| 摘要 |
An objective of the present invention is to provide an assistance robot which is capable of carrying out a standing operation according to the sitting orientation and physique of the person to be assisted. This assistance robot (10) comprises: a platform (21); a vertical movement manipulation unit (15c) which the person to be assisted (M1) or an assistant (13) can manipulate so as to change the vertical position of a holding unit (13); a first control unit (17a) which controls an actuator (45) in response to manipulation of the vertical movement manipulation unit (15c) and moves the holding unit (13) vertically; a storage unit (16) which pre-stores motion trajectories for actuators (45, 32a1, 32b1) for moving the holding unit (13) from a reference sitting orientation to a reference standing orientation; a correction unit (17b) which corrects the motion trajectories for the actuators (45, 32a1, 32b1) on the basis of the vertical position of the holding unit (13) moved by the first control unit (17a) and the vertical position at the reference sitting orientation; and a second control unit (17c) which controls the actuators (45, 32a1, 32b1) and moves the holding unit (13) to a prescribed standing orientation, on the basis of the corrected motion trajectories. |
