Erecting support device

Abstract

To promote natural forward tilting of an upper body of a user in a bending phase of standing motion while enhancing stability of a posture of the user.SOLUTION: A standing assist device 1 comprises: a strut 6 provided so as to be capable of being elevated / lowered; and an arm supporting part 7 provided on the strut 6 in order to support both arms of a user U. The arm supporting part 7 comprises: a first supporting part 68 extending toward a frontward direction in order to support one arm of the user U; and a second supporting part 69 extending toward a lateral direction from the first supporting part 68 in order to support the other arm of the user U.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a standing assistance device for assisting a user in a standing motion. [Background Art]

[0002] In recent years, research and development related to the training or assistance of human motions has attracted attention. In particular, research and development for acquiring data related to human standing motions and assisting human standing motions has been actively conducted.

[0003] For example, Patent Document 1 discloses a standing assistance device that supports a part of the body of a person receiving care and assists the person in standing up and sitting down. [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Unexamined Patent Publication No. Hei 9-327485 [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] Generally, a human standing motion is composed of a flexion phase in which the upper body is tilted forward, a hip-off phase in which the buttocks are separated from the seat, and an extension phase in which both legs are extended while raising the upper body. The standing assistance device of Patent Document 1 supports both sides of the person receiving care with a U-shaped handle to assist the standing motion, so there is a risk that it cannot promote the natural forward tilting of the upper body of the person receiving care during the flexion phase of the standing motion.

[0006] In view of the above background, an object of the present invention is to provide a standing assistance device capable of promoting natural forward tilting of a user's upper body in the flexion phase of a standing motion while improving the stability of the user's posture. Furthermore, it is an object to contribute to research and development related to the training or assistance of human motions. [Means for Solving the Problem]

[0007] To solve the above problems, one aspect of the present invention provides a standing assist device (1) for assisting a user (U) in standing up, comprising a vertically movable support column (6) and an arm support portion (7) provided on the support column to support the user's arms, wherein the arm support portion comprises a first support portion (68) extending forward to support one of the user's arms and a second support portion (69) extending laterally from the first support portion to support the user's other arm.

[0008] In this embodiment, the user places both arms on the first and second support parts, causing the user's upper body to lean forward and completing the flexion phase of the standing motion. In this way, a natural forward lean of the user's upper body can be encouraged during the flexion phase of the standing motion, thus providing appropriate assistance for standing. Furthermore, the first support part supports one of the user's arms vertically, and the second support part supports the other arm horizontally. In this way, the first and second support parts support both of the user's arms in both vertical and horizontal directions, thereby increasing the stability of the user's posture.

[0009] In the above embodiment, the center line (L1) of the first support portion and the center line (L2) of the second support portion may be orthogonal in a plan view.

[0010] According to this embodiment, the first support part and the second support part can be positioned at an appropriate angle to each other. Therefore, the user's upper body can be tilted forward at an appropriate angle during the flexion phase of the standing motion.

[0011] In the above embodiment, at least a portion of the second support portion may be rotatably provided with respect to the first support portion between a usage position extending laterally and a non-usage position extending forward.

[0012] According to this embodiment, after the user has completed the standing motion, by rotating at least a portion of the second support from the usage position to the non-usage position, it is possible to prevent the second support, which extends laterally, from obstructing the user's forward movement.

[0013] In the above embodiment, the first support portion may include a first extension portion (71) extending in the front-rear direction, a first grip (72) provided at the front end of the first extension portion, and a first elbow rest (73) provided at the rear end of the first extension portion, while the second support portion may include a second extension portion (81) extending in the left-right direction, a second grip (82) provided at the end of the second extension portion on the side of the first support portion, and a second elbow rest (83) provided at the end of the second extension portion opposite to the first support portion.

[0014] According to this embodiment, the first support part can stably support the forearm of one of the user's arms, and the second support part can stably support the forearm of the user's other arm. Therefore, the stability of the user's posture can be further enhanced.

[0015] In the above embodiment, the second grip may be located behind the first grip.

[0016] According to this embodiment, the first support and the second support can be positioned in an appropriate positional relationship. Therefore, the user's upper body can be tilted forward at an appropriate angle during the flexion phase of the standing motion.

[0017] In the above embodiment, the first grip may be inclined forward toward upward, and the second grip may be inclined toward the first support portion toward upward.

[0018] In this configuration, the user's hands can more easily grip the first and second grips. Therefore, the stability of the user's posture can be further enhanced.

[0019] In the above embodiment, the first grip may be provided with an operating part (74) that receives the raising and lowering operations of the support column.

[0020] According to this aspect, the user can raise and lower the support column without releasing their hand from the first grip. Therefore, the stability of the user's posture can be further improved.

[0021] In the above aspect, the first elbow rest may form an upward first recess (79) that is open at the front side and closed at the rear side, and the second elbow rest may form an upward second recess (89) that is open at both the left and right sides.

[0022] According to this aspect, since the rear side of the first recess formed by the first elbow rest is closed, it is possible to suppress one elbow of the user placed on the first elbow rest from shifting backward, and the force generated by the movement of the first support portion can be effectively transmitted to one elbow of the user and thus to the arm. Furthermore, since both the left and right sides of the second recess formed by the second elbow rest are open, the user can easily place the other elbow on the second elbow rest.

[0023] In the above aspect, the front portion of the first extension portion may be attached to the upper end of the support column, and the second extension portion may extend laterally from the front portion of the first extension portion.

[0024] According to this aspect, the arm support portion can be stably supported by the support column. Therefore, the stability of the user's posture can be further improved. Effects of the Invention

[0025] According to the above aspects, it is possible to provide a standing assistance device that can promote natural forward leaning of the user's upper body in the flexion phase of the standing motion while improving the stability of the user's posture. Brief Description of the Drawings

[0026] [Figure 1] A perspective view showing a state before the user's standing motion is started in the standing assistance device according to an embodiment of the present invention [Figure 2]A side view showing the state before the arm support portion moves forward in a standing assist device according to one embodiment of the present invention. [Figure 3] A plan view showing the state before the arm support portion moves forward in a standing assist device according to one embodiment of the present invention. [Figure 4] An explanatory diagram showing the human motion of standing up. [Figure 5] A perspective view showing the state in which the bending phase of the user's standing motion has been completed in a standing assist device according to one embodiment of the present invention. [Figure 6] A side view showing the state in which the arm support portion has moved forward in a standing assist device according to one embodiment of the present invention. [Figure 7] A perspective view showing the state in which the user's standing-up assist device according to one embodiment of the present invention has completed the lifting phase of the standing-up motion. [Figure 8] A side view showing the state in which the arm support portion is raised in a standing assist device according to one embodiment of the present invention. [Figure 9] A perspective view showing the state in which the extension phase of the user's standing motion has been completed in a standing assist device according to one embodiment of the present invention. [Figure 10] A perspective view showing a standing assistance device according to one embodiment of the present invention, in which the user has rotated the rotational range of the second support part from the usage position to the non-usage position. [Figure 11] A plan view showing the state before the arm support portion moves forward in a standing assist device according to another embodiment of the present invention. [Modes for carrying out the invention]

[0027] <Standing aid device 1> The following describes a standing assistance device 1 according to one embodiment of the present invention, with reference to the drawings. Hereinafter, terms indicating directions such as up and down, front and back, left and right will be used based on the direction as seen from the user U using the standing assistance device 1. The arrows Fr appropriately attached to each figure indicate the front of the standing assistance device 1.

[0028] The standing assistance device 1 is a device for assisting the standing and sitting movements of user U. The standing movement of user U refers to the movement of user U, who is seated on a seat S (for example, a bed or toilet seat), to stand up. The sitting movement of user U refers to the movement of user U, who is standing, to sit down on the seat S. The standing assistance device 1 is fixed to the right side of a rectangular plate P laid on the floor F.

[0029] Referring to Figures 1 to 3, the standing assistance device 1 comprises a device body 3, a link 4, an actuator 5, a support column 6, and an arm support section 7. The components of the standing assistance device 1 will be described below, using the state shown in Figures 1 to 3 (the state in which the support column 6 is at its lowest point) as a reference.

[0030] <Device body 3> Referring to Figures 1 to 3, the device body 3 is box-shaped. Note that in Figure 2, only one side wall 31 of the device body 3 is shown in order to display the inside of the box-shaped device body 3.

[0031] A guide groove 32 (an example of a guide) is provided in the side wall portion 31 of the main body of the device 3. The guide groove 32 extends linearly in a direction that slopes forward toward upward. The upper wall portion 33 of the main body of the device 3 slopes downward toward rearward. A through hole 34 is provided in the upper wall portion 33 of the main body of the device 3. The through hole 34 is covered by a cover (not shown).

[0032] <Link 4> Referring to Figure 2, link 4 is housed in the lower part of the device body 3. Link 4 is rotatably supported on the side wall 31 of the device body 3 and is configured to rotate about a rotation axis X.

[0033] Link 4 has a first arm portion 41 that extends linearly forward and upward from the rotation axis X (an example of a first direction), and a second arm portion 42 that extends linearly rearward and downward from the rotation axis X (an example of a second direction). The first arm portion 41 and the second arm portion 42 extend in opposite directions from the rotation axis X. The distance from the tip of the second arm portion 42 to the rotation axis X is longer than the distance from the tip of the first arm portion 41 to the rotation axis X.

[0034] <Actuator 5> Referring to Figure 2, the actuator 5 is housed in the front part of the device body 3. The actuator 5 is a device that applies rotational driving force to the link 4. The actuator 5 is a linear actuator composed of an electric cylinder mechanism. The actuator 5 comprises a base member 51 that is pivotably supported on the side wall portion 31 of the device body 3, and a rod member 52 that is vertically movable and supported on the base member 51.

[0035] The base member 51 is configured to pivot about a pivot axis Y provided at its upper end. An electric motor 53 is housed in the base member 51. The electric motor 53 is configured to rotate in both forward and reverse directions.

[0036] The rod member 52 is connected to the electric motor 53 via a ball screw mechanism (not shown) and is configured to move up and down in accordance with the forward and reverse rotation of the electric motor 53. The tip (lower end) of the rod member 52 is rotatably connected to the tip of the first arm portion 41 of the link 4 via a first coupling shaft Z1.

[0037] <Strut 6> Referring to Figures 1 and 2, the support column 6 extends linearly in the vertical direction. The support column 6 passes through a through hole 34 provided in the upper wall portion 33 of the device body 3. The upper end of the support column 6 is exposed to the outside of the device body 3. The lower end of the support column 6 is housed in the device body 3. The lower end of the support column 6 is rotatably connected to the tip of the second arm portion 42 of the link 4 via the second connecting shaft Z2.

[0038] An engaging projection 61 (an example of an engaging part) is provided in the intermediate portion between the upper and lower ends of the support column 6. The engaging projection 61 is rotatably engaged with the guide groove 32 of the device body 3. As a result, the support column 6 is supported by the device body 3 so as to be able to move up and down, and the support column 6 is able to rotate around the engaging projection 61.

[0039] <Arm support section 7> Referring to Figures 1 to 3, the arm support section 7 is provided at the upper end of the support column 6 to support both arms of user U. The arm support section 7 includes a first support section 68 extending forward to support user U's right arm, and a second support section 69 extending to the left (one example in the lateral direction) from the front of the first support section 68 to support user U's left arm. The left-right center line L1 of the first support section 68 and the front-rear center line L2 of the second support section 69 are perpendicular in a plan view.

[0040] The first support portion 68 includes a first extension portion 71 extending in the front-rear direction, a first grip 72 provided on the upper surface of the front end of the first extension portion 71, and a first elbow rest 73 provided on the upper surface of the rear end of the first extension portion 71.

[0041] The front portion of the first extension 71 is attached to the upper end of the support column 6. Thus, the arm support portion 7 is supported by the support column 6. The first extension 71 may be provided so as to be extendable and retractable in the front-rear direction.

[0042] The first grip 72 is the part that the user U holds with their right hand. The first grip 72 is inclined forward and upward. An operating part 74 is provided at the tip of the first grip 72 to receive commands for raising and lowering the support column 6.

[0043] The first elbow rest 73 is the part on which the user U rests their right elbow. The first elbow rest 73 is positioned behind the main body of the device 3. The first elbow rest 73 is composed of a first bottom wall portion 76 extending in the front-rear direction, left and right wall portions 77 extending upward from both the left and right sides of the first bottom wall portion 76, and a rear wall portion 78 extending upward from the rear of the first bottom wall portion 76 to connect the rear ends of the left and right wall portions 77. With this configuration, the first elbow rest 73 forms an upward-facing first recess 79 that is open at the front and closed at the rear.

[0044] The second support portion 69 includes a second extension portion 81 extending in the left-right direction, a second grip 82 provided on the upper surface of the right end portion 81 (the end on the first support portion 68 side), and a second elbow rest 83 provided on the upper surface of the left end portion 81 (the end opposite to the first support portion 68).

[0045] The second extension 81 extends from the front of the first extension 71 toward the left (lateral direction). The second extension 81 may be provided so as to be extendable and retractable in the left-right direction. The second extension 81 includes a pivot point 84 provided integrally with the first extension 71 and a movable part 85 rotatably supported by the pivot point 84.

[0046] The second grip 82 is the part that user U holds with their left hand. The second grip 82 is attached to the pivot point 84 of the second extension 81. The second grip 82 is inclined upwards and to the right (towards the first support 68). The second grip 82 is located behind the first grip 72.

[0047] The second elbow rest 83 is the part on which the user U rests their left elbow. The second elbow rest 83 is fixed to the left end of the movable part 85 of the second extension 81 (the end opposite to the first support part 68). The second elbow rest 83 is composed of a second bottom wall 87 that extends in the left-right direction and front and rear wall parts 88 that extend upward from both the front and rear sides of the second bottom wall 87. With this configuration, the second elbow rest 83 forms an upward-facing second recess 89 that is open on both the left and right sides.

[0048] Hereinafter, the pivot points 84 of the second grip 82 and the second extension 81 will be referred to as the "fixed regions 82 and 84 of the second support 69," and the movable parts 85 of the second elbow rest 83 and the second extension 81 will be referred to as the "rotating regions 83 and 85 of the second support 69." The rotating regions 83 and 85 of the second support 69 are rotatably provided with respect to the fixed regions 82 and 84 of the first support 68 and the second support 69, between a usage position extending laterally (see solid line in Figure 3) and a non-usage position extending forward (see dashed line in Figure 3).

[0049] <Human standing motion> Next, I will explain the human motion of standing up.

[0050] Referring to Figure 4, generally, the human standing motion consists of three phases: the flexion phase, the lifting phase, and the extension phase. The flexion phase, the lifting phase, and the extension phase can be rephrased as the first, second, and third stages of the human standing motion, respectively.

[0051] First, in the flexion phase, the person shifts their center of gravity from their buttocks to their feet by leaning their upper body forward while remaining seated on the seat. Next, in the lift-off phase, the person lifts their buttocks away from the seat. Finally, in the extension phase, the person straightens their legs while raising their upper body. This completes the standing motion.

[0052] <Assistance with standing up> Next, we will explain how the standing assistance device 1 assists user U in standing up.

[0053] Referring to Figures 1 and 2, when user U is seated on seat S, the arm support portion 7 is positioned above and behind the main body 3 of the device. The engaging projection 61 is engaged with the lower end of the guide groove 32. The rotational regions 83 and 85 of the second support portion 69 are in the operating position.

[0054] Referring to Figure 5, User U first places their right arm on the first support part 68 of the arm support part 7 and grasps the first grip 72 with their right hand while remaining seated on the seat S, and then places their left arm on the second support part 69 of the arm support part 7 and grasps the second grip 82 with their left hand. As a result, User U's upper body leans forward, and User U's center of gravity shifts from their buttocks to both feet. That is, the flexion phase of User U's standing motion is completed.

[0055] User U then operates the support column 6 upward using the operating section 74 of the first grip 72. In response, the electric motor 53 rotates forward, and the rod member 52, which is connected to the electric motor 53 via a ball screw mechanism (not shown), descends relative to the base member 51.

[0056] Referring to Figure 6, when the rod member 52 descends relative to the base member 51 in this manner, the base member 51 swings forward around the pivot axis Y, and the link 4 rotates in the first rotational direction (counterclockwise in Figure 6) around the rotation axis X. Accordingly, the support column 6 rotates in the above first rotational direction around the engaging projection 61. At the same time, the support column 6 rises while moving the engaging projection 61 along the guide groove 32. Accordingly, the arm support portion 7 moves forward.

[0057] Referring to Figure 7, as the arm support 7 moves forward as described above, the force from the movement of the arm support 7 causes the center of gravity of user U, who has both arms on the arm support 7, to move forward, and user U's buttocks move away from the seat S. In other words, the lift-off phase of user U's standing motion is completed.

[0058] Referring to Figure 8, as the rod member 52 descends further relative to the base member 51, the base member 51 swings backward around the pivot axis Y, and the link 4 rotates further in the first rotational direction around the rotation axis X. Accordingly, the support column 6 rotates around the engaging projection 61 in a second rotational direction opposite to the first rotational direction (clockwise in Figure 6). At the same time, the support column 6 rises further, moving the engaging projection 61 along the guide groove 32. Accordingly, the arm support portion 7 rises.

[0059] Referring to Figure 9, when the arm support 7 rises in this manner, the upper body of user U, who has both arms placed on the arm support 7, rises, and as user U's upper body stands up, both of user U's legs extend. That is, the extension phase of user U's standing motion is completed, and user U stands up.

[0060] Referring to Figure 10, the user U then rotates the rotational regions 83 and 85 of the second support 69 from the usage position to the non-usage position. This allows the user U to move forward without being obstructed by the second support 69.

[0061] Furthermore, the standing assist device 1 can assist the user U's sitting motion by an action opposite to the above. That is, when user U lowers the support column 6 using the operating part 74 of the first grip 72, the electric motor 53 rotates in the reverse direction, the rod member 52 rises relative to the base member 51, and the link 4 rotates in the second rotational direction around the rotation axis X. Accordingly, the support column 6 descends while moving the engaging projection 61 along the guide groove 32, and the arm support part 7 moves backward after it has descended.

[0062] <Effects> In this embodiment, the arm support 7 includes a first support portion 68 extending forward to support the user U's right arm, and a second support portion 69 extending to the left (one example in the lateral direction) from the first support portion 68 to support the user U's left arm. Therefore, when the user U places both arms on the first and second support portions 68 and 69, the user U's upper body leans forward, completing the flexion phase of the standing motion. In this way, a natural forward lean of the user U's upper body can be promoted during the flexion phase of the standing motion, thus providing appropriate assistance for the standing motion. Furthermore, the first support portion 68 supports the user U's right arm in the vertical direction, and the second support portion 69 supports the user U's left arm in the lateral direction. In this way, the first and second support portions 68 and 69 support both of the user U's arms in both the vertical and lateral directions, thereby increasing the stability of the user U's posture.

[0063] In particular, the presence of the first support portion 68 extending forward allows the forward and upward forces generated by the arm support portion 7 during the standing motion to be easily transmitted to the user U's body through the user U's arm (right arm), effectively assisting the user U in standing up. Furthermore, the presence of the second support portion 69 extending to the left (one example being the lateral direction) facilitates a natural forward lean of the user U's upper body.

[0064] <Variation> In the above embodiment, the second grip 82 is located behind the first grip 72. Referring to Figure 11, in other embodiments, the second grip 82 may be located directly beside the first grip 72. Furthermore, in other embodiments, only one grip common to the first support portion 68 and the second support portion 69 may be provided on the arm support portion 7.

[0065] In the above embodiment, the second support portion 69 extends laterally from the front of the first support portion 68. Referring to Figure 11, in other embodiments, the second support portion 69 may extend laterally from the front end of the first support portion 68.

[0066] In the above embodiment, the first elbow rest 73 and the second elbow rest 83 have different shapes. Referring to Figure 11, in other embodiments, the first elbow rest 73 and the second elbow rest 83 may have similar shapes (for example, the shape of the first elbow rest 73 in the above embodiment).

[0067] In the above embodiment, the left-right center line L1 of the first support portion 68 and the front-rear center line L2 of the second support portion 69 are perpendicular in a plan view. In other embodiments, the left-right center line L1 of the first support portion 68 and the front-rear center line L2 of the second support portion 69 may be inclined relative to each other in a plan view.

[0068] In the above embodiment, the rotational regions 83 and 85 of the second support portion 69 are rotatably provided with respect to the first support portion 68 and the fixed regions 82 and 84 of the second support portion 69. In other embodiments, the entire second support portion 69 may be rotatably provided with respect to the first support portion 68.

[0069] In the above embodiment, the first grip 72 is inclined forward and upward, and the second grip 82 is inclined to the right and upward. In other embodiments, the first and second grips 72 and 82 may be inclined in directions other than those described above, or the first and second grips 72 and 82 may extend vertically.

[0070] In the above embodiment, the standing assist device 1 is fixed to the right side of the plate P. In other embodiments, a standing assist device 1 having a shape symmetrical to the standing assist device 1 of the above embodiment may be fixed to the left side of the plate P. In this case, the second support portion 69 will extend from the first support portion 68 to the right (one example in the lateral direction), and the user U will place their left arm on the first support portion 68 and their right arm on the second support portion 69.

[0071] In the above embodiment, the standing assistance device 1 is fixed to the plate P. In other embodiments, the standing assistance device 1 may be fixed directly to the floor F without going through the plate P. Furthermore, in other embodiments, the standing assistance device 1 may be movable relative to the floor F by attaching casters to the lower end of the device body 3.

[0072] In the above embodiment, the actuator 5 is configured by an electric cylinder mechanism. In other embodiments, the actuator 5 may be configured by a cylinder mechanism other than an electric cylinder mechanism (for example, a hydraulic cylinder mechanism), or by a mechanism other than a cylinder mechanism (for example, a cam mechanism).

[0073] In the above embodiment, the standing assistance device 1 assists both the user U's standing and sitting movements. In other embodiments, the standing assistance device 1 may only assist the user U's standing movement. In other words, the standing assistance device 1 only needs to assist the user U's standing movement.

[0074] This concludes the description of specific embodiments, but the present invention is not limited to the above embodiments or modifications and can be broadly modified and implemented. [Explanation of Symbols]

[0075] 1: Standing aid device 3: Main unit of the device 6: Strut 7: Arm support section 68: 1st support part 69:Second support part 71: 1st extension part 72: First grip 73: First elbow pad 74:Operation section 79: First recess 81:Second extension part 82: Second grip 83: Second elbow pad 89: Second recess L1: Centerline of the first support section L2: Centerline of the second support section U: User

Claims

1. A standing assistance device for assisting a user in standing up, A support column that can be raised and lowered, It comprises an arm support section provided on the support column to support the user's arms, The aforementioned arm support portion is A first support section extending forward to support one of the user's arms, A standing assistance device comprising: a second support portion extending laterally from the first support portion to support the user's other arm.

2. The standing assist device according to claim 1, wherein the center line of the first support portion and the center line of the second support portion are perpendicular in a plan view.

3. The standing assist device according to claim 1 or 2, wherein at least a portion of the second support portion is rotatably provided with respect to the first support portion between a usage position extending laterally and a non-usage position extending forward.

4. The first support portion is, A first extension extending in the front-rear direction, A first grip provided at the front end of the first extension, The first elbow rest is provided at the rear end of the first extension, The second support portion is, A second extension extending in the left-right direction, A second grip is provided at the end of the second extension on the first support side, The standing assist device according to claim 1 or 2, further comprising: a second elbow rest provided at the end of the second extension opposite to the first support portion.

5. The standing assist device according to claim 4, wherein the second grip is located behind the first grip.

6. The first grip is inclined forward and upward, The standing assist device according to claim 4, wherein the second grip is inclined upward toward the first support portion.

7. The standing assist device according to claim 4, wherein the first grip is provided with an operating unit for receiving the raising and lowering operations of the support column.

8. The first elbow rest has an upward-facing first recess that is open at the front and closed at the rear. The standing assist device according to claim 4, wherein the second elbow rest has an upward-facing second recess that is open on both the left and right sides.

9. The front part of the first extension is attached to the upper end of the support column, The standing assist device according to claim 4, wherein the second extension extends laterally from the front of the first extension.

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