Standing-up motion assist system, control method for controller of standing-up motion assist system, storage medium, care belt, and robot

Patent metadata

Field	Value
Publication number	US-2017128293-A1
Application number	US-201715414577-A
Country	US
Kind code	A1
Filing date	Jan 24, 2017
Priority date	Sep 19, 2014
Publication date	May 11, 2017
Grant date	—

Abstract

In a standing-up motion assist system for assisting a care receiving person, a care belt includes a first holder that holds a neck part or a back part of the care receiving person, a second holder that holds a lumbar part of the care receiving person, a third holder that connects the first holder and the second holder and holds armpits of the care receiving person, a second connector located at a chest of the care receiving person, and a first connector that connects the first holder and the second holder. A pulling mechanism is connected to the second connector and pulls the second connector. A controller controls the pulling mechanism so as to pull the second connector in a forward and upward direction with reference to the care receiving person, and, thereafter, pull the second connector in a backward and upward direction with reference to the care receiving person.

First claim

What is claimed is:

1 . A standing-up motion assist system that assists a standing-up motion of a care receiving person, comprising:
a care belt including
a first holder that holds a neck part or a back part of the care receiving person,
a second holder that holds a lumbar part of the care receiving person,
a third holder that connects the first holder and the second holder and holds armpits of the care receiving person, and
a first connector that includes a second connector located at a chest of the care receiving person and that connects, in front of the care receiving person, the first holder and the second holder;
a pulling mechanism that is connected to the second connector and that pulls the second connector; and a controller that controls the pulling mechanism such that the pulling mechanism pulls the second connector in a forward and upward direction with reference to the care receiving person, and, thereafter, the pulling mechanism pulls the second connector in a backward and upward direction with reference to the care receiving person.

2 . The standing-up motion assist system according to claim 1 , wherein the controller controls the pulling mechanism such that the pulling speed of the pulling mechanism is increased when the pulling mechanism is pulling the second connector in the forward and upward direction with reference to the care receiving person.

3 . The standing-up motion assist system according to claim 1 , wherein the first holder holds the neck part, the chest, and the sides of the torso in a direction from the back to the front of the body of the care receiving person, and
the second holder holds the back part via the sides of the torso.

4 . The standing-up motion assist system according to claim 1 , wherein the first holder holds the neck part, the chest, and the sides of the torso in a direction from the back to the front of the body of the care receiving person, and
the second holder holds the back part via the sides of the torso.

5 . The standing-up motion assist system according to claim 1 , wherein the pulling mechanism includes a walking mechanism including a pair of front wheels and a pair of back wheels.

6 . The standing-up motion assist system according to claim 1 , wherein
the pulling mechanism includes an arm mechanism including a plurality of joints, and wherein the standing-up motion assist system further includes a force acquirer that acquires information about a force applied to the arm mechanism from the outside, a position acquirer that acquires information about a position of the arm mechanism, and an operation information generator that generates operation information about the arm mechanism from the information about the force acquired by the force acquirer and the information about the position acquired by the position acquirer, and wherein the controller controls an operation of the arm mechanism based on the operation information generated by the operation information generator.

7 . The standing-up motion assist system according to claim 6 , wherein
the operation information generator generates operation information such that when the controller is controlling the pulling mechanism so as to pull the second connector in a forward and upward direction with reference to the care receiving person, the operation information generator calculates the difference between a first force at a first time acquired by the force acquirer and a second force at a second time acquired by the force acquirer earlier than the first time, and in a case where the absolute value of the force, acquired by the force acquirer after the sign of the difference between the first force and the second force is inverted, is equal to or greater than a threshold value, the operation information generator generates operation information that causes the pulling speed, at which the arm mechanism pulls the second connector in the upward direction, to be increased compared to the speed as of when the sign of the difference is not yet inverted.

8 . The standing-up motion assist system according to claim 6 , wherein
the operation information generator generates operation information such that when the controller is controlling the pulling mechanism so as to pull the second connector in a forward and upward direction with reference to the care receiving person, the operation information generator calculates the difference between a first force at a first time acquired by the force acquirer and a second force at a second time acquired by the force acquirer earlier than the first time, and the operation information generator generates operation information that causes the pulling speed, at which the arm mechanism pulls the second connector in the upward direction, to be increased as the absolute value of the force, acquired by the force acquirer after the sign of the difference between the first force and the second force is inverted, increases.

9 . The standing-up motion assist system according to claim 1 , wherein
one of the pulling mechanism and the second connector includes a buckle, and the other one of the pulling mechanism and the second connector includes a buckle receiver, and wherein the buckle and the buckle receiver are removably connected to each other.

10 . A control method for a controller of a standing-up motion assist system, the standing-up motion assist system including
a care belt including
a first holder that holds a neck part or a back part of a care receiving person,
a second holder that holds a lumbar part of the care receiving person,
a third holder that connects the first holder and the second holder and holds armpits of the care receiving person, and
a first connector that includes a second connector located at a chest of the care receiving person and that connects, in front of the care receiving person, the first holder and the second holder, a pulling mechanism that is connected to the second connector and that pulls the second connector, and the controller that controls the pulling operation of the pulling mechanism, the control method comprising: causing the controller to control the pulling mechanism to pull the second connector in a forward and upward direction with reference to the care receiving person; and thereafter causing the controller to control the pulling mechanism to pull the second connector in a backward and upward direction with reference to the care receiving person.

11 . A non-transitory computer-readable recording medium storing a program for a controller of a standing-up motion assist system, the standing-up motion assist system including
a care belt including
a first holder that holds a neck part or a back part of a care receiving person,
a second holder that holds a lumbar part of the care receiving person,
a third holder that connects the first holder and the second holder and holds armpits of the care receiving person, and
a first connector that includes a second connector located at a chest of the care receiving person and that connects, in front of the care receiving person, the first holder and the second holder,
a pulling mechanism that is connected to the second connector and that pulls the second connector, the controller that controls the pulling operation of the pulling mechanism, the program comprising: causing the controller to control the pulling mechanism to pull the second connector in a forward and upward direction with reference to the care receiving person; and thereafter causing the controller to control the pulling mechanism to pull the second connector in a backward and upward direction with reference to the care receiving person.

Assignees

• Panasonic Ip Man Co Ltd

Inventors

• Tsusaka Yuko
• Fudaba Yudai

Classifications

• A61G7/1051

  Flexible harnesses or slings · CPC title

• A61G7/1046

  Mobile bases, e.g. having wheels · CPC title

• A61G5/14 Primary

  Standing-up or sitting-down aids · CPC title

• A61G7/1061

  Yokes · CPC title

• A61H3/04

  Wheeled walking aids for patients or disabled persons · CPC title