CARE ROBOT

摘要

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.

主权项

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