Development of Legless chair with Power Assist for Effort in Standing Action

开发具有站立动作用力辅助功能的无腿椅子

• 批准号: 13650247
• 负责人: KOIZUMI Kunio
• 金额: $ 1.09万
• 依托单位: TOYAMA University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650247/
• 关键词: welfare engineering; welfare for old people; staying home care; assistance; power assist; rehabilitation

This study deals with the new power assist for standing action, suspends the largest load to the leg in the anti-gravity action, of the old people who the leg function declines. In the case of seating in the floor, the very large load acts to the leg for lining of the waist height level from the floor to the chair. Therefore, the physical burden in Japanese daily life is bigger than the life with chair and bed in Europe and America. Thoughtless utilization of the machine power in the reduction method of the load causes the physical weakness of the leg. As the technical countermeasure in hardware against the difficult problem, the stand assist mechanism for the legless chair was developed to improvement for the natural and easy standing action. In standing action, there is the difficulty of standing in the wide bending of leg joints with transfer of the center of gravity in body weight in lifting of the waist height level from the floor to the chair. The functions of developed mechanism have lifting of the waist height level as the main mechanism action at the low level, and have the bending and extrusion of the body to the front over the height level equal to the chair. The mechanism can be adjusted the seat motion to fit for the individual specificity and the secular change with the only one actuator. And, as the countermeasure in software, the assist algorithm to evaluate the self-help effort for standing was developed to maintain the physical ability remained and rehabilitated.(1) The power assisted legless chair was developed to follow until self-standing from seating in the floor.(2) The forces at all joints were analyzed and the required power for the actuator were clarified.(3) The prototype of the power assist algorithm was developed.(4) Self- standing power is appropriate as the index of evaluation to effort.(5) The force acted at elbow hang was clarified to be appropriate as the approximate index.

这项研究涉及新的站立动作动力辅助装置，在腿部功能衰退的老年人中，在反重力动作中暂停对腿部的最大负荷。在坐在地板上的情况下，非常大的负载作用在从地板到椅子的腰部高度水平的腿部上。因此，日本人日常生活中的身体负担比欧美有椅子和床的生活还要大。在减轻负荷的方法中不慎重地利用机器动力会导致腿部的身体虚弱。作为针对该难题的硬件技术对策，开发了无腿椅的站立辅助机构，以改善站立动作自然、轻松。在站立动作中，在将腰部高度从地板提升到椅子上时，由于体重重心转移，腿部关节大幅弯曲，因此站立存在困难。所开发机构的功能是在低位时以腰部高度的提升为主要机构动作，在与椅子等高的高度上以身体向前弯曲和挤压为主。该机构只需一个执行器即可调整座椅运动，以适应个人的特殊性和长期的变化。并且，作为软件方面的对策，开发了评估站立自助努力的辅助算法，以保持和恢复身体能力。（1）开发了电动辅助无腿椅，以跟随从座位上自行站立。 (2)分析了各关节处的受力情况，明确了执行器所需的功率。(3)开发了助力算法原型。(4)自立功率作为评价指标较为合适(5) 力量澄清了肘悬时的作用作为近似指数是合适的。