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.

本研究针对下肢功能衰退的老人，探讨一种新的站立动作助力器，在反重力动作中，将最大负荷悬于腿部。在坐在地板上的情况下，非常大的载荷作用在腿上，用于从地板到椅子的腰部高度水平的内衬。因此，日本人日常生活中的身体负担比欧美人有椅子和床的生活还要大。在减少负荷的方法中，机械功率的不合理利用导致腿部的身体虚弱。针对这一难题，开发了无腿椅的站立辅助机构，作为硬件上的技术对策，以改善自然轻松的站立动作。在站立动作中，在从地板到椅子的腰部高度水平的提升中，随着身体重量的重心转移，腿关节的广泛弯曲存在站立的困难。所开发机构的功能是在低位以腰部高度水平的提升为主要机构动作，并在与椅子相同的高度水平上将身体向前弯曲和挤压。该机构仅用一个驱动器就可以调节座椅运动，以适应个体的特殊性和长期的变化。此外，作为软件上的对策，开发了用于评估站立自助努力的辅助算法，以保持身体能力的保留和恢复。(1)电力辅助无腿椅子的发展，直到自我站在地板上的座位。(2)分析了所有关节处的力，并阐明了致动器所需的功率。(3)开发了动力辅助算法的原型。(4)自立能力作为衡量努力程度的指标是合适的. (5)阐明了肘关节悬吊时的作用力作为近似指标是合适的。