Nursing care robot

Abstract

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

Description

Care robot

[0001] The present disclosure relates to a care robot.

[0002] There are industrial robots with multiple joint axes (see Patent Documents 1 and 2). Meanwhile, there is a demand for the development of nursing robots that can assist in nursing care for elderly people with dementia, for example, in nursing care facilities such as nursing homes.

[0003] Patent Document 1: JP 2011-101918 A, International Publication No. 2009 / 125648

[0004] In particular, when caring for elderly people with dementia, it is desirable for the care robot to be configured to be highly receptive to the recipient.

[0005] It is desirable to provide a care robot that can increase acceptance by the care recipient.

[0006] A nursing care robot according to one embodiment of the present disclosure comprises a head, a chest, arms attached to the chest, a movable neck disposed between the head and chest and having a neck joint axis, movable shoulders disposed between the chest and arms and having shoulder joint axes, and a movable waist disposed below the chest and having a waist joint axis, and when viewed from the side in a standard posture, the neck joint axis is offset backward from the shoulder joint axis, and the waist joint axis is offset forward from the shoulder joint axis.

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

[0008] 1 is an external view showing an example of the appearance of a nursing robot according to a first embodiment of the present disclosure as seen from the front and from the side. FIG. 2 is an external view showing an example of the appearance of a nursing robot according to the first embodiment as seen from the rear. FIG. 3 is an external view showing an example of the appearance of a nursing robot according to the first embodiment as seen from an oblique front direction. FIG. 4 is an external view showing an example of the appearance of a nursing robot according to the first embodiment as seen from an oblique rear direction. FIG. 5 is an external view showing an example of the appearance of a hand of a nursing robot according to the first embodiment. FIG. 6 is an explanatory diagram showing a comparison of the size of a nursing robot according to the first embodiment with the size of a general table. FIG. 7 is a front view showing dimensional parameters of each part of a nursing robot according to the first embodiment. FIG. 8 is a side view showing dimensional parameters of each part of a nursing robot according to the first embodiment. FIG. 9 is a front view showing an example of dimensions of each part of a nursing robot according to the first embodiment. FIG. 10 is a side view showing an example of dimensions of each part of a nursing robot according to the first embodiment. FIG. 11 is a configuration diagram showing an example of dimensions of each part of an arm of a nursing robot according to the first embodiment. FIG. 12 is an explanatory diagram showing an example of dimensions of each part of a nursing robot according to the first embodiment. 23 is an explanatory diagram showing an example of the movable range of the joint axis of each part of the nursing robot according to the first embodiment. FIG. 24 is an external view showing an example of the configuration of the eyeball part of the nursing robot according to the first embodiment. FIG. 25 is an external view showing an example of the configuration of the eyeball part of the nursing robot according to the first embodiment. FIG. 26 is a cross-sectional view showing an example of the configuration of the eyeball part of the nursing robot according to the first embodiment. FIG. 27 is a front view showing dimensional parameters of the eyeball part of the nursing robot according to the first embodiment. FIG. 28 is an exploded view showing an example of the internal configuration of the eyeball part of the nursing robot according to the first embodiment. FIG. 29 is a block diagram showing an outline of an example of the configuration of a robot operation system according to the first embodiment. FIG. 29 is an explanatory diagram showing an example of the approach position of a nursing robot operated by the robot operation system according to the first embodiment with respect to a target person. FIG. 29 is a flowchart showing an example of the processing operation of the "greeting calming / vital sign measurement application" by the robot operation system according to the first embodiment. FIG. 29 is a flowchart continuing from FIG.33 is a flowchart showing an example of an output process of evaluation data by the "greeting calming and vital sign measurement application" by the robot operation system according to the first embodiment. FIG. 34 is an explanatory diagram showing an example of an output result of evaluation data by the "greeting calming and vital sign measurement application" by the robot operation system according to the first embodiment. FIG. 35 is an explanatory diagram showing an example of creation of an implementation schedule of multiple applications by the robot operation system according to the first embodiment. FIG. 36 is an explanatory diagram showing an example of a care room that is a target of the robot operation system according to the first embodiment. FIG. 37 is a flowchart showing an example of implementation operations of multiple applications by the robot operation system according to the first embodiment. FIG. 38 is a flowchart showing an example of implementation operations of applications when another application interrupts while multiple applications are being executed by the robot operation system according to the first embodiment. FIG. 39 is an explanatory diagram showing an example of a setting interface for setting an application implementation schedule by the robot operation system according to the first embodiment. FIG. 39 is an explanatory diagram showing an example of a setting interface for making individual settings for a care recipient by the robot operation system according to the first embodiment. FIG. 39 is a flowchart showing an example of processing operations of an "individual recreation application" by the robot operation system according to the first embodiment. FIG. 39 is a flowchart continuing from FIG. 33. FIG. 39 is an explanatory diagram showing an example of a "monitoring and vital sign application" by the robot operation system according to the first embodiment. FIG. 1 is an explanatory diagram showing an example of a "tea distribution application" by the robot operation system according to the first embodiment. FIG. 2 is an explanatory diagram showing an example of a "snack distribution application" by the robot operation system according to the first embodiment. FIG. 3 is an explanatory diagram showing an example of a "wet towel distribution application" by the robot operation system according to the first embodiment. FIG. 4 is an explanatory diagram showing an example of an "excretion preparation application" by the robot operation system according to the first embodiment. FIG. 5 is an explanatory diagram showing an example of a "telephone assistance application" by the robot operation system according to the first embodiment. FIG. 6 is an explanatory diagram showing an example of a "storytelling application" by the robot operation system according to the first embodiment.1 is an explanatory diagram showing an example of an "excretion preparation application" by the robot operation system according to the first embodiment. FIG. 2 is an explanatory diagram showing an example of an "excretion cleanup application" by the robot operation system according to the first embodiment.

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The description will be made in the following order: 0. Comparative Example 1. First Embodiment 1.1 Configuration Example of Nursing Robot (FIGS. 1 to 20) 1.2 Actions and Effects of Nursing Robot 1.3 Configuration Example and Operation Example of Robot Operation System (FIGS. 21 to 43) 1.4 Actions and Effects of Robot Operation System 2. Other Embodiments

[0010] <0. Comparative Example> (Configuration Required for a Care Robot) In nursing homes and other care facilities, due to staff shortages, dementia patients may become unstable when staff are absent from the living room and the care recipient waits. Examples of instability include restlessness, loneliness, and anger. As a result of instability, there is a risk of injury when suddenly standing up, and daily rhythms may be disrupted. This can also lead to an increase in the level of care required, resulting in an increase in the amount of care required. This requires providing care in parallel with private room care, which is difficult to handle and places a heavy burden on staff. Existing passive monitoring sensors (fixed cameras, bed sensors, etc.) exist as monitoring devices in nursing facilities, but they can only report after-the-fact incidents such as falls, making it difficult to detect when the care recipient has become unstable. Many care recipients and their families dislike the use of surveillance camera-like sensors, resulting in low acceptance among care recipients.

[0011] There are examples of existing robots (single-arm mobile manipulators, etc.) being used for nursing care, but if they are too large or too small, they are poorly accepted by elderly people with dementia, and they do not recognize the robot as a conversation partner. If the joint axis arrangement or range of motion differs from that of a human, it is difficult to understand what the robot is doing, which can cause fear and prevent communication. Furthermore, tabletop-sized robots are small and therefore less frightening, but they cannot move autonomously between users, limiting their applications.

[0012] The joint axis configurations of typical industrial vertical articulated robot manipulators and humanoid robots are laid out on the same axis without offset, primarily with an emphasis on controllability and drive efficiency. While this improves the controllability and drive efficiency of the robot arm, the joint axes of an actual human body are not aligned on the same axis. Therefore, when attempting to create a human-like appearance to improve acceptability, the resulting form is unnatural and acceptance is reduced. Alternatively, by adopting a multi-degree-of-freedom robot configuration similar to the human cervical and lumbar vertebrae, for example, it is possible to achieve a natural posture even if all joint axes are aligned on the same axis. However, increasing the number of degrees of freedom makes the system unnecessarily complex, which is disadvantageous.

[0013] Therefore, it is desirable to develop a care robot that can increase the acceptability of the person receiving care.

[0014] (Regarding the operation of nursing care robots) As mentioned above, existing passive monitoring sensors have low acceptance among care recipients. Even if you speak to care recipients using sensors, cameras, and speakers installed in the living environment, many recipients have difficulty localizing the sound source, making communication difficult.

[0015] As a way to prevent care recipients from becoming unstable, some facilities have televisions installed in the living room for viewing, but the optimal viewing position varies, and differences in hearing and cognitive characteristics mean that not everyone is able to watch satisfactorily. Placing individual monitors on each desk is also an option, but this requires power management for each monitor and wiring installation costs, making it costly. Many nursing homes with unit-type private rooms operate shared living rooms in the facility as a space for daily living similar to that spent at home, and to maintain connections with others and society, so having everyone constantly watching individual monitors is not well received.

[0016] As mentioned above, robots such as single-arm mobile manipulators are not well accepted by elderly people with dementia, and they are not easily recognized as partners for conversation. Furthermore, tabletop-sized robots are small enough that they are less likely to scare people, but they cannot move autonomously between care recipients, limiting their applications. Even if one robot is provided for each person, the amount of work required for charging, moving, and system management is significant, resulting in high implementation costs.

[0017] Furthermore, robots in the form of mobile cart-type robots or industrial robot manipulators have different joint axis arrangements and ranges of motion than humans, and their movements are difficult to understand, which can frighten the recipient and make communication difficult.When approaching the destination, the robots mainly focus on motion planning that emphasizes time and distance efficiency, and do not take into consideration the acceptability of the recipient of care.

[0018] Vital sign measurement applications include the need to measure body temperature, heart rate, blood pressure, and oxygen saturation, and while there are a variety of measuring devices available, frequent measurements are difficult due to a lack of staff manpower, creating a high demand for automation. Body temperature measurement is particularly necessary as an infection prevention measure, so there is a high demand for automation.

[0019] While it is possible to automatically measure vital signs by attaching non-contact sensors to the walls or ceilings of rooms, it is difficult to sense at the optimal measurement position for each care recipient, resulting in poor measurement accuracy. Automatic measurement using wearable vital signs sensors is also possible, but the labor required to manage the power supply, attachment status, and system for each care recipient is significant, resulting in high costs. Many care recipients are self-conscious about accessories such as watches and accessories, and tend to take them off or bump into them, making this approach unacceptable. Small sensors disguised as clothing buttons are another solution, but the labor required to manage each one is similarly significant.

[0020] Therefore, it is desirable to develop a robot operation system that can increase the acceptability of care recipients to care robots.

[0021] 1. First embodiment 1.1 Example of configuration of nursing robot (Overview of nursing robot) FIG. 1 shows an example of the appearance of a nursing robot 100 according to a first embodiment of the present disclosure, as viewed from the front and side. A front external view is shown on the left side of FIG. 1 , and a side external view is shown on the right side. FIG. 2 shows an example of the appearance of the nursing robot 100 as viewed from the rear. FIG. 3 shows an example of the appearance of the nursing robot 100 as viewed from an oblique direction from the front. FIG. 4 shows an example of the appearance of the nursing robot 100 as viewed from an oblique direction from the rear. FIG. 5 shows an example of the appearance of a hand 73 of the nursing robot 100. FIG. 6 shows a comparison of the size of the nursing robot 100 with the size of a general table 500.

[0022] The care robot 100 according to the first embodiment includes a head 1 having eyeballs 11, a chest 2, and a base 3 supporting the chest 2. The lower part of the base 3 is, for example, an omnidirectional carriage, which allows the care robot 100 to move in all directions.

[0023] The care robot 100 also has arms 7 attached to the upper left and right sides of the chest 2. The care robot 100 also has a movable neck 4 provided between the head 1 and the chest 2 and having a neck joint axis 4C. The care robot 100 also has movable shoulders 5 provided between the chest 2 and the arms 7 and having shoulder joint axes 5C. The care robot 100 also has a movable waist 6 provided below the chest 2 and having a waist joint axis 6C.

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

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

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

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

[0028] The care robot 100 is operated by a robot operation system, which will be described later. As will be described later, the robot operation system according to the first embodiment of the present invention executes multiple applications to cause the care robot 100 to perform care actions in accordance with a scheduler created at the discretion of care staff at a care facility and individual robot operation settings for each care recipient. The applications include greeting and calming the care recipient and measuring their vital signs. The care robot 100 is configured to be capable of executing applications aimed at preventing the care recipient from becoming unstable and regulating their daily rhythm. The care robot 100 is a humanoid mobile manipulator robot that can perform applications such as condition observation, communication, and peripheral tasks with high quality for the care recipient. The care robot 100 is capable of person recognition and face recognition using a head sensor 51, and can perform interactions by tracking the recipient's eyes. The height of the care robot 100 allows the care recipient, seated in a chair, to look down on it with ease. The height of the care robot 100 is set so that it can see the entire top of a typical table 500 as shown in FIG.

[0029] (Details of Sensor Configuration) The head sensor 51 is, for example, a distance image sensor. The head sensor 51 is configured so that its sensing direction is substantially the same as the line of sight of the care robot 100, enabling the practice of humanitude motion and face tracking motion. Here, the height of a typical table 500 is, for example, approximately 700 mm, and the height of a typical table 500 in a care facility is, for example, approximately 660 mm. For example, as shown in FIG. 6 , the head sensor 51 is positioned so that it can overlook the top of the table 501. The head 1 is positioned so that it can look up at the face of the care recipient while seated in a chair (seated posture). The head sensor 51 is mounted at a high position on the head 1 (for example, at a height of approximately 760 mm), facing upward, for example, approximately 5 degrees. The head sensor 51 is positioned so as not to protrude too far from the outer diameter line of the head 1. This makes it possible to recognize objects on a standard table 500 and recognize the face of a care recipient in a sitting position across the table 500, as shown in Figure 6, for example. It also makes it possible to recognize the face of a care recipient in a sitting position on a standard bed and in a supine position on a standard bed. It also makes it possible to recognize the face of a care recipient in a close-up sitting position at an angle looking up, and to recognize the face of a care recipient in a close-up standing position at an angle looking up.

[0030] The chest sensor 52 is, for example, a non-contact vital sensor. Examples of non-contact vital sensors include a body temperature sensor, a heart rate sensor, and a respiration sensor. The chest sensor 52 is mounted at an upper front position of the chest 2 (e.g., at a height of approximately 537 mm), facing upward at an angle of approximately 10 degrees. This allows measurements to be taken by the chest sensor 52 without being affected by the motion of the head 1. It also reduces blind spots caused by the arms 7 during manipulation. Furthermore, vital signs can be sensed from the face of the care recipient in a seated position, the face of the care recipient in an upright position at a long distance (e.g., approximately 2 m), and the face of the care recipient in a supine position at a close distance. Furthermore, it is possible to constantly sense changes in the condition of the care recipient while the application is running.

[0031] The hand sensor 53 is, for example, a contact-type vital sensor. Examples of contact-type vital sensors include a heart rate sensor, a blood pressure sensor, and an oxygen saturation sensor. The hand sensor 53 is placed on the outer side of the thumb at the tip of the hand 73, as shown in FIG. 5 . This prevents the subject's hand from being pinched by the hand 73 during vital sensing. Vital sensing is possible by having the subject place their hand or grasp it, rather than having the subject place the hand on the sensor 53 themselves. Such a hand sensor 53 is an interface familiar to elderly people with dementia and is highly acceptable to the subject. Furthermore, a sensor for grip force control can be separately configured on the inside of the hand.

[0032] (Configuration values ​​of each part) Fig. 7 is a front view showing the dimensional parameters of each part of the nursing care robot 100. Fig. 8 is a side view showing the dimensional parameters of each part of the nursing care robot 100. Fig. 9 is a front view showing an example of the dimensions of each part of the nursing care robot 100. Fig. 10 is a side view showing an example of the dimensions of each part of the nursing care robot 100. Fig. 11 is a configuration diagram showing an example of the dimensions of each part of the arm 7 of the nursing care robot 100. Figs. 12 to 14 are explanatory diagrams showing an example of the dimensions of each part of the nursing care robot 100. Fig. 15 is an explanatory diagram showing an example of the movable range of the joint axis of each part of the nursing care robot 100.

[0033] Figures 9 to 11 show examples of optimal values ​​for the dimensions of each part. Figures 12 to 14 show examples of optimal values ​​for the dimensions of each part, examples of optimal dimensional ratios for each part, and examples of allowable ratio ranges for the dimensional ratios of each part. Note that the specific values ​​shown in Figures 9 to 15 are just examples, and other values ​​may be used.

[0034] By configuring each part to take the values ​​shown in Figures 9 to 15, it is possible to increase acceptability for the care recipient. Below, configuration values ​​of representative parts will be explained.

[0035] 1, when viewed from the side in the standard posture, the care robot 100 has the neck joint axis 4C offset backward from the shoulder joint axis 5C, and the waist joint axis 6C offset forward from the shoulder joint axis 5C. As a result, when viewed from the side in the standard posture, the front-to-rear positions of the three joint axes, the neck joint axis 4C, the shoulder joint axis 5C, and the waist joint axis 6C, are arranged so that they are offset in the same backward direction rather than being vertically aligned.

[0036] The nursing care robot 100 satisfies the following conditional expressions (1) and (2) so that the three joint axes are offset as described above. Here, the distance between the waist joint axis 6C and the shoulder joint axis 5C in the front-rear direction is L1, the distance between the shoulder joint axis 5C and the neck joint axis 4C in the front-rear direction is L2, the distance between the waist joint axis 6C and the shoulder joint axis 5C in the up-down direction is L4, and the distance between the shoulder joint axis 5C and the neck joint axis 4C in the up-down direction is L5. 0<L2 / L1<1.5 (1) 0.2<L5 / L4<0.6 (2)

[0037] The care robot 100 is configured to satisfy the following conditional expression (3) regarding the head-to-body ratio. This allows the head-to-body ratio to be relatively large. Here, the total head height (body height) in the standard posture is L6, and the body height is L7. 3.3<L7 / L6<5.0 (3)

[0038] The eyeballs 11 are located below the center position in the vertical direction of the head 1. The care robot 100 is configured to satisfy the following conditional expression (4) regarding the position of the eyeballs 11. Here, the total head height in the standard posture is L6, and the distance in the vertical direction from the center position of the eyeballs 11 to the area below the chin of the head 1 is L17. 0.2<L17 / L6<0.5 (4)

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

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

[0041] The nursing robot 100 is configured so that the range of motion of the pitch axis of the neck 4 is larger in the upward direction than in the downward direction (see FIG. 15).

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

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

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

[0045] As shown in FIG. 18, the center position of the eyeball of the eyeball portion 11 is configured to be offset inward with respect to the center position of the outer periphery of the spherical portion 63.

[0046] One method of representing a robot's eyes is to display the black eyes as animation on a display using an LCD (liquid crystal display) or OLED (organic light emitting diode). However, because typical displays are flat, the eyeballs displayed on them are not three-dimensional, but rather remain a two-dimensional representation. This flatness not only makes the robot seem less real, but also poses the problem of the display being difficult to see unless viewed from the front, depending on the viewing angle. Furthermore, the representation of the convergence angle movement is also flat, making it difficult to understand.

[0047] Another approach is to design a physically spherical eyeball component and drive it with an actuator. In this case, the structure is complex, and even if the position of the black eye can be changed, it is difficult to realize changes in eye expression or blinking. While spherical display or holography technology could be used for 3D display, these are currently expensive and difficult to implement due to the spatial layout constraints of the robot head. Furthermore, if the display is simply spherical without a cylindrical portion 64, the peripheral area will be thin, resulting in a poor three-dimensional effect and making it difficult to align the center of the black eye with the center of the eyeball, resulting in an unnatural appearance.

[0048] Therefore, the care robot 100 has an eyeball portion 11 configured to have a semispherical transparent spherical portion 63 and a transparent solid cylindrical portion 64. The spherical portion 63 and cylindrical portion 64 are then arranged on top of a flat display 65 that displays the movements of the black eye portion 62. The outer surface of the cylindrical portion 64 is made opaque to prevent light from entering. This ensures that the displayed image seen from the spherical portion 63 is clear and distortion-free. The spherical portion 63 is arranged at a distance from the display 65, creating a sense of depth and three-dimensionality. The spherical portion 63 has a certain degree of gloss and is configured to suppress light reflection. Within the spherical portion 63, circular colored portions represent the movements (gaze) of the black eye portion 62 up, down, left, and right.

[0049] The center of the spherical portion 63 is designed as the virtual center of rotation of the eyeball, and the movement of the displayed black eye portion 62 is also controlled based on the center of the spherical portion 63. By providing the cylindrical portion 64, the initial position of the black eye is shifted slightly inward, realizing a more natural spherical shape.

[0050] The care robot 100 performs person and face recognition using, for example, the head sensor 51, and gazes at the subject by controlling the position of the black eye 62 of the eyeball unit 11 and the axis of the neck 4 (roll, pitch, yaw). The position of the black eye 62 tracks the subject's position up, down, left, and right, and expresses the distance from the subject using the angle of convergence (eyes crossing, eyes apart). The configuration makes it easy for the subject to understand where the care robot 100 is looking (especially in the near and far directions). Elderly people with dementia in care facilities require high levels of acceptance and recognition. The eyeball unit 11 is configured to meet this need.

[0051] As described above, the care robot 100 has a three-dimensional eyeball portion 11, which allows the movement of the black eye portion 62 to be displayed at low cost. This allows for the creation of a face with eyes that appear as if they contain actual eyeballs. Because the spherical portion 63 of the eyeball portion 11 is made up of a hemispherical spherical lens, the lens effect is distortion-free and the appearance of an eyeball is natural. Because highlights in the pupils can be expressed as reflected light from real light, the response is real-time and natural. By controlling the gaze before the neck 4 or whole body movements, the care robot 100 is more easily accepted and recognized by the care recipient.

[0052] Unlike flat displays, the eyeball unit 11 has the above-described configuration, allowing the image to appear to move or be displayed on a built-in sphere with good visibility from any angle, without distortion, and giving the appearance of an eyeball. The center of the black eye unit 62 and the center of the spherical unit 63 are aligned, creating a natural feeling in the thickness and shape of the sphere. Ambient light is reflected on the surface of the spherical unit 63, allowing the highlights of the pupil to be displayed naturally in real time. This has the effect of providing the care recipient with the sensation of eye contact.

[0053] [1.2 Actions and Effects of the Nursing Care Robot] The nursing care robot 100 according to the first embodiment can be configured with an actual robot hardware configuration that increases acceptability from care recipients in a coexistence environment with humans (not being frightened and making it easy to understand what the robot is doing), particularly for care recipients with cognitive disabilities such as elderly people with dementia and infants.

[0054] The care robot 100 according to the first embodiment has a realistic configuration that enhances acceptability as follows. The size is appropriately small and realistic, equivalent to that of a two-year-old child, and is at a height that allows a seated elderly person to look down on it, making it non-intimidating and non-threatening to the care recipient. The head 1 is configured to be at a height that allows the robot to overlook the top of a typical table 500. The shoulders 5 and arms 7 are configured to be at a height that allows the robot to approach the edge of a typical table 500. The shape is large, with a body to body ratio similar to that of an adorable grandchild. The eyeballs 11 are positioned at a height that allows easy eye contact, allowing the care recipient to understand the meaning of the gaze and images displayed on the eyeballs 11. The movement does not have different degrees of freedom or range of motion from humans, making the movement non-intimidating and allowing the care recipient to understand what it is doing. The movement is configured to enable the practice of humanitude motion. The movement is configured to enable the implementation of basic applications for active monitoring robots.

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

[0056] 1. The actual configuration described above enhances acceptability, and while maintaining a minimal degree of freedom, it can increase acceptability (non-fearful, easy to understand) among elderly people with dementia. 2. Because it is highly acceptable to elderly people with dementia, it can approach the care recipient and provide applications such as active monitoring, greetings to calm them, measuring vital signs, serving tea, and conversational recreation. 3. It can prevent the care recipient from becoming anxious and calm them down even in the living room or private room when staff are not present. 4. Repeated application execution according to a schedule helps regulate the care recipient's daily rhythm. 5. Regulating the care recipient's daily rhythm and preventing instability leads to stabilization of the entire facility, improving the efficiency of overall care operations and reducing costs. 6. One robot can handle the care recipients equivalent to one unit (approximately 10 people) in a nursing facility. 7. It improves the quality of life (QOL) of care recipients. 8. It reduces the workload of staff, allowing them to carry out care work with peace of mind. 9. It increases the number of people seeking admission to facilities where it is installed. 10. The number of people seeking employment as caregivers and nurses at facilities that have introduced this system will increase. 11. By being loved and cared for like children or grandchildren, care recipients will be able to live their lives with a sense of fulfillment.

[0057] Furthermore, the following actions and effects are obtained. 1. With regard to sensor position, it is easier to create a large space in the upper front position of the head 1 and the upper front position of the chest 2, thereby increasing the degree of freedom in sensor layout. For example, it becomes possible to place sensors in positions that provide good vital sensing for a care recipient in a sitting or standing position. 2. Although parts tend to be concentrated in the front of the head and the weight tends to be large, the front-to-back positions of the three joint axes - the neck joint axis 4C, shoulder joint axis 5C, and waist joint axis 6C - are arranged so that they are offset in the same rearward direction, so the center of gravity balance above the waist 6 is less likely to result in eccentric loading.

[0058] [1.3 Configuration and Operation Examples of a Robot Operation System] (Outline of a Robot Operation System) FIG. 21 shows an outline of a configuration example of a robot operation system according to the first embodiment.

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

[0060] The care robot 100 is operated in a care room 400 having a living room 401 and a living room 402, as shown in Fig. 28 (described later), for example. A plurality of care robots 100 may be present. In this case, a plurality of care robots 100 may be operated simultaneously by the robot operation system according to the first embodiment. The care robot 100 has various sensors 110, a speaker 111, and a robot internal PC 120.

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

[0062] The robot's internal PC 120 includes a motor drive control unit, a movement path control unit, an eye display control unit, and an audio input / output control unit. The robot's internal PC 120 may be configured as a computer including, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). In this case, various processes performed by the robot's internal PC 120 may be realized by the CPU executing processes based on programs stored in the ROM or RAM. Alternatively, various processes performed by the robot's internal PC 120 may be realized by the CPU executing processes based on programs supplied from an external source via, for example, a wired or wireless network.

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

[0064] The controller 210 is a robot controller device that can be carried or worn by the staff member 200. Multiple controllers 210 may be present and carried by multiple staff members 200. The controller 210 includes a headset 211 (earphones, speaker, microphone) and a compact information terminal (information display monitor, operation panel) 212. Because the care recipient 101 may be tempted to reach for accessories, the earphones of the headset 211 should preferably have an inconspicuous appearance, such as a small inner earphone. Voice input from the controller 210 allows real-time command operation of the care robot 100 (selection of the care recipient 101, application selection, start, stop, etc.). The care robot 100 also notifies the staff member 200 of the monitoring results and abnormality alerts via the controller 210. Furthermore, the staff member 200 can output voice to the care recipient 101 from the speaker 111 of the care robot 100 via the controller 210.

[0065] The headset 211 has earphones, a speaker, and a microphone. The portable information terminal 212 has an information display monitor and an operation panel 212. The portable information terminal 212 corresponds to a specific example of an "information terminal" in the technology of the present disclosure.

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

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

[0068] The center PC 320 includes a sensor information processing unit 321, a measurement result analysis storage unit 322, and an application generation unit 323. The center PC 320 may be configured as a computer including, for example, a CPU, ROM, and RAM. In this case, various processes performed by the center PC 320 may be realized by the CPU executing processes based on programs stored in the ROM or RAM. Alternatively, various processes performed by the center PC 320 may be realized by the CPU executing processes based on programs supplied from an external source via, for example, a wired or wireless network.

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

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

[0071] Note that some or all of the processing performed by the center PC 320 may be performed by the robot internal PC 120. Also, some or all of the processing performed by the center PC 320 may be performed by a server on the cloud.

[0072] (Processing performed by each part of the robot operation system) The true need of the care facility is to stabilize the mental state of the care recipient 101 by watching over them (observing their condition and communicating with them) when the staff 200 are absent. The care robot 100, which can actively obtain information by using a moving mechanism and a manipulator, keeps an eye on the care recipient 101 in advance and continues to approach them by greeting, calling out to them, encouraging them, etc., thereby calming their mental state and maintaining a stable state. Furthermore, the group of applications implemented in the robot operation system aims to reduce the workload of the staff 200 and further stabilize the mental state of the care recipient 101.

[0073] The sensor information processing unit 321 evaluates the condition of the care recipient based on measurement information measured by the various sensors 110 mounted on the care robot 100. Based on the evaluation results by the sensor information processing unit 321, the application generation unit 323 causes the care robot 100 to temporarily stop at multiple approach positions (waypoints) at different distances from the care recipient, gradually approach the care robot 100 to the care recipient, and causes the care robot 100 to perform care actions including observing the condition of the care recipient and communicating with the care recipient. The communication with the care recipient includes speaking to the care recipient. The multiple approach positions may be, for example, a long-distance position P3, a medium-distance position P2, and a short-distance position P1 shown in FIG. 22 , which will be described later.

[0074] The sensor information processing unit 321 may evaluate the state of the subject based on the measurement information measured at each of the plurality of approach positions. The evaluation of the state of the subject by the sensor information processing unit 321 includes an evaluation of whether or not the subject has a negative reaction. When the sensor information processing unit 321 evaluates that the subject has no negative reaction, the application generation unit 323 may cause the care robot 100 to gradually approach the subject.

[0075] FIG. 22 shows an example of an approach position of the care robot 100 operated by the robot operation system according to the first embodiment with respect to the target person.

[0076] The application generation unit 323 temporarily stops the care robot 100 in stages, for example, from the initial position P0 to the long-distance position P3, the medium-distance position P2, and the close-distance position P1. The application generation unit 323 causes the care robot 100 to adjust its face and posture to the direction of the face of the person 101, and to speak and make motions toward the person 101.

[0077] Here, the long-distance position P3 may be a position with a radius of about 2 m in the forward direction from the target person 101, the medium-distance position P2 may be a position with a radius of about 1.2 m in the forward direction from the target person 101, and the short-distance position P1 may be a position with a radius of about 0.6 m in the forward direction from the target person 101. The application generation unit 323 observes the reaction of the target person 101 each time the care robot 100 stops at each approach position (waypoint), and gradually approaches the target person 101 while confirming that there is no negative reaction. A negative reaction is defined as a state in which the target person 101 is displeased or surprised by a recognition result such as shaking their head, looking completely down and being unable to make eye contact, turning their face to a position directly opposite the position of the care robot 100, yelling extremely loudly, or making an extreme and large change in posture.

[0078] The sensor information processing unit 321 may further determine the presence or absence of an obstacle based on the measurement information. The application generation unit 323 may change the approach angle of the care robot 100 from the front direction to the target person 101 based on the presence or absence of an obstacle directly in front of the target person 101 determined by the sensor information processing unit 321. The obstacle may be, for example, a desk, a chair, a cabinet, etc.

[0079] When the sensor information processing unit 321 determines that there is an obstacle, the application generation unit 323 may cause the care robot 100 to approach the target person 101 so that the approach angle increases as the care robot 100 approaches the target person 101. For example, when the sensor information processing unit 321 determines that there is an obstacle, the application generation unit 323 may change the approach angle of the care robot 100 so that the angle is approximately 0 degrees relative to the target person 101 at the long distance position P3, approximately 45 degrees relative to the target person 101 at the medium distance position P2, and approximately 70 degrees relative to the target person 101 at the short distance position P1, as shown in FIG.

[0080] When the sensor information processing unit 321 determines that there is no obstacle, the application generation unit 323 may cause the care robot 100 to approach the target person 101 while maintaining the same approach angle in the front direction regardless of the distance from the target person 101. For example, when there is no obstacle directly in front of the target person 101, the application generation unit 323 may cause the care robot 100 to approach the target person 101 at an angle close to 0 degrees at all of the long-distance position P3, the medium-distance position P2, and the short-distance position P1.

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

[0082] The sensor information processing unit 321 may further determine, based on the measurement information, whether the care robot 100 can move in the dominant hand direction of the subject 101. The determination of whether the care robot 100 can move may be based on conditions such as the presence or absence of an obstacle or the lack of a passable floor area width.

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

[0084] The measurement result analysis storage unit 322 stores evaluation data indicating the results of the evaluation by the sensor information processing unit 321. The sensor information processing unit 321 may generate evaluation data indicating the acceptability of the care robot 100 by the target person 101 based on measurement information measured by the various sensors 110 when the care robot 100 performs a care behavior (see FIGS. 25, 26, and 32 described below). The application generation unit 323 may cause the care robot 100 to perform a care behavior based on the evaluation data indicating acceptability stored in the measurement result analysis storage unit 322 (see FIGS. 21 to 26 and 32 described below). Here, the evaluation data may include the target person 101's gaze time on the care robot 100 (the time their faces or eyes meet), the target person 101's speech time, whether a smile is detected from the target person 101, whether a negative reaction is present, etc. This evaluation data may be defined as an acceptability value. As a result, the application generation unit 323 determines the optimal approach distance and approach that are suited to the acceptability of each target person 101, and causes the care robot 100 to perform the care action.

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

[0086] The application implementation schedule data storage unit 325 stores implementation schedule data of a plurality of applications for causing the care robot 100 to execute care actions. The application generation unit 323 may cause the care robot 100 to execute the care action of each application in accordance with the implementation schedule stored in the application implementation schedule data storage unit 325 (see FIGS. 27 to 31, etc., described later).

[0087] The application implementation schedule data storage unit 325 stores, as implementation schedule setting data, setting information regarding the selection of applications to be implemented according to the implementation schedule, the selection of the person 101 who will implement the applications, and the time of day when the applications will be implemented, which are set based on instructions from the portable information terminal 212 (see FIGS. 27 and 31 described below). The application generation unit 323 may cause the care robot 100 to execute care actions based on each application according to the implementation schedule stored in the application implementation schedule data storage unit 325, and then modify the implementation schedule setting data stored in the application implementation schedule data storage unit 325 based on the results of the execution of the care actions. As a result, the application generation unit 323 may execute, for example, basic applications such as "Greeting, Calming, and Vital Sign Measurement" and advanced applications such as "Recreation," "Serving Tea," "Assisting with Toiletries," and "Assisting with Visits" in accordance with the shift schedule set in the scheduler. The portable information terminal 212 receives the implementation schedule setting from the staff member 200 of the nursing facility. The application generation unit 323 may present the setting data of the revised implementation schedule to the portable information terminal 212 so that it can be edited by the staff member 200 of the nursing care facility.

[0088] The user individual setting data storage unit 324 stores individual operation parameters of the care robot 100 for the target person 101, which are set based on information regarding the target person 101's receptivity to the care robot 100 (see FIG. 32 described below). The application generation unit 323 may cause the care robot 100 to perform a care action based on the operation parameters of the care robot 100 stored in the user individual setting data storage unit 324. The operation parameters may include, for example, settings regarding whether or not the care robot 100 can be called out to, voice volume, speech rate, body movement speed, movement speed, approachable distance, whether or not physical contact is possible, hobbies and preferences, and other special notes. The operation parameter settings are received from the staff member 200 of the care facility via the portable information terminal 212.

[0089] The application generation unit 323 may cause the nursing care robot 100 to perform a nursing care action based on the operation parameters of the nursing care robot 100 stored in the user individual setting data storage unit 324, and then modify the operation parameters of the nursing care robot 100 stored in the user individual setting data storage unit 324 based on the results of the execution of the nursing care action, and present the modified operation parameters of the nursing care robot 100 on the portable information terminal 212 so that they can be edited by the staff member 200 of the nursing facility. The application generation unit 323 may perform feedback learning of the evaluation results for each application execution, automatically generate and propose modifications to the individual settings and schedule, and the staff member 200 may confirm and edit them to cause the nursing care robot 100 to perform the nursing care action.

[0090] (Scheduler and Application Overview) FIG. 23 is a flowchart showing an example of the processing operation of the "greeting calming and vital sign measurement application" by the robot operation system. FIG. 24 is a flowchart continuing from FIG. 23. FIG. 25 is a flowchart showing an example of the output processing of evaluation data by the "greeting calming and vital sign measurement application" by the robot operation system. FIG. 26 shows an example of the output result of evaluation data by the "greeting calming and vital sign measurement application" by the robot operation system. FIG. 27 shows an example of the creation of an implementation schedule for multiple applications by the robot operation system. FIG. 28 shows an example of a care room targeted by the robot operation system. FIG. 29 is a flowchart showing an example of the implementation operation of multiple applications by the robot operation system. FIG. 30 is a flowchart showing an example of the implementation operation of an application when another application interrupts the implementation of multiple applications by the robot operation system. FIG. 31 shows an example of a setting interface for setting the application implementation schedule by the robot operation system. FIG. 32 shows an example of a setting interface for making individual settings for the care recipient 101 by the robot operation system. FIG. 33 is a flowchart showing an example of the processing operation of the "individual recreation application" by the robot operation system. Fig. 34 is a flowchart following Fig. 33. Fig. 35 shows an example of a "monitoring / vital sign application" by the robot operation system. Fig. 36 shows an example of a "tea distribution application" by the robot operation system. Fig. 37 shows an example of a "snack distribution application" by the robot operation system. Fig. 38 shows an example of a "wet towel distribution application" by the robot operation system. Fig. 39 shows an example of an "excretion preparation application" by the robot operation system. Fig. 40 shows an example of a "telephone assistance application" by the robot operation system. Fig. 41 shows an example of a "storytelling application" by the robot operation system.Fig. 42 shows an example of an "excretion preparation application" by the robot operation system. Fig. 43 shows an example of an "excretion cleanup application" by the robot operation system.

[0091] The application generation unit 323 provides a scheduler. The application generation unit 323 automatically generates and proposes an execution pattern / scheduling set of applications to be executed by the care robot 100 throughout a day. The application generation unit 323 proposes an optimal application set for minimizing the time the staff member 200 is absent from the living room 401 ( FIG. 28 ) in response to daily changes in the condition of the care recipient 101 in the care facility (parameters including the degree of dementia, physical condition, and mood, as well as the degree of receptivity to the care robot 100) and changes in the work shifts of the staff member 200. The application generation unit 323 provides a monitoring (condition observation and communication) application as a base load, and on top of that base application, provides peripheral business applications and recreational applications as an extension of the monitoring application.

[0092] Examples of applications provided by the application generation unit 323 are shown below.

[0093] Active supervision: morning supervision, daytime supervision, evening supervision, late-night supervision Indirect assistance: vital signs measurement - long-distance non-contact (body temperature, heart rate) - close-distance contact (body temperature, blood pressure, oxygen saturation) Taking orders, distributing wet towels, distributing snacks, distributing tea Direct assistance: assisting with transfers (having the patient hold on) Peripheral tasks: preparing for excretion, tidying up after excretion, wiping tables, clearing tea and snack tables, washing cups, making tea Recreation: storytelling (talking about memorable photos, photos of hobbies and interests, etc.), singing, dancing, exercise, hand massage, helping with things the patient wants to do (having the patient teach them about their favorite things), helping with phone calls (calling family members)

[0094] The above application list was selected in order of importance under the supervision of staff member 200 from a pre-created list of 50 applications that could be used in on-site nursing care work, based on consideration of needs (degree of difficulty), functions, value to be gained, and technical feasibility.

[0095] For the active monitoring basic application, there are multiple variations in execution scenarios depending on: (1) differences in time of day (morning, afternoon, evening, or late night); (2) differences in the state of the care recipient 101 (in bed in the room 402 ( FIG. 28 ) or in a wheelchair in the living room 401 ( FIG. 28 ); (3) the degree of dementia of the care recipient 101; and (4) differences in receptivity to the care robot 100. Individual approaches, such as the distance to the care recipient 101, how to approach, greetings, and dialogue content, are optimized for each care recipient 101 and can be executed based on the schedule and sensing results. The application generation unit 323 automatically generates an individual approach for each care recipient 101, and this is presented on the large information terminal 310 or the small information terminal 212. The individual approach is modified and confirmed by the staff member 200, and then deployed so that it can be executed by the care robot 100. Storyboards of representative examples of the above application are shown in FIGS. 35 to 39. The implementation flow of an individual recreation application that can be realized by using an approach to increase acceptability, which is the key feature of the robot operation system, is shown in Figures 33 and 34. This application uses related photographic images to conduct dialogue, dig deep into what each subject 101 wants to do, and communicates this information to staff 200 and their families, providing support in making their wishes come true.

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

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

[0098] In the robot operation system, if a group of applications does not finish within the calculated scheduled time due to a problem, the application with the lowest execution priority is canceled, and execution of the next scheduler is prioritized ( FIG. 30 ). The robot operation system also reduces standby time and allocates it to application execution time in order to schedule the care robot 100 with ample time for charging. Requests and interrupt applications from the staff member 200 are also assigned high priority and are interrupted and processed. The schedule after the interruption is automatically selected from execution patterns A, B, and C based on the remaining power supply of the care robot 100, the remaining application execution time, and the next available standby charging time. If a group of scheduled applications does not finish within the calculated scheduled time due to an interruption, the application with the lowest execution priority is canceled, and execution of the next scheduler is prioritized. In order to schedule the care robot 100 with ample time for charging, the robot operation system also reduces standby time and allocates it to application execution time. It has been analyzed that requests from the staff member 200 for toilet assistance and greeting and calming are in high demand as interrupt applications.

[0099] In nursing care facilities, daily life patterns are often determined by schedules for bathing, hospital visits, recreation, etc. For this reason, the robot operation system creates an application implementation schedule for the nursing care robot 100, for example, on a weekly basis. For example, a monthly implementation schedule is created by designating Day 1 to Day 7 as Week 1 and Week 1 to Week 4 (or Week 5 depending on the month) as Month 1. In addition, when there is a change in the staff member 200's shift (change in number of staff), or a change in plans such as a family visit or hospital visit, the robot operation system has the staff member 200 modify their work shift and automatically generates a schedule and detailed flow that reflects the work data.

[0100] The robot operation system includes a programming tool that allows the staff member 200 to manually adjust the application schedule set for the care robot 100 presented by the scheduler ( FIG. 31 ). It also includes a tool for making individual settings for the care recipient 101 ( FIG. 32 ). The individual settings for the care recipient 101 take into account information about the acceptability of each care recipient 101, and include settings related to the care robot 100's operational parameters (such as whether or not to speak to the care recipient 101, voice volume, speech rate, physical movement speed, movement speed, approachable distance, whether or not to allow physical contact, hobbies and preferences, and other special notes). The setting operation is performed using a portable information terminal 212. Using the portable information terminal 212, the staff member 200 can select applications and their application timings appropriate for the care recipient 101 from a list and rearrange them by dragging and dropping. The staff member 200 can also determine and execute application use in real time. In the robot operation system, the results of adjustments made by the staff member 200 using the tools shown in Figures 31 and 32 are compiled into a database and used for learning, thereby improving the quality of the automatically generated results of individual settings, etc.

[0101] The robot operation system according to the first embodiment is not a fully autonomous robot system. Even AI (artificial intelligence) is unable to generate the behavioral changes of the nursing robot 100 that respond to complex changes in the situation at the nursing care site. This system is realized only through the collaboration between the experienced staff member 200 and the robot operation system. Only people can provide high-quality nursing care. The robot operation system extends the person's body, transforming them into an avatar, and becoming a means to fulfill their wishes.

[0102] (Processing Flow by the Robot Operation System) The processing flow of an example of the basic application "Greeting, Calming, and Vital Sign Measurement" is shown in Figures 23 and 24. The numerical values ​​for the distance and angle of the positions shown in Figures 23 and 24 are representative examples, and it is important to go through long-distance, medium-distance, and short-distance stages. The above numerical values ​​are set to optimal values ​​for each subject 101. In the robot operation system, at each waypoint, the care robot 100 greets the subject through speech and motion, measures their vital signs, and moves between waypoints while measuring their reactions and checking for any negative reactions. This sensing flow is shown in Figure 25. The measured evaluation data is output as a table so that it can be checked by the staff member 200, and can be displayed on a small information terminal 12, such as a tablet, operated by the staff member 200 (Figure 26).

[0103] In the robot operation system, even if the staff member 200 observes the subject 101 and determines that the subject 101 is unwilling, he or she can issue an instruction to end application execution by voice command, etc. The amount of hand approach position correction is calculated by saving the approach distance, the relative angle with the subject 101, and the hand coordinate position as data for each subject 101 as approach parameters, and learning the optimal hand approach position for each subject 101, thereby increasing the measurement success rate.

[0104] Next, the processing operation of the "greeting calming and vital sign measurement application" in FIG. 23 will be described.

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

[0106] On the other hand, if a person is found in step S105, the robot operation system then causes the care robot 100 to start speaking and making motions and perform non-contact vital sign measurement (body temperature) (step S108). If there is a negative reaction in step S108 or if an approachable distance is set, the robot operation system then proceeds to the processing of step S106. If there is no negative reaction in step S108, the robot operation system then moves the care robot 100 to the close distance position P2 of seat No. 1 (a position 1.2 m diagonally 45 degrees forward from the seated position) (step S109).

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

[0108] If there is a negative reaction in step S111, the robot operation system proceeds to the processing of step S106. If there is no negative reaction in step S111, the robot operation system causes the care robot 100 to start speaking and making motions, and causes the care robot 100 to perform non-contact vital sign measurement (body temperature) and contact vital sign measurement (heart rate, blood pressure, oxygen saturation) (step S112). If there is a measurement error in step S112, the robot operation system corrects the hand approach position (step S114) and performs the processing of step S112 again. If the measurement is completed in step S112, the robot operation system causes the care robot 100 to speak and make a motion to end the application (step S113). Next, the robot operation system moves the care robot 100 to the intermediate distance position P2, starts speaking and making a motion to end (step S115), and then proceeds to the processing of step S106.

[0109] Next, the operation of the evaluation data output process by the "greeting calming and vital sign measurement application" in FIG. 25 will be described.

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

[0111] Next, the robot operation system moves the care robot 100 to long-distance position P3 (2 m forward and directly in front of the seated position) and performs speech and motion sensing (step S203). If there is no negative reaction in step S203, the robot operation system moves the care robot 100 to short-distance position P2 (1.2 m forward and 45 degrees diagonal from the seated position) and performs speech and motion sensing (step S204). If there is no negative reaction in step S204, the robot operation system moves the care robot 100 to short-distance position P1 (0.6 m forward and 70 degrees diagonal from the seated position) and performs speech and motion sensing (step S205). Next, the robot operation system ends the execution of the application set at time t1-1 (step S206).

[0112] In addition, in each of steps S203, S204, and S205, the robot operation system outputs evaluation data, including gaze time (face and eye alignment), speech time, whether a smile was detected, and whether or not there was a negative reaction (step S207).

[0113] Next, the flow of operations performed by a plurality of applications in FIG. 29 will be described.

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

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

[0116] Next, the flow of operations performed by an application when another application is interrupted will be described with reference to FIG.

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

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

[0119] Next, the setting interface for making individual settings shown in FIG. 32 will be described.

[0120] In the setting interface, the name and face of the care recipient 101, the location of the seat 404, and the location of the room 402 (FIG. 28) are registered. Individual settings for the robot application related to the characteristics of dementia and acceptability of each care recipient 101 are registered at the discretion of the staff member 200.

[0121] For example, when the staff member 200 first introduces the nursing robot 100 to the care recipient 101, the staff member 200 determines and sets the settings in consideration of the reactions and cognitive characteristics of the care recipient 101. Thereafter, for example, if changes occur in the reactions or characteristics during continued use, the staff member 200 changes the settings at his / her discretion each time. In addition, evaluation data after the application is implemented is transmitted to the staff member 200, who uses it as information for determining whether to change the settings. For example, it is possible to register individual response patterns, and for care recipients 101 with similar tendencies, a pattern can be selected and the settings and details adjusted.

[0122] Next, the flow of the processing operation of the "individual recreation application" in FIGS. 33 and 34 will be described.

[0123] First, the robot operation system acquires family information about the subject 101 (step S501). Next, the robot operation system prepares to learn what the subject 101 wants to do (step S502). To prepare for this, the subject 101 selects from provided content (e.g., photos) output (displayed) from the application generation unit 323 of the center PC 320 to the portable information terminal 130 carried by the care robot 100. Next, the robot operation system performs a process to learn what the subject 101 wants to do (step S503). To learn what the subject 101 wants to do, the care robot 100 first engages in a conversation while looking at photos output (displayed) on the portable information terminal 130, creating a "memory talk album." For example, personal photos (family photos) or general photos (related photos) are used as photos. For example, family photos are used as photos containing some kind of personal episode. For example, related photos are used as photos containing general local specialties, specialties, and famous places. The robot operation system then uses the care robot 100 to measure the sensitivity of the subject 101 (smiles, speech frequency, voice volume, etc.), and creates a mental activation map for evaluation.

[0124] If the evaluation of the mental activation map created in step S503 is equal to or greater than a predetermined score (e.g., 5 points or greater), the robot operation system determines that the person 101 has found what they want to do (step S504). Next, the robot operation system prepares to learn more about what the person 101 wants to do (step S505). As a preparation for learning more, the nursing care robot 100 has the staff member 200 view the results of the mental activation map created in step S503 via the portable information terminal 130, and the staff member 200 decides on content to provide for further learning. Next, the robot operation system performs a process to learn more about what the person 101 wants to do (step S506). As a process to learn more about what the person 101 wants to do, the nursing care robot 100 first conducts a conversation while looking at photos and listening to music, and creates a "what-to-do album." General photos (related photos) are used as the photos, and general music (related music) is used as the music. The robot operation system then uses the care robot 100 to measure the sensitivity of the subject 101 (smiles, speech frequency, voice volume, etc.), and creates a mental activation map for evaluation.

[0125] If the evaluation of the mental activation map created in step S506 is equal to or greater than a predetermined score (e.g., 5 points or greater), the robot operation system determines that the subject 101 has found something they want to do (step S507). Next, the robot operation system prepares to make the subject 101's wish come true (step S508). To prepare for making the wish come true, the care robot 100 has the staff member 200 view the results of the mental activation map created in step S506 via the portable information terminal 130, and the staff member 200 decides what they can actually do. Next, the robot operation system performs a process to make the subject 101's wish come true (step S509). To make the wish come true, the care robot 100 first carries a tool, and they have a conversation while looking at a photo or listening to music, and then they perform a process using the "fulfillment application." A general photo (related photo) is used as the photo. General music (related music) is used as the music. General tools (related tools) are used as the tools. The robot operation system then measures the sensitivity of the subject 101 (smiles, speech frequency, voice volume, etc.), creates a mental activation map, and performs an evaluation.

[0126] Through the above process, the subject person 101's wish is fulfilled (step S510).

[0127] An example of the "monitoring and vital signs application" will be described in the form of a story with reference to Fig. 35. In the robot operation system, the "monitoring and vital signs application" can realize the following care story in, for example, the care room 400 shown in Fig. 28.

[0128] While providing morning room care, staff member A becomes concerned about the user (care recipient 101) in living room 401, and goes back and forth between living room 401 and room 402. Immediately after waking up in the morning, grandma (care recipient 101) looks bored in living room 401 (step S351).

[0129] In this situation, the care robot 100 slowly approaches and measures the grandmother's vital signs (step S352). The care robot 100 measures the grandmother's vital signs while telling her a story she likes (step S353). In this way, staff member A can provide care in room 402 with peace of mind. Grandma forgets her boredom and enjoys the story (step S354).

[0130] Next, an example of the "tea distribution application" will be described in the form of a story with reference to Fig. 36. In the robot operation system, the "tea distribution application" can realize the following care story in, for example, the care room 400 shown in Fig. 28.

[0131] While assisting the user (care recipient 101) in getting up in room 402, staff member A must timely serve tea to the user who has just woken up in living room 401, placing a heavy workload on the staff member. Immediately after waking up from a nap, grandmother (care recipient 101) appears lonely and alone in living room 401. Furthermore, because grandmother is anxious about using the toilet, she is not very proactive about drinking water (step S361).

[0132] In this situation, when the grandmother sits down, the care robot 100 goes to get her tea (step S362). The care robot 100 distributes the tea while talking to the grandmother and encourages her to drink water (step S363). In this way, the workload of staff member A is reduced. The grandmother forgets her loneliness and becomes more positive about drinking water (step S364).

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

[0134] While assisting the user (care recipient 101) to wake up in room 402, staff member A must distribute snacks at the appropriate time when the user wakes up in living room 401, placing a heavy workload on the staff member. Immediately after waking up from a nap, grandma (care recipient 101) looks bored in living room 401. Additionally, grandma does not like new snacks and is not very positive (step S371).

[0135] In this situation, when the grandmother sits down, the care robot 100 goes to get the snack for the grandmother (step S372). The care robot 100 distributes the snack while talking to the grandmother and encourages her to eat it (step S373). In this way, the workload of staff member A is reduced. The grandmother forgets her boredom and finishes the new snack with a positive attitude (step S374).

[0136] Next, an example of the "Oshibori distribution application" will be described in the form of a story with reference to Fig. 38. In the robot operation system, the "Oshibori distribution application" can realize the following care story in, for example, the care room 400 shown in Fig. 28.

[0137] Staff member A is heavily burdened with serving food in the kitchen before lunch. Before lunch, grandma (care recipient 101) looks bored in living room 401. Grandma also often forgets to wipe her hands with a wet towel (step S381).

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

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

[0140] Staff member A is in a difficult situation because he suddenly needs additional toiletry products. The grandmother (care recipient 101) he is assisting becomes worried (step S391). The grandfather (care recipient 101) who is waiting in the living room 401 is restless because Staff member A has been away for a long time (step S392).

[0141] In this situation, the care robot 100 puts on a toiletry product bag and heads to Staff A's location (step S393). The toiletry product bag contains diapers, cleaning supplies, etc. The care robot 100 hands the toiletry products to Staff A (step S394). Grandpa feels relieved that Staff A's absence time will be shorter (step S395). Staff A is thus happy to be able to avoid the trouble of having to go and get toiletry products when he suddenly needs them. Grandma feels relieved that a staff member is nearby (step S396).

[0142] Next, the "telephone assistance application" will be described with reference to FIG.

[0143] For example, due to the impact of various infectious diseases, users (care recipients 101) in nursing care facilities may be prohibited from or have restrictions on visits from their families for a long period of time. As a result, there is an increasing need for visits with family members via telephone. The robot operation system can meet such needs with a "telephone assistance application."

[0144] For example, as shown in Fig. 40, a small information terminal 130 such as a tablet terminal capable of making calls (voice calls or video calls) is attached to one hand 73 of the care robot 100. For example, the small information terminal 130 is fixed to the outer surface of the hand 73 on the thumb side. Alternatively, the hand 73 holds the grip of the small information terminal 130. Thereafter, the "telephone assistance application" is executed according to the flow shown in Fig. 40.

[0145] The portable information terminal 130 may have the function of, for example, receiving or making phone calls. Only registered numbers may be allowed to make and receive calls. The time of calls may be based on a schedule, for example, primarily for each user, with calls automatically made at the scheduled time. The key point is that the portable information terminal 130 capable of making calls is mounted on the tip (hand 73) of the multi-axis manipulator of the nursing robot 100, and can be manipulated to a position that is convenient for the user. Some users have difficulty twisting their necks or bodies, making it difficult to make calls even if the portable information terminal 130 is placed next to the table 500. Note that in typical telepresence robots, the portable information terminal 130 is fixed to a trunk frame without a movable axis. Therefore, it is difficult to place the portable information terminal 130 directly in front of a seated user, and it is difficult to control the height and pitch angle. This results in users having to make calls in an uncomfortable position.

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

[0147] The flow of the processing operation of the "telephone assistance application" in FIG. 40 will be described below.

[0148] First, the robot operation system makes a call (voice call or video call) to the family of the user (care recipient 101) using the small information terminal 130 attached to the care robot 100, or receives a call (voice call or video call) from the user's family (step S601).

[0149] Next, the robot operation system causes the care robot 100 to execute a greeting and talking motion to the user at the long-distance position P3 (step S602). Next, the robot operation system causes the care robot 100 to execute a greeting and talking motion to the user at the medium-distance position P2 (step S603).

[0150] Next, the robot operation system causes the care robot 100 to perform a greeting and talking motion to the user at the short distance position P1. For example, the system causes the care robot 100 to explain to the user about making a phone call with a family member and placing the portable information terminal 130 with a calling function on the table 500 (step S604).

[0151] Next, the robot operation system causes the care robot 100 to approach the handheld portable information terminal 130 to a position where it can be easily seen by the user and start a call (step S605). After the call ends, the robot operation system causes the care robot 100 to perform a greeting and calling motion to the user. Next, the robot operation system causes the care robot 100 to perform a greeting and calling motion again at the intermediate distance position P2 and return the care robot 100 to the initial position P0 (step S606).

[0152] Next, an example of the "storytelling (talking about memorable photos, photos of hobbies and interests, etc.) application" will be described with reference to FIG.

[0153] First, the robot operation system causes the care robot 100 to execute a greeting and calling motion toward the user (care recipient 101) at the long-distance position P3 (step S701). Next, the robot operation system causes the care robot 100 to execute a greeting and calling motion toward the user at the medium-distance position P2 (step S702).

[0154] Next, the robot operation system causes the care robot 100 to perform a greeting and talking motion to the user at the short distance position P1. Then, the robot operation system causes the care robot 100 to explain the story using a photograph (step S703).

[0155] Next, the robot operation system causes the nursing care robot 100 to approach a handheld information terminal 130, such as a tablet terminal, at a position where it can be easily seen by the user (step S704). The robot operation system then displays a photo on the handheld information terminal 130 and causes the nursing care robot 100 to tell a story based on the content of the photo. The photos used may be those that reflect the hobbies and tastes of each user, or those that are associated with family or memories. Note that instead of the photo displayed on the handheld information terminal 130, the nursing care robot 100 may carry the photo itself and present it to the user.

[0156] After the conversation ends, the robot operation system causes the care robot 100 to perform a greeting and call motion to the user. Next, the robot operation system causes the care robot 100 to perform a greeting and call motion again at the intermediate distance position P2, and returns the care robot 100 to the initial position P0 (step S705).

[0157] Next, an example of the "excretion preparation application" will be described with reference to FIG.

[0158] First, the robot operation system moves the care robot 100 to the cabinet 601 where excretion tools are stored in the care facility (step S801). Next, the robot operation system makes the care robot 100 grasp the excretion product bag (before use) placed in the cabinet 601 and move it (step S802).

[0159] Next, the robot operation system directs the care robot 100 to the room (step S803). Next, the robot operation system moves the care robot 100 to the cabinet 602 in the room (step S804). Next, the robot operation system directs the care robot 100 to place the excretion product bag in the cabinet 602 in the room (step S805).

[0160] Next, an example of the "excrement cleanup application" will be described with reference to FIG.

[0161] First, the robot operation system moves the care robot 100 to the cabinet 602 in a room (or a space for placing excrement bag in the room) in the care facility (step S901). Next, the robot operation system causes the care robot 100 to grasp a used excrement bag placed in the cabinet 602 in the room (or on the floor in the room) (step S902).

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

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

[0164] (Acquiring Acceptability) 1. By implementing an active monitoring application using the robot operation system, high-quality applications can be executed, such as approaching the care recipient 101, actively monitoring, greeting and calming them, measuring vital signs, serving tea, and engaging in conversation and recreation, tailored to the care recipient's level of dementia. This is achieved by selecting an individual approach for each care recipient 101. High quality here refers to a high level of "acceptability" (being able to be close without being frightened, and being able to understand the meaning of speech and actions). 2. By implementing application software using the robot operation system, functional effects can be expected, such as increasing the frequency of vital sign measurements and encouraging hydration, thereby increasing the frequency of water intake. Supporting tasks such as toilet preparation also reduces the workload of the care recipient 200. 3. Even when the care recipient 101 is absent in the living room 401 (Figure 28) or the room 402 (Figure 28), the care recipient 101 can be prevented from becoming anxious and calmed down. 4. By repeatedly running the application according to a schedule, the daily rhythm of the care recipient 101 is regulated. 5. Regulating the daily rhythm of the care recipient 101 and preventing instability leads to stabilization of the entire facility, making the entire care work more efficient and reducing costs. 6. One care robot 100 can handle the care recipients 101 equivalent to one unit of care facility (approximately 10 people). 7. The quality of life of the care recipients 101 is improved. 8. The workload of staff 200 is reduced, allowing them to carry out care work with peace of mind. 9. More people wish to enter facilities that have introduced the system. 10. More people wish to work as care staff 200 or nursing staff 200 at facilities that have introduced the system. 11. By being loved like a child or grandchild and being cared for, the care recipient 101 is able to live a life with a sense of fulfillment.

[0165] (Acquisition of personal memory) 12. Further benefits of realizing the acquisition of the above-mentioned acceptability can be obtained by obtaining big data of state observations. It is also possible to know information about personal memory, identity, and episodic memory in the mind of each care recipient 101.

[0166] (Dream, aspiration) 13. By acquiring personal memory, active monitoring and individualized conversational approaches during greetings will also be optimized. As a result, the ultimate goal is to halt the progression of dementia even if only slightly (by creating indicators from changes in the level of care required and response data). Qualitatively, it will increase the number of "smiles on the faces of grandparents."

[0167] The effects described in this specification are merely examples and are not limiting, and other effects may also be achieved. The same applies to the effects of other embodiments described below.

[0168] 2. Other Embodiments The technology according to the present disclosure is not limited to the above-described embodiments, and various modifications are possible.

[0169] For example, the present technology can also be configured as follows. According to the present technology configured as follows, when viewed from the side in a standard posture, the neck joint axis is offset backward relative to the shoulder joint axis, and the waist joint axis is offset forward relative to the shoulder joint axis. This makes it possible to improve acceptability for the care recipient.

[0170] (1) A nursing care robot comprising: a head having eyeballs; a chest; arms attached to the chest; a movable neck provided between the head and the chest and having a neck joint axis; movable shoulders provided between the chest and the arms and having shoulder joint axes; and a movable waist provided below the chest and having a waist joint axis, wherein, when viewed from the side in a standard posture, the neck joint axis is offset backward relative to the shoulder joint axis and the waist joint axis is offset forward relative to the shoulder joint axis. (2) The nursing robot according to (1) above, which satisfies the following conditions: 0 < L2 / L1 < 1.5 (1) 0.2 < L5 / L4 < 0.6 (2) where L1 is the distance between the waist joint axis and the shoulder joint axis in the front-rear direction, L2 is the distance between the shoulder joint axis and the neck joint axis in the front-rear direction, L4 is the distance between the waist joint axis and the shoulder joint axis in the up-down direction, and L5 is the distance between the shoulder joint axis and the neck joint axis. (3) The nursing robot according to (1) or (2) above, which satisfies the following conditions: 3.3 < L7 / L6 < 5.0 (3) where L6 is the total head height in a standard posture and L7 is the body height. (4) The nursing robot according to any one of (1) to (3) above, wherein the eyeballs are located below the center position of the head in the up-down direction. (5) The nursing robot according to (4) above, which satisfies the following relationship: 0.2<L17 / L6<0.5 ... (4) where L6 is the total head height in a standard posture and L17 is the vertical distance from the center position of the eyeballs to the bottom of the chin of the head. (6) The nursing robot according to any one of (1) to (5) above, which satisfies the following relationship: 0.3<L5 / L6<0.6 ... (5) where L5 is the vertical distance between the shoulder joint axis and the neck joint axis and L6 is the total head height in a standard posture. (7) A nursing care robot according to any one of (1) to (6) above, which satisfies the following conditions: 1.3<L18 / L17<2.5... (6) 0.4<L19 / L17≦1.0... (7) where L17 is the vertical distance from the center position of the eyeball to the bottom of the chin of the head, L18 is the vertical distance from the center position of the eyeball to the shoulder joint axis, and L19 is the vertical distance from the center position of the eyeball to the neck joint axis.(8) The nursing robot according to any one of (1) to (7) above, wherein the range of motion of the pitch axis of the neck is configured to be larger in an upward direction than in a downward direction. (9) The nursing robot according to any one of (1) to (8) above, wherein the front face part of the head is configured to be behind the front face part of the chest when viewed from the side in the standard posture. (10) The nursing robot according to (9) above, wherein the following relationship is satisfied: 1 < L22 / L21 < 1.3 (8), where L21 is the distance from the neck joint axis to the front face part of the head when viewed from the side in the standard posture, and L22 is the distance from the neck joint axis to the front face part of the chest when viewed from the side in the standard posture. (11) The nursing robot according to any one of (1) to (10) above, wherein a distance image sensor is provided at the front upper part of the head. (12) The nursing robot according to any one of (1) to (11) above, wherein a vital sensor is provided at the front upper part of the chest. (13) The nursing care robot according to any one of (1) to (12) above, wherein the eyeball portion has: a transparent solid cylindrical portion having a first end face and a second end face, a display provided on the first end face side of the cylindrical portion for displaying the movement of the pupil of the eye, and a hemispherical transparent spherical portion provided on the second end face side of the cylindrical portion for emitting display light from the display that has entered through the cylindrical portion. (14) The nursing care robot according to (13) above, wherein the central position of the eyeball of the eyeball portion is configured to be offset inward with respect to the central position of the outer periphery of the spherical portion.

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

[0172] Those skilled in the art will recognize that various modifications, combinations, subcombinations, and variations may occur depending on design requirements and other factors, and are intended to be within the scope of the appended claims and their equivalents.

Claims

1. A nursing care robot comprising: a head having eyeballs; a chest; arms attached to the chest; a movable neck provided between the head and the chest and having a neck joint axis; movable shoulders provided between the chest and the arms and having shoulder joint axes; and a movable waist provided below the chest and having a waist joint axis, wherein, when viewed from the side in a standard posture, the neck joint axis is offset backward relative to the shoulder joint axis and the waist joint axis is offset forward relative to the shoulder joint axis.

2. The nursing robot according to claim 1, wherein the following conditions are satisfied: 0<L2 / L1<1.5... (1) 0.2<L5 / L4<0.6... (2) where L1 is the distance in the front-to-back direction between the waist joint axis and the shoulder joint axis, L2 is the distance in the front-to-back direction between the shoulder joint axis and the neck joint axis, L4 is the distance in the up-down direction between the waist joint axis and the shoulder joint axis, and L5 is the distance in the up-down direction between the shoulder joint axis and the neck joint axis.

3. The nursing robot according to claim 1, wherein the following condition is satisfied: 3.3<L7 / L6<5.0 (3) where L6 is the total head height in the standard posture and L7 is the body height.

4. The nursing robot according to claim 1, wherein the eyeballs are positioned below the center of the head in the vertical direction.

5. The nursing robot according to claim 4, wherein the following condition is satisfied: 0.2<L17 / L6<0.5 (4) where L6 is the total head height in the standard posture and L17 is the vertical distance from the center position of the eyeballs to the area below the chin of the head.

6. The nursing robot according to claim 1, wherein the following condition is satisfied: 0.3<L5 / L6<0.6 (5) where L5 is the vertical distance between the shoulder joint axis and the neck joint axis, and L6 is the total head height in the standard posture.

7. The nursing robot according to claim 1, wherein the following conditions are satisfied: 1.3<L18 / L17<2.5... (6) 0.4<L19 / L17≦1.0... (7) where L17 is the vertical distance from the center position of the eyeball to the underside of the chin of the head, L18 is the vertical distance from the center position of the eyeball to the shoulder joint axis, and L19 is the vertical distance from the center position of the eyeball to the neck joint axis.

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

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

10. A nursing robot as described in claim 9, which satisfies the following condition: 1 < L22 / L21 < 1.3 ... (8) where L21 is the distance from the neck joint axis to the front part of the face of the head when viewed from the side in the standard posture, and L22 is the distance from the neck joint axis to the front part of the chest when viewed from the side in the standard posture.

11. The nursing robot according to claim 1, wherein a distance image sensor is provided at the front upper part of the head.

12. The nursing robot according to claim 1, wherein a vital sensor is provided on the upper front part of the chest.

13. A nursing robot as described in claim 1, wherein the eyeball portion comprises: a transparent solid cylindrical portion having a first end face and a second end face; a display provided on the first end face side of the cylindrical portion for displaying the movement of the black eye; and a hemispherical transparent spherical portion provided on the second end face side of the cylindrical portion for emitting display light from the display that is incident through the cylindrical portion.

14. The nursing robot according to claim 13, wherein the center position of the eyeball of the eyeball portion is offset inward relative to the center position of the outer periphery of the spherical portion.