STANDING OR SEATING MOTION SUPPORT SYSTEM AND STANDING OR SEATING MOTION SUPPORT CONTROL METHOD, ROBOT, AND STANDING OR SEATING MOTION SUPPORT PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a standing/seating motion support system capable of preventing a care-receiver from feeling discomfort in a case of supporting the motion when the care-receiver stands up from a seating-posture state, without making a traction mechanism perform an unexpected operation for the care-receiver.SOLUTION: A care-receiver 7 is held by a holding mechanism 3, and a traction mechanism 4 connected to the holding mechanism, hauls the holding mechanism so as to travel on a predetermined trajectory K0. When the trajectory is deviated from the prescribed trajectory K0, a control device 11 controls the traction mechanism, on the basis of a position detected by position sensors 43 and 44 and force detected by a force sensor 17, to change the position to a position on the prescribed trajectory (K0) at a later time than a time when the position is detected, such that the holding mechanism can travel on the prescribed trajectory.SELECTED DRAWING: Figure 2