Care robot

• US 10,166,159 B2
• Filed: 02/07/2013
• Issued: 01/01/2019
• Est. Priority Date: 02/07/2013
• Status: Active Grant

• Current Assignee: Fuji Company Limited
• Original Assignee: Fuji Company Limited
• Inventors: Suzuki, Jun, Isozumi, Joji, Mori, Kazuaki, Nakane, Nobuyuki, Nomura, Hideaki
• Primary Examiner(s): Moyer, Dale
• Application Number:
  US14/766,661
• Publication Number:
  US 20150359694A1
• Time in Patent Office: 2,154 Days
• CPC Class Codes: A61G 2200/34 sitting
• CPC Class Codes: A61G 2200/36 standing
• CPC Class Codes: A61G 2200/52 Underarm
• CPC Class Codes: A61G 5/14 Standing-up or sitting-down aids
• CPC Class Codes: A61G 7/1019 Vertical extending columns or mechanisms
• CPC Class Codes: A61G 7/1046 Mobile bases, e.g. having wheels
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A care robot that assists a standing-upright motion or a sitting motion of a care receiver without making the care receiver uncomfortable. In the care robot, a standing-upright trajectory, along which a movement control portion of a care receiver moves, is set so a center of gravity of the care receiver is in a range of the soles of both feet between a point in time early after the start of a standing-upright motion and an end time point of the standing-upright motion of the care receiver. A sitting trajectory is set so the center of gravity of the care receiver is out of the range of the soles of both feet from a point in time early after the start of a sitting motion of the care receiver, and moves toward a predetermined sitting position of the care receiver.

Claims

1. A care robot, comprising:

a holding section configured to assist a standing-upright motion and a sitting motion of a care receiver by supporting a part of the body of the care receiver;

a base;

a robot arm section that is provided in the base, and includes multiple arms which are mutually and relatively movable by using a drive section;

the holding section that is provided in a distal end portion of the robot arm section, and supports the care receiver;

a memory section that stores standing-upright trajectory reference data of the holding section, and sitting trajectory reference data of the holding section which is different from the standing-upright trajectory, and along which the movement control portion of the care receiver moves when the care receiver sits with the support of the holding section;

a handle configured to be gripped by hands of the care receiver, the handle including a first contact sensor to detect a first hand of the care receiver and a second contact sensor to detect a second hand of the care receiver; and

a drive control section configured to drive the drive section such that the robot arm section is driven based on the standing-upright trajectory reference data and the sitting trajectory reference data,

wherein when the sitting care receiver stands upright with the support of the holding section, a standing-upright trajectory of the holding section, is set,

wherein when the standing care receiver sits with the support of the holding section, a sitting trajectory of the holding section, which is different from the standing-upright trajectory, is set,

wherein the sitting trajectory of the holding section is above the standing-upright trajectory of the holding section, and

wherein the holding section performs the standing-upright motion when the first contact sensor detects the first hand, in response to a first guidance by the care robot.

2. The care robot according to claim 1, further comprising:

a correction section that corrects the standing-upright trajectory reference data and the sitting trajectory reference data in correspondence with a body height of the care receiver and a height of a seat portion on which the care receiver sits,

wherein the drive control section drives the drive section such that the robot arm section is driven based on the standing-upright trajectory reference data and the sitting trajectory reference data corrected by the correction section.

3. The care robot according to claim 1,

wherein the standing-upright trajectory reference data and the sitting trajectory reference data are stored while also including an angle of the holding section at each point in the standing-upright trajectory and in the sitting trajectory, and

wherein the drive control section drives the drive section such that the angle of the holding section at each point is controlled to become the angle stored in the standing-upright trajectory reference data and the sitting trajectory reference data.

4. The care robot according to claim 1,

wherein the memory section stores multiple items of standing-upright trajectory data which are indicative of trajectories different from the standing-upright trajectory corresponding to the standing-upright trajectory reference data, and are prepared to train multiple different body parts of the care receiver, and

wherein the care robot further comprises:

an acquisition section that acquires data, corresponding to the body parts that the care receiver wants to train, among the multiple items of standing-upright trajectory data,

wherein when the care receiver stands upright with the support of the holding section, the drive control section drives the robot arm section based on the data acquired by the acquisition section.

5. The care robot according to claim 1,

wherein the drive control section performs control such that a velocity of the holding section when the care receiver stands upright with the support of the holding section becomes different from a velocity of the holding section when the care receiver sits with the support of the holding section.

6. The care robot according to claim 5,

wherein when the care receiver stands upright with the support of the holding section, the drive control section controls the velocity of the drive section such that the velocity of the holding section becomes a velocity corresponding to a burden on the care receiver in a zone where the care receiver wants to train, among multiple zones in the standing-upright trajectory.

7. The care robot according to claim 1,

wherein after completion of the standing-upright motion a second guidance is issued by the care robot, and

wherein the care robot moves away from the care receiver by a predetermined distance when the first contact sensor detects a release of the handle by the first hand and the second contact sensor detects a release of the handle by the second hand, each in response to the second guidance.

8. A care robot, comprising:

a holding section configured to assist a standing-upright motion and a sitting motion of a care receiver by supporting a part of the body of the care receiver,

wherein when the sitting care receiver stands upright with the support of the holding section, a standing-upright trajectory of the holding section is set such that a center of gravity of the care receiver is present in the range of the soles of both feet between a point in time early after the start of the standing-upright motion and an end time point of the standing-upright motion of the care receiver,

wherein when the standing care receiver sits with the support of the holding section, a sitting trajectory of the holding section, which is different from the standing-upright trajectory, is set such that the center of gravity of the care receiver is present out of the range of the soles of both feet from a point in time early after the start of the sitting motion of the care receiver, and moves toward a predetermined sitting position of the care receiver,

wherein the sitting trajectory of the holding section is above the standing-upright trajectory of the holding section.

9. The care robot according to claim 8,

wherein in the standing-upright trajectory, the point in time early after the start of the standing-upright motion represents a time point when the sitting care receiver leans forward, and lifts his or her waist upward.

10. A care robot, comprising:

a holding section configured to assist a standing-upright motion and a sitting motion of a care receiver by supporting a part of the body of the care receiver,

wherein when the sitting care receiver stands upright with the support of the holding section, a standing-upright trajectory of the holding section is set,

wherein when the standing care receiver sits with the support of the holding section, a sitting trajectory of the holding section, which is different from the standing-upright trajectory, is set,

wherein the standing-upright trajectory of the holding section is above the sitting trajectory of the holding section.