Standing action assistance system, method for controlling control unit of standing action assistance system, control unit program for standing action assistance system, caregiving belt, and robot
A standing action assistance system for assisting the standing action of a care recipient, the assistance system being provided with: a caregiving belt having a first holding section for holding the neck or back of the care recipient, a second holding section for holding the waist region of the care recipient, a third holding section for connecting the first holding section to the second holding section and holding the sides of the care recipient, a second connecting section located on the chest of the care recipient, and a first connecting section for connecting the first holding section to the second holding section on the front surface of the care recipient a traction mechanism that is connected to the second connecting section and pulls the second connecting section and a control unit, which controls the traction mechanism so that after pulling the second connecting section towards the front of the care recipient and upward, the traction mechanism pulls the second connecting section towards the back of the care recipient and upward.本發明為一種起立動作支援系統,其支援被照護者之起立動作,且備有照護帶、牽引機構及控制部;前述照護帶包括:第1保持部,保持被照護者之頸部或背部;第2保持部,保持被照護者之腰部;第3保持部,連結第1保持部與第2保持部,保持被照護者之腋下;及第2連結部,位於被照護者之胸部;且,前述照護帶包括第1連結部,於被照護者之前面,連結第1保持部與第2保持部;前述牽引機構是與第2連結部連結,牽引第2連結部;前述控制部控制牽引機構,以使牽引機構將第2連結部向被照護者之前方且向上方牽引後,將第2連結部向被照護者之後方且向上方牽引。1‧‧‧機器人系統2‧‧‧本體機構3‧‧‧照護帶3a‧‧‧第1保持部3b‧‧‧第2保持部3c‧‧‧連結部3g‧‧‧維持機構4‧‧‧臂機構4a‧‧‧第1驅動部4b‧‧‧第2驅動部4c‧‧‧第1臂4d‧‧‧第2臂4e‧‧‧第3臂4f‧‧‧第4臂4g‧‧‧連結部5‧‧‧座椅部6‧‧‧輸入IF7‧‧‧被照護者7a‧‧‧頸部7b‧‧‧背部7c‧‧‧腰部7d‧‧‧胸部7e‧‧‧臀部7f‧‧‧軀體部之側部7g‧‧‧腋下7h‧‧‧肩部13‧‧‧地板14‧‧‧步行機構14a‧‧‧前輪14b‧‧‧後輪14c‧‧‧前輪用制動器14d‧‧‧後輪用制動器14e‧‧‧矩形台15‧‧‧把手20‧‧‧機器人
