Living support system and living support method
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G05B-015/00
A61G-005/14
A47C-007/56
A47C-007/62
B25J-009/00
B25J-009/16
출원번호
US-0977338
(2015-12-21)
등록번호
US-9962305
(2018-05-08)
우선권정보
JP-2015-003693 (2015-01-09)
발명자
/ 주소
Yamada, Kazunori
Yamada, Yoji
Di, Pei
출원인 / 주소
PANASONIC CORPORATION
대리인 / 주소
Greenblum & Bernstein, P.L.C.
인용정보
피인용 횟수 :
3인용 특허 :
10
초록▼
A living support system connected to a chair including a movable seat through a communication network includes a robot including a main body, a moving device that moves the main body in a freestanding state, a handle provided at the main body and gripped by a user, and a handle load detector that de
A living support system connected to a chair including a movable seat through a communication network includes a robot including a main body, a moving device that moves the main body in a freestanding state, a handle provided at the main body and gripped by a user, and a handle load detector that detects a handle load applied to the handle by the user; a support control device that controls seat movement for a stand-up motion of the sitting user, using the detected handle load; and a communicator that transmits support control information including a movement speed at which the chair moves the movable seat, to the chair through the communication network. The support control device includes a seat speed calculator that calculates a speed at which the movable seat is inclined with respect to a floor on which the chair is placed, as the movement speed using the detected handle load.
대표청구항▼
1. A living support system connected to a chair including a movable seat through a communication network, comprising: a robot including a main body,a moving device that moves the main body in a freestanding state,a handle provided at the main body and configured to be gripped by a user, anda handle
1. A living support system connected to a chair including a movable seat through a communication network, comprising: a robot including a main body,a moving device that moves the main body in a freestanding state,a handle provided at the main body and configured to be gripped by a user, anda handle load detector that detects a handle load applied to the handle by the user;a support control device that controls movement of the movable seat for a stand-up motion of the user sitting on the chair, on the basis of the detected handle load, wherein the support control device includes (i) a relative position calculator that calculates a relative position of the robot with respect to the chair and (ii) a support availability determiner that determines that stand-up support is available if the relative position calculated by the relative position calculator is located at a previously set support position; anda communicator that transmits support control information including a movement speed at which the chair moves the movable seat, to the chair through the communication network,wherein the support control device further includes a seat speed calculator that calculates a speed at which the movable seat is inclined with respect to a floor on which the chair is placed, as the movement speed on the basis of the detected handle load; andwherein, if the support availability determiner determines that the robot is located at the support position, the communicator transmits the support control information including the movement speed calculated by the seat speed calculator to the chair. 2. The living support system according to claim 1, wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives seat load information, from the chair, which includes a seat load which is applied to the movable seat by the user and detected by the chair, andwherein the support control device locks movement of the moving device if the seat load included in the received seat load information is larger than the previously set seat load, and the support control device unlocks the movement of the moving device if the seat load included in the seat load information becomes equal to or smaller than the previously set seat load. 3. The living support system according to claim 2, wherein the handle load detector detects a handle load in a vertical direction and a handle load in a horizontal direction with respect to a floor on which the robot is arranged, as the handle load applied to the handle, andwherein the support control device unlocks the movement by the moving device and causes the moving device to move the robot in the horizontal direction if the handle load in the horizontal direction detected by the handle load detector is a set value or larger. 4. The living support system according to claim 1, wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives seat load information, from the chair, which includes a seat load which is applied to the movable seat by the user and detected by the chair, andwherein the support control device locks movement of the moving device at the support position, calculates a gravity center position of the user on the basis of the handle load detected by the handle load detector and the seat load included in the seat load information, and the support control device unlocks the movement of the moving device if the gravity center position satisfies a previously set first set condition. 5. The living support system according to claim 4, wherein the support control device causes the moving device to move the main body in a direction away from the chair in accordance with the gravity center position after the movement is unlocked. 6. The living support system according to claim 1, wherein the robot further includes a posture information acquirer that acquires posture information of the user sitting on the chair,wherein the support control device corrects the support position on the basis of the posture information of the user input from the posture information acquirer. 7. The living support system according to claim 1, wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives seat load information, from the chair, which includes a seat load which is applied to the movable seat by the user and which is detected by the chair, andwherein the seat speed calculator calculates the movement speed of the sheet on the basis of the handle load and the seat load included in the received seat load information. 8. The living support system according to claim 1, wherein the seat speed calculator calculates a value that is proportional to the handle load, as the movement speed. 9. The living support system according to claim 1, wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives seat load information, from the chair, which includes a seat load which is applied to the movable seat by the user and which is detected by the chair,wherein the seat control device calculates a gravity center position of the user on the basis of information on the handle load and the seat load included in the received seat load information, andwherein the seat speed calculator calculates the movement speed of the movable seat of the chair so that a movement speed at the gravity center position of the user satisfies a previously set second set condition. 10. The living support system according to claim 1, wherein the chair includes a seat moving device that inclines the movable seat forward of the chair, and inclines the movable seat leftward or rightward of the chair,wherein the handle load detector detects a left handle load applied to a left portion with respect to the center of the handle by the user, and a right handle load applied to a right portion with respect to the center of the handle by the user,wherein the support control device calculates a gravity center position of the user in a left-right direction of the chair on the basis of the left handle load and the right handle load, and adds control information on a seat gradient by which the movable seat is inclined leftward or rightward of the chair so that the gravity center position of the user approaches the center of the robot, to the support control information, andwherein the support control device causes the seat moving device of the chair to control the seat gradient on the basis of the control information on the seat gradient included in the support control information. 11. The living support system according to claim 1, wherein the chair includes a seat moving device that inclines the movable seat forward of the chair, and inclines the movable seat leftward or rightward of the chair,wherein the support control device adds control information on a seat gradient by which the movable seat is inclined leftward or rightward of the chair, to the support control information on the basis of previously set user information, and wherein the support control device causes the seat moving device of the chair to control the seat gradient on the basis of the control information on the seat gradient in the support control information. 12. The living support system according to claim 1, wherein the chair includes a seat moving device that inclines the movable seat forward of the chair, and inclines the movable seat leftward or rightward of the chair,wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives information, from the chair, on a left-right load balance relating to a load balance of the seat in a left-right direction of the chair detected by the chair,wherein the support control device calculates a gravity center position of the user in the left-right direction on the basis of the received information on the left-right load balance, and adds control information on a seat gradient by which the movable seat is inclined leftward or rightward of the chair so that the gravity center position of the user approaches the center in the left-right direction of the chair, to the support control information, andwherein the support control device causes the seat moving device of the chair to control the seat gradient on the basis of the control information on the seat gradient included in the support control information. 13. The living support system according to claim 1, wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives history information, from the chair, on a seat load which is applied to the movable seat by the user and which is detected by the chair,wherein the support control device determines whether the user is sleeping or not on the basis of the received history information, and if the support control device determines that the user is sleeping, the support control device adds a lower movement speed than the movement speed of the movable seat calculated by the seat speed calculator, to the support control information. 14. The living support system according to claim 1, further comprising: a sense provider that emits a sense signal to the user,wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives history information, from the chair, on a seat load which is applied to the movable seat by the user and detected by the chair, andwherein the support control device determines whether the user is sleeping or not on the basis of the received history information, and if the support control device determines that the user is sleeping, the sense provider emits the sense signal. 15. The living support system according to claim 1, further comprising: a sense provider that emits a sense signal to the user,wherein the communicator further receives speed information, from the chair, which includes the movement speed of the movable seat, andwherein the sense provider emits a sense signal corresponding to the movement speed of the seat included in the received speed information. 16. The living support system according to claim 1, further comprising: a sense provider that emits a sense signal to the user,wherein, if the support availability determiner determines that the robot is located at the support position, the communicator receives seat load information, from the chair, which includes a seat load which is applied to the movable seat by the user and detected by the chair, andwherein the support control device calculates a gravity center position of the user on the basis of the handle load and the seat load included in the received seat load information, and the sense provider emits a sense signal corresponding to a movement speed at the gravity center position of the user. 17. The living support system according to claim 1, wherein the handle load detector detects a handle load in a vertical direction with respect to a floor on which the robot is arranged, as the handle load applied to the handle, and wherein, the support control device causes the chair to control the movement of the movable seat on the basis of the detected handle load in the vertical direction. 18. The living support system according to claim 1, wherein the robot includes: the support control device; and the communicator. 19. The living support system according to claim 1, further comprising: an external device connected to the robot and the chair through the communication network,wherein the external device includes the support control device and the communicator. 20. The living support system according to claim 19, wherein the robot includes a communicator that transmits the detected handle load to the external device, andwherein the support control device acquires the handle load received by the communicator in the external device from the robot. 21. The living support system according to claim 1, wherein the support control device causes the chair to move the movable seat on the basis of the calculated movement speed included in the transmitted support control information. 22. A living support method of a living support system connected to a chair including a movable seat through a communication network, wherein the living support system includes a robot having a main body, a moving device that moves the main body in a freestanding state, a handle provided at the main body and configured to be gripped by a user, and a handle load detector that detects a handle load applied to the handle by the user, andwherein the living support method comprises:calculating a relative position of the robot with respect to the chair;determining that stand-up support is available if the relative position calculated by the relative position calculator is located at a previously set support position;controlling movement of the movable seat for a stand-up motion of the user sitting on the chair, on the basis of the handle load detected by the robot;transmitting support control information including a movement speed at which the chair moves the movable seat, to the chair through the communication network; andwherein, the controlling further includes calculating a speed at which the movable seat is inclined with respect to a floor on which the chair is placed, as the movement speed on the basis of the detected handle load; andwherein, if it is determined that the robot is located at the support position, the communicator transmits the support control information including the movement speed calculated by the seat speed calculator to the chair. 23. A living support system comprising: a chair having a movable seat;a robot including a main body, a moving device that moves the main body in a freestanding state, a handle provided at the main body and configured to be gripped by the user, and a handle load detector that detects a handle load applied to the handle; andan external device connected to the robot and the chair through the communication network,wherein the external device includes a support control device that controls movement of the movable seat for a stand-up motion of the user sitting on the chair, on the basis of the handle load detected by the robot, wherein the support control device includes (i) a relative position calculator that calculates a relative position of the robot with respect to the chair and (ii) a support availability determiner that determines that stand-up support is available if the relative position calculated by the relative position calculator is located at a previously set support position, anda communicator that transmits support control information including a movement speed at which the chair moves the movable seat, to the chair through the communication network, andwherein the support control device includes a seat speed calculator that calculates a speed at which the movable seat is inclined with respect to a floor on which the chair is placed, as the movement speed on the basis of the handle load detected by the robot, andwherein, if the support availability determiner determines that the robot is located at the support position, the communicator transmits the support control information including the movement speed calculated by the seat speed calculator to the chair. 24. The living support system according to claim 23, wherein the robot further includes a communicator that transmits the detected handle load to the external device,wherein the communicator in the external device further receives the handle load transmitted from the robot, andwherein the seat speed calculator of the support control device calculates the speed at which the movable seat is inclined, as the movement speed on the basis of the received handle load.
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