit 70 when the user J inputs the identification number into the user information input unit 58.

[0041] FIG. 8 shows a flow chart for explaining the assistance of the standing up motion in the standing up assistance device 1 according to the first embodiment. The control unit 56 causes the display device 60 to display a screen for prompting the input of physical information about the user J (step SA1). Here, the user J or his / her assistant may be able to input the identification number of the user J. If the determination unit 64 determines that the physical information has been input (step SA2: YES), the control unit 56 displays a screen for prompting the input of health information on the display device 60 (step SA3). If the physical information is not input even after a certain period of time has elapsed, the process returns to step SA1. Now, if the determination unit 64 determines that the health information has been input (step SA4: YES), the control unit 56 changes the moving speed of the support unit 14 and the shaft unit 12 based on at least one of the input physical information and health information (step SA5). Specifically, the calculation unit 62 changes at least one of the first speed and the second speed for moving from the first phase P1 to the fourth phase P4 based on at least one of the physical information and health information (step SA5). If the determination unit 64 determines that the health information has not been input (step SA4: NO), the process returns to step SA3. Now, if the control unit 56 receives a signal indicating a stand-up instruction from the stand-up instruction sensor 52A (step SA6: YES), the standing-up assistance device 1 starts a stand-up assistance operation for the user J (step SA7). If the control unit 56 does not receive a signal indicating a stand-up instruction from the stand-up instruction sensor 52A (step SA6: NO), the standing-up assistance device 1 does not operate and enters a waiting state.

[0042] FIG. 9 shows an example of how the control unit 56 controls the speed of the standing-up assistance device 1 to perform a standing-up assistance operation based on the input physical information and health information. For a user J who is heavy, standing up is difficult. Therefore, the control unit 56 may slow down the movement speed (first movement speed). On the other hand, if the weight of the user J is lighter than the standard, the speed control unit 66 may speed up the first movement speed. In addition, regarding the health condition of the user J, if the knees or waist of the user J are poor, the speed control unit 66 may slow down the first movement speed to avoid sudden movements. Of course, the above-mentioned first contraction speed and first extension speed may be controlled independently. For example, it is possible to control the contraction speed to be slow at the beginning of the first contraction speed, gradually increase the speed, and slow down the contraction speed again at the end of the contraction operation. The same applies to the first extension speed.

[0043] 10 shows a flow chart for explaining assistance of the sitting action when the user J sits on the seat K. If the control unit 56 receives a signal indicating a sitting instruction from the sitting instruction sensor 52B (step SB1: YES), the second movement speed is applied in the speed control unit 66 (step SB2). Then, based on the control of the speed control unit 66, the standing assistance device 1 starts the sitting assistance action for the user J (step SB3). If the control unit 56 does not receive a signal indicating a sitting instruction, the process returns to step SB1.

[0044] 11 shows an example of the moving speed at which the control unit 56 performs seating assistance control of the standing assistance device 1 based on the physical information and health information input to the user information input unit 58. If the user J is heavy, the speed control unit 66 may slow down the second moving speed since the device cannot support a sudden weight shift. Conversely, for a person with a light weight, the speed control unit 66 may perform assistance control at a standard speed or assistance control faster than the standard speed. Furthermore, when the health information is input to the user information input unit 58 that the condition of the knees or waist is poor, it is considered that the bending and stretching exercise is difficult for the user J, and therefore the second moving speed may be slowed down. Conversely, when the health information is input to the user information input unit 58 that the condition of the knees or waist is good, it is considered to speed up the second moving speed from the viewpoint of rehabilitation. Of course, the above-mentioned second contraction speed and second extension speed may be controlled independently. For example, it is also possible to control the contraction speed to be slow at the beginning of the second contraction speed, gradually increase the speed, and slow the contraction speed again at the end of the contraction motion. The same applies to the second extension speed.

[0045] [Second embodiment] 12 is a block diagram showing the functional configuration of a control system 150 of the standing assist device 1 according to the second embodiment. The second embodiment differs from the first embodiment in that the control unit 56 has a track control unit 166 for controlling the track along which the support unit 14 and the like move, but the other configurations are the same. Therefore, a detailed description of the configuration will be omitted.

[0046] Fig. 13 shows the change in the assist operation according to the physical information of user J. A user J1 with a large build is shown by a solid line, and a user J2 with a small build is shown by a dotted line. The solid arrow shows an example of a trajectory F5 of the standing up assist operation performed by the standing up assist device 1 when the physical information input is that the user is tall, has a forward center of gravity, and is heavy. Note that in Fig. 13, the dotted arrow shows an example of a trajectory F4 when assisting a person when the input is that the user is short, has a normal center of gravity, and is light in weight. If the height, weight, or center of gravity of user J is different, the position and movement trajectory of support unit 14 suitable for supporting the weight with the arms when standing up will be different. Control unit 56 changes the trajectory of support unit 14 when standing up or sitting down, at least either, according to information on the condition of a specific part of the body of user J input from user information input unit 58.

[0047] FIG. 14 shows a flow chart for explaining the assistance of the standing up motion in the standing up assistance device 1 according to the second embodiment. The control unit 56 displays a screen on the display device 60 to prompt the user J to input physical information (step SC1). Here, the user J or his / her assistant may be able to input the user J's identification number. If the determination unit 64 determines that the physical information has been input (step SC2: YES), the control unit 56 displays a screen on the display device 60 to prompt the user J to input health information (step SC3). If the physical information has not been input, the process returns to step SC1. If the determination unit 64 determines that the health information has been input (step SC4: YES), the control unit 56 changes the trajectory of the support unit and the shaft unit from the first phase P1 to the fourth phase P4 based on at least one of the input physical information and the health information (step SC5). If the determination unit 64 determines that the health information has not been input (step SC4: NO), the process returns to step SC3. Now, if the control unit 56 receives a signal indicating a stand-up instruction from the stand-up instruction sensor 52A (step SC6: YES), the standing-up assistance device 1 starts the standing-up assistance operation for the user J (step SC7). If the control unit 56 does not receive a signal indicating a stand-up instruction from the stand-up instruction sensor 52A (step SC6: NO), the standing-up assistance device 1 enters a waiting state without operating.

[0048] 15 shows an example of the position and trajectory of the support part as a result of the standing up assistance control performed by the control unit 56 of the standing up assistance device 1 in accordance with the input physical information and health information. When the user J is tall (for example, in the case of the solid line in FIG. 13), the control unit 56 performs control to increase the height of the support part 14. When the user J is short (for example, in the case of the dotted line in FIG. 13), the control unit 56 performs control to decrease the height of the support part 14. For people who normally use a cane or have a bent back, the position of the support part when standing up is controlled to be closer to the front. For people with a curved back, the position of the support part when standing up is controlled to be closer to the back. When the user information input unit 58 receives information indicating that the user J is heavy, it is possible to tilt the support unit 14 to a deep angle that maintains a forward leaning posture so that the user J can easily support the weight with the arms in order to reduce the burden on the legs and lower back when standing up. Specifically, it is possible to increase the contraction of the second shaft member 42. When the health information indicates that the user J has pain in the knees, the user J may be able to stand up more easily if he or she leans forward deeply. In such a case, the control unit 56 may tilt the support unit 14 to a deeper angle so that the user J can support the forward leaning posture. Specifically, the control unit 56 increases the contraction of the second shaft member 42. If it is input that there is pain in the lower back, it is likely that user J finds it difficult to straighten his or her back because of the discomfort of being in a half-squat position, and in that case the control unit 56 controls the position of the support unit 14 to be higher.

[0049] 16 shows a flowchart when user J sits down on seat K. If the control unit 56 receives a signal indicating a sitting instruction from the sitting instruction sensor 52B (step SD1: YES), the trajectory control unit 166 applies a changed trajectory determined by the positions of the support unit 14 and the shaft unit 12 (step SD2). Then, under the control of the speed control unit 66, the standing assistance device 1 starts a sitting assistance operation for user J (step SD3). If the control unit 56 does not receive a signal indicating a sitting instruction, the process returns to step SD1.

[0050] 17 shows an example of what trajectory and support position the control unit 56 controls to assist the standing up assist device 1 in seating assistance control based on the input physical information and health information. If the user J is tall, it is possible to perform an assistance operation to set the trajectory to keep the position of the support unit 14 high. If the user J is short, an assistance operation is performed to keep the position of the support unit low when seated according to the user's height. Regarding health condition, if user J has poor knee or lower back conditions, user J may have difficulty bending and straightening his / her knees, so the trajectory control unit 166 controls the movement of support unit 14 to a trajectory that keeps the position of support unit 14 low.

[0051] [Configuration supported by the above embodiment] The above embodiment is a specific example of the following configuration.

[0052] (Configuration 1) A standing-up assistance device comprising a base, an axis portion having one end connected to the base and capable of at least moving up and down, a support portion provided at the other end of the axis portion, a control portion controlling the movement of the axis portion, and a user information input portion into which information of a user is input, wherein when the speed at which the support portion moves when the user stands up is set to a first moving speed, the control portion changes the first moving speed in response to at least one of the user's physical information and health information input from the user information input portion. According to this configuration, it is possible to provide assistance for standing up that is suited to the physique and physical condition of the user, which has the effect of helping the user become independent.

[0053] (Configuration 2) The standing assistance device described in Configuration 1, characterized in that when the speed at which the support part moves when the user is seated is set to a second moving speed, the control part changes the second moving speed depending on at least one of the user's physical information and health information input from the user information input part. According to this configuration, it is possible to provide assistance for standing up and sitting down according to the physique and physical condition of the user, which is advantageous in helping the user to become independent.

[0054] (Configuration 3) The standing assist device according to configuration 2, wherein the second moving speed is slower than the first moving speed. Since the sitting down motion involves sitting on a chair or the like behind the user and out of the user's field of vision, a change in body position at the same speed as a standing up motion may be frightening for the user. This configuration has the effect of enabling the sitting down motion to be performed at a speed that is less frightening for the user.

[0055] (Configuration 4) The standing assistance device according to any one of configurations 1 to 3, wherein the health information is information regarding the condition of a specific part of the user's body. There are various possible reasons why a user may have difficulty standing up. With this configuration, it is possible to perform an assisting motion at a speed and trajectory that matches the condition of each part of the user's body. This has the effect of being useful for assisting users.

[0056] (Configuration 5) The standing assistance device according to configuration 4, wherein the predetermined part of the user's body includes at least one of a lower back and a knee. There are many cases where back pain or knee pain can prevent people from standing up or sitting down. This type of configuration has the effect of allowing assistance at a speed and trajectory appropriate to the part of the body that is injured.

[0057] (Configuration 6) A standing assistance device described in any one of configurations 1 to 5, characterized in that the physical information is at least one of information regarding the user's height, weight, and center of gravity position when standing up. The posture that should be aimed for when supporting the user and the appropriate speed and trajectory of assistance vary depending on the user's usual posture, height, weight, etc. This configuration has the effect of providing assistance that meets the individual circumstances of the user.

[0058] (Configuration 7) A standing assistance device described in any of configurations 1 to 6, characterized in that the control unit changes the trajectory of the support unit when standing up and / or sitting down in accordance with information regarding the condition of a specific part of the user's body input from the user information input unit. According to such a configuration, it is possible to assist the user in standing up or sitting down according to his / her physical handicaps, which has the effect of providing assistance according to the individual circumstances of the user.

[0059] The above-described embodiment is an example of one aspect of the present invention, and any modification and application are possible without departing from the spirit of the present invention. Of course, the first and second embodiments may be combined.

[0060] In the above-described embodiment, the shaft portion 12 may include three or more shaft members arranged in the front-rear direction. Furthermore, the shaft portion 12 may include shaft members arranged in the left-right direction in addition to the shaft members arranged in the front-rear direction.

[0061] In the above-described embodiment, a load sensor may be provided in the chest support part 36 to prevent the body of the user J from being pressed by the chest support part 36 during a sitting down motion. In this case, when the load sensor detects a load on the chest support part 36 due to contact with the user J while the control part 56 is controlling the drive part 51 to assist the sitting down motion, the control part 56 stops driving by the drive part 51.

[0062] In the above-described embodiments, unless otherwise specified, the horizontal, vertical, and other directions, various numerical values, shapes, and materials include a range in which the same action and effect as those directions, numerical values, shapes, and materials are achieved (a so-called equivalent range). [Explanation of symbols]

[0063] 1 Standing aid 10 base 12 Shaft 14 Support part 56 Control section 58 User information input section J User

Claims

1. A base and A shaft portion having one end connected to the base portion and capable of moving at least up and down; A support portion provided at the other end of the shaft portion; A control unit for controlling the movement of the shaft portion; a user information input section for inputting user information; In a standing assistance device comprising: When a speed at which the support part moves when the user stands up is a first moving speed, The control unit changes the first moving speed in response to at least one of physical information and health information of the user inputted from the user information input unit; The support portion has a pair of elbow rest portions for supporting the elbows of the user, The control unit does not move the support unit when a predetermined load is not applied to the pair of elbow rest units. A standing-up aid characterized by:

2. When the speed at which the support part moves when the user is seated is a second moving speed, The control unit changes the second moving speed in response to at least one of physical information and health information of the user inputted from the user information input unit.

2. The standing aid according to claim 1 .

3. 3. The standing assist device according to claim 2, wherein the second moving speed is slower than the first moving speed.

4. 4. The standing assistance device according to claim 1, wherein the health information is information regarding the condition of a predetermined part of the body of the user.

5. 5. The standing assistance device according to claim 4, wherein the predetermined part of the user's body includes at least one of a lower back and a knee.

6. 6. The standing assistance device according to claim 1, wherein the physical information is at least one of information regarding the user's height, weight, and center of gravity position when standing up.

7. A standing assistance device as described in any one of claims 1 to 6, characterized in that the control unit changes the trajectory of the support unit when standing up and / or sitting down, depending on information regarding the condition of a specific part of the user's body input from the user information input unit.

Images