STANDING-UP ASSIST DEVICE

A standing-up assist device includes: a base portion; a shaft portion extending upward from the base portion, the shaft portion being expandable and contractible; and a support portion, provided at an upper end portion of the shaft portion, for supporting a body of a user, in which the shaft portion has a plurality of shaft members arranged in a front-rear direction.

INCORPORATION BY REFERENCE

The present application claims priority under 35 U.S.C. § 119 to Japanese Patent Application No. 2021-173446 filed on Oct. 22, 2021. The content of the application is incorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a standing-up assist device.

Description of the Related Art

A user with weak knees, legs and hips needs a great deal of effort to stand up from a state of sitting on a sitting chair by himself/herself, which puts a heavy load on the body. Accordingly, devices for assisting in standing up from sitting chairs have been proposed. Japanese Patent No. 5773718 and Japanese Patent No. 6737796 disclose a device, as a device in this category, including a base portion and a shaft portion that is expandable and contractible in an up-down direction with respect to the base portion, in which a member gripped by the user or a member holding the user is arranged on the upper side of the shaft portion, and the shaft portion is expanded and contracted to assist the user in standing up.

However, the conventional device has room for improvement in terms of balance stability when the user applies a load to the support portion.

An object of the present invention is to provide a standing-up assist device capable of further enhancing balance stability.

SUMMARY OF THE INVENTION

One aspect of the present invention is a standing-up assist device, including: a base portion; a shaft portion extending upward from the base portion, the shaft portion being expandable and contractible; and a support portion, provided at an upper end portion of the shaft portion, for supporting a body of a user, wherein the shaft portion has a plurality of shaft members arranged in a front-rear direction.

According to one aspect of the present invention, the balance stability can be further enhanced.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

FIG.1is a perspective view showing an overall configuration of a standing-up assist device1according to the present embodiment.

The standing-up assist device1is a device for assisting standing-up motion and sitting-down motion of a user J (seeFIG.3). The standing-up motion represents a motion in which the user J keeps the direction of the body and stands up from a sitting state, in which the user J sits on a seat K (seeFIG.3) such as a chair or a bed, to a standing state, in which the user stands up. The sitting-down motion represents a motion in which the user J keeps the direction of the body and lower the hips to sit down on the seat K to shift from the standing state to the sitting state.

In the following description, the direction in which the user J in the sitting state stands up in the standing-up motion is referred to as a front direction DF, and the direction in which the user J in the standing state moves the hips (buttocks) in the sitting-down motion is referred to as a rear direction DB. Of the directions orthogonal to the front direction DF and the rear direction DB, the side where the left hand of the user J facing the front direction DF is located is referred to as the left direction DL, and the side where the right hand of the user J is located is referred to as the right direction DR. The upward direction in the vertical direction is referred to as an upward direction DU, and the downward direction in the vertical direction is referred to as a downward direction DD.

In addition, the movement of the body when a healthy person who does not need assist performs a standing-up motion and a sitting-down motion is referred to as a “natural motion”.

The standing-up assist device1of the present embodiment includes a configuration for assisting the user J to perform a standing-up motion and a sitting-down motion with a motion close to the natural motion. Since the user J performs standing-up motion and sitting-down motion with a movement close to the natural motion, he/she can stand up and sit down by appropriately using his/her own power without overly relying on assist.

The structural configuration of the standing-up assist device1will now be described.

FIG.1is a perspective view showing an overall configuration of a standing-up assist device1.

As shown in the figure, the standing-up assist device1includes a base portion10, a shaft portion12, a support portion14, and grip portions16.

The base portion10corresponds to the base part of the structure (skeleton) of the standing-up assist device1, and includes a base plate20that is a main frame on which the shaft portion12is erected. Further, the base portion10of the present embodiment includes: a pipe frame22having a substantially C-shape in a plan view and an opening in the rear direction DB; and wheels24movably supporting the pipe frame22, and the base plate20is supported by the pipe frame22inside the pipe frame22. Wheels24are provided on the left and right of the front end of the pipe frame22and the other wheels24are provided on the left and right of the rear end thereof, contributing to stably balancing the standing-up assist device1in the front-rear direction and the left-right direction. Since the respective wheels24are casters that can move in any direction, and the standing-up assist device1includes such wheels24, the standing-up assist device1moves according to the walking of the user J in the standing state, and can be used for a device called a walk assist device.

The shaft portion12is a part having a shape extending from the base portion10in the upward direction DU, the lower end portion12D thereof is coupled to the base plate20of the base portion10, and the upper end portion12U thereof is fixed to the support portion14. In other words, the shaft portion12also functions as a part supporting the support portion14in the upward direction DU of the base portion10. The shaft portion12is turnable in the front-rear direction around the lower end portion12D and is expandable and contractible in an up-down direction, whereby the support portion14can be moved in both the front-rear direction and the up-down direction. The configuration of the shaft portion12is to be described below.

The support portion14is a part supporting the body of the user J, and the support portion14of the present embodiment includes a rod-shaped member30having a substantially C-shape in a plan view and an opening in the rear direction DB. Specifically, the rod-shaped member30has a pair of left and right elbow contact portions31extending in the front-rear direction, and a connecting portion32connecting the front end portions of the respective elbow contact portions31. Each elbow contact portion31is a part for supporting the elbow of the user J, and is provided with a cup-shaped elbow contact support member33into which the elbow is fitted. The elbow contact support member33has a pair of left and right side walls33S and a rear wall33B located in the rear direction DB of the elbow, the side walls33S prevent the elbow from moving in the left-right direction, and the rear wall33B supports the elbow from the rear direction DB.

Further, the support portion14is provided with a pair of the left and right grip portions16that are parts to be gripped by the user J by hand. In the present embodiment, the grip portions16are integrated with the rod-shaped members30constituting the support portion14. Specifically, the rod-shaped members30each have a part bent upward at the front end portion of each of the left and right elbow contact portions31, and these parts constitutes the grip portions16.

Note that members each having a shape that can be gripped by the user J (for example, a rod-shaped members) may be erected on the respective elbow contact portions31to form grip portions16separately from the rod-shaped members30constituting the support portion14. Further, the mounting positions of the elbow contact support members33may be configured to be adjustable in the front-rear direction according to the length from the hand to the elbow of the user J. As a result, the user J can adjust the mounting positions of the elbow contact support members33so that he/she can always grip the grip portions16while putting the elbows in the elbow contact support members33.

Further, the support portion14is provided with a chest contact support portion36between a pair of the left and right elbow contact portions31. The chest contact support portion36includes a plate material36A installed between a pair of the left and right elbow contact portions31and a protruding chest contact material36B fixed to substantially the center of the left and right sides of the plate material36A, and substantially the entire chest contact support portion36including the chest contact material36B is covered with a member having resilience such as urethane foam. When the user J is in a standing state or in a forward-bent posture, he/she can press the chest against the chest contact support portion36to support the upper body.

FIG.2is a diagram showing a movable mechanism of the standing-up assist device1. Note thatFIG.2is a schematic diagram, and the dimensions, shapes, and positions of the members are different from those inFIG.1.

The shaft portion12of the standing-up assist device1includes a first shaft member41and a second shaft member42, each of which is expandable and contractible in the up-down direction, and has a lower end portion coupled to the base portion10. In the present embodiment, the first shaft member41: includes an outer cylinder41A having a hollow cylindrical shape, and a rod41B housed coaxially with and linearly movably in the outer cylinder41A; and has a linear motion device that expands and contracts as a whole when the rod41B linearly moves back and forth. Similarly, the second shaft member42: includes an outer cylinder42A having a hollow cylindrical shape and a rod42B housed coaxially with and linearly movably in the outer cylinder42A; and has a linear motion device that expands and contracts as a whole when the rod42B linearly moves back and forth. In the present embodiment, these linear motion devices each use an electric cylinder having a ball screw and a motor for driving the ball screw to rotate. The movement in assisting the standing-up motion and the movement in assisting the sitting-down motion, which is a movement substantially opposite to the standing-up motion, are in a substantially forward-to-reverse relationship; and using a cylinder having a ball screw and a motor for the linear motion device makes it possible to easily implement the forward and reverse movement and to perform positioning and speed control. Here, the linear motion device can use a well-known or known mechanism having other configurations.

The first shaft member41and the second shaft member42are arranged side by side in the front-rear direction; the respective outer cylinders41A and42A are provided on the base portion10(base plate20) so as to be turnable in the front-rear direction; and the first shaft member41and the second shaft member42are individually driven respectively by the first actuator51A and the second actuator51B (seeFIGS.1and4). In the present embodiment, the first shaft member41and the second shaft member42respectively have the lower end portion41AD and42AD each turnably and pivotally supported by the base portion10, providing the turning shafts O1and O2for the respective turns at the lower end portions41AD and42AD.

Here, the end of the rod41B of the first shaft member41corresponds to the upper end portion12U of the shaft portion12, and the support portion14is fixed to the end. As a result, the support portion14moves along an arc E centered on the turning shaft O1with the turn of the first shaft member41at the height position supported by the first shaft member41. The length of the arc E increases in proportion to the length (height) of the first shaft member41which is the turning radius. This configuration can make the movable range of the support portion14greater than, for example, configurations as in the above Patent Literature 1 and Patent Literature 2 in which a support portion is turnably supported by an end of a shaft portion erected on a base portion so as not to be turnable.

Further, the fixing point (upper end portion12U of the shaft portion12) between the support portion14and the first shaft member41is fixed by fastening means such as welding, bolts, or screws, so that the support portion14is not turnable with respect to the shaft portion12. This can prevent the user from injury on his/her wrist caused in such a way that the support portion14unintentionally turns with respect to the shaft portion12while the user grips the grip portions16, and the force of the turn acts on the user's wrist.

The second shaft member42has a rod42B, an end of which is turnably coupled to the outer cylinder41A, which is a non-movable portion of the first shaft member41. Specifically, as shown inFIG.1above, the outer cylinder41A of the first shaft member41is provided with a pair of left and right plate-shaped coupling pieces44; and as shown inFIG.2, the end of the rod42B of the second shaft member42is pivotally supported by the coupling pieces44with a pin or the like. This causes the end to passively turn according to the turn, and expansion and contraction of the first shaft member41and the second shaft member42.

In the present embodiment, as shown inFIG.1above, the standing-up assist device1includes a cover member49covering the entire circumference of the first shaft member41to improve the sense of stability and prevent looseness; and the second shaft member42is coupled to the first shaft member41via the cover member49. Specifically, the cover member49internally includes the outer cylinder41A of the first shaft member41, and includes a first cover member49A that is immovable with respect to the outer cylinder41A and a second cover member49B that internally includes the rod41B. The first cover member49A has the coupling pieces44to which the end of the rod42B of the second shaft member42is coupled.

FIG.3is a diagram schematically showing a trajectory of the support portion14when the shaft portion12of the standing-up assist device1moves.

In the standing-up assist device1, the first shaft member41turns on the turning shaft O1at the lower end portion41AD and expands and contracts in the up-down direction, so that the support portion14is movable in various trajectories between a position PA corresponding to the user J in the sitting posture (hereinafter referred to as a sitting position) and a position PB corresponding to the user J in the standing posture (hereinafter referred to as a standing position). As shown inFIG.3, such trajectories include a first trajectory F1, a second trajectory F2, a third trajectory F3, and a fourth trajectory F4.

The first trajectory F1is a trajectory diagonally and linearly connecting the sitting position PA and the standing position PB.

The second trajectory F2is a trajectory in which the first trajectory F1, diagonally linearly extending, additionally includes a section F2A extending to the front F1at the start of the standing-up motion, and a section F2B extending straight up at the end of the standing-up motion.

The third trajectory F3is different from the first trajectory F1and the second trajectory F2, and is a trajectory hardly including a trajectory extending linearly in the diagonal direction. In other words, the third trajectory F3is a trajectory consisting of a section F3A extending from the sitting position PA to a position Pα directly under the standing position PB and a section F3B extending from the position Pα directly thereunder to the standing position PB right above.

The fourth trajectory F4is a trajectory consisting of: a section F4A extending in the front direction DF from the sitting position PA to a predetermined front end position Pβ beyond the position Pα directly under the standing position PB; a section F4B linearly extending diagonally upward and forward from the predetermined front end position Pβ; and a section F4C extending from the upper end of the moving trajectory F4to the standing position PB.

The fourth trajectory F4is a trajectory corresponding to the above natural motion, and the relationship between the fourth trajectory F4and the natural motion is to be described below.

FIG.4is a block diagram showing a functional configuration of a control system50related to the movement control of the standing-up assist device1.

The standing-up assist device1includes a drive unit51, a user operation unit52, an elbow contact detection unit54, and a control unit56.

The drive unit51drives the shaft portion12to rotate, expand and contract, and includes the first actuator51A and the second actuator51B, which are drive sources for the first shaft member41and the second shaft member42, respectively. As shown inFIG.1above, the first actuator51A and the second actuator51B are arranged at the lower end portions41AD and42AD of the first shaft member41and the second shaft member42, respectively. This lowers the center of gravity of the standing-up assist device1, and improves the stability. Note that the first actuator51A and the second actuator51B can be arranged anywhere, for example, at a position near the lower end portions41AD and42BD as long as the actuators are closer to the lower end portions41AD and42AD of the first shaft member41and the second shaft member42, respectively, and the position is a position to lower the center of gravity.

The user operation unit52is a part that the user J operates to receive assist for the standing-up motion and the sitting-down motion, and includes an operation detection device for receiving the operation and outputting the operation to the control unit56. In the present embodiment, the operation detection device of the user operation unit52includes: momentary switches, which is an example of an operation input device, for operation input for receiving assist for standing-up motion and operation input for receiving assist for sitting-down motion; and a standing-up instruction sensor52A and a sitting-down instruction sensor52B for detecting the operation input of each momentary switch. In the present embodiment, both the momentary switches are disposed on the support portion14. Specifically, the grip portion16on the right hand side is provided with a momentary switch corresponding to assisting the standing-up motion, and the grip portion16on the left hand side is provided with the momentary switch corresponding to assisting the sitting-down motion.

The elbow contact detection unit54: detects that the user J is ready to receive assist in a standing-up motion or a sitting-down motion when he/she takes a posture in which he/she sufficiently presses the elbow against the elbow contact support member33, based on the load applied to the elbow contact support member33; includes a load sensor54A arranged on the elbow contact support member33; and outputs the detection information to the control unit56.

The control unit56controls the drive unit51according to the operation of the user J on the user operation unit52. Specifically, the control unit56controls the drive unit51to move the support portion14from the sitting position PA to the standing position PB when the standing-up instruction sensor52A detects the standing-up instruction. Further, the control unit56controls the drive unit51to move the support portion14from the standing position PB to the sitting position PA when the sitting-down instruction sensor52B detects the sitting-down instruction. However, when the control unit56determines that the predetermined load is not applied to the elbow contact support member33and the user J does not sufficiently press the elbow against the elbow contact support member33, based on the detection information of the elbow contact detection unit54, the control unit56does not drive the drive unit51if the user operation unit52is operated. This can prevent an event such that, in a state in which the user J is not in a posture to receive assist for the standing-up motion or the sitting-down motion, the support portion14moves so that only the hand of the user J who grips the grip portion16is drawn to the movement of the support portion14and the torso cannot keep up with the movement (for example, in assisting the standing-up motion, the torso remains on the side of the seat K).

The control unit56: has a computer including a processor such as a CPU or MPU, a memory device such as a ROM or RAM, a storage device such as an HDD or SSD, and an input/output circuit for connecting sensors and peripheral devices; and implements various functions by the processor executing computer programs stored in a memory device or a storage device.

In addition to the above-described configuration, the standing-up assist device1also includes: a display device60(FIG.1) for displaying various information and presenting it to the user J; and an input device for inputting various information to the control unit56.

Here, in the standing-up assist device1of the present embodiment, when the user J instructs assist in the standing-up motion and the sitting-down motion, the control unit56, in any of the instructions, controls the drive unit51(each of the first actuator51A and the second actuator51B) to move the support portion14along the fourth trajectory F4, to assist the movement so that the user J stands up or sits down with a movement close to the natural motion.

FIG.5is a diagram schematically showing a correspondence between the movement of a healthy person who does not need assist in standing up and the fourth trajectory F4. When a healthy person sits down, the movement thereof is almost the same as the movement rewinding the movement in standing up.

As shown in the same figure, the movement in standing up includes the following three phases while a healthy person shifts from the sitting state to the standing state: a first phase P1, a second phase P2, and a third phase P3. The first phase P1is a phase (bending phase) in which a healthy person lifts his/her hips from the seat K and bends his/her body so as to bend forward, and moves his/her center of gravity toward the front direction DF. The second phase P2is a phase (shifting phase) in which a healthy person raises his/her upper body. The third phase P3is a phase (extension phase) in which a healthy person extends his/her knees, and legs and hips.

On the other hand, as shown inFIG.3above, the fourth trajectory F4includes three sections F4A, F4B, and F4C. As shown inFIG.5, the section F4A (first section) corresponds to the movement of the first phase P1, and the two sections (second section) of the sections F4B and F4C correspond to the movement of the second phase P2and the third phase P3.

Specifically, as described above, the section F4A is: a trajectory in which the support portion14moves from the sitting position PA to the predetermined front end position Pβ in the front direction DF beyond the position Pα directly under the standing position PB; and a trajectory in which the support portion14moves according to the movement of the body when the user J bends forward in the first phase P1. In the present embodiment, the front end position of the section F4A is set to a position where the first shaft member41inclines toward the front direction DF at a predetermined angle between about 10 degrees and about 20 degrees with respect to the vertical direction.

Further, the two sections F4B and F4C are: trajectories in which the support portion14moves from the predetermined front end position Pβ to the standing position PB; and trajectories in which the support portion14moves according to the movement of the body when the user J raises the upper body and extends the knees and hips in the second phase P2and the third phase P3.

In this way, the movement of the support portion14along the fourth trajectory F4allows the user J to perform a standing-up motion and a sitting-down motion with a motion close to a natural motion, and thereby allows the user to stand up and sit down by using his/her own power moderately without overly relying on assist. This provides appropriate assist for users who need a relatively light assist.

The standing-up assist device1may be able to set each of the first trajectory F1to the fourth trajectory F4for each user J, and the control unit56may control the drive unit51so that the support portion14moves along the trajectory corresponding to the user J.

Here, as shown inFIG.1above, the standing-up assist device1includes the shaft portion12having two shaft members, a first shaft member41and a second shaft member42. The two shaft members are installed side by side in the front-rear direction, to improve stability degree in the front-rear direction. As a result, if the user J bends forward and a load to the front direction DF is applied to the support portion14in the first phase P1(section F4A), it is also possible to prevent a part of the base portion10on the rear direction DB side (wheels34located in the rear direction DB) from rising, and enhance the balance stability. Further, since the torque received by the shaft portion12can be dispersed to the first shaft member41and the second shaft member42, a larger torque can be received.

When the support portion14moves beyond the position directly under the standing position PB and further moves to the predetermined front end position Pβ in the front direction DF, the first shaft member41inclines in front direction DF with respect to the vertical direction, as shown in the first phase P1ofFIG.5. The second shaft member42gradually contracts with the turn of the first shaft member41toward the front direction DF. The second shaft member42contracts to a length that allows the first shaft member41to turn in front direction DF with respect to the vertical direction, and contracts the most when the first shaft member41turns to a position where the support portion14is located at the predetermined front end position Pβ. In this state, the second shaft member42diagonally extends from the front side of the first shaft member41toward the rear direction DB with respect to the first shaft member41, and is in posture for supporting the first shaft member41in a forward leaning posture. As a result, the shaft portion12can sufficiently receive the load received from the user J who bends forward.

On the other hand, when the support portion14is located in the standing position PB, the first shaft member41extends in the vertical direction (FIG.5: standing state). In this state, the second shaft member42extends diagonally. As a result, if a load in the front direction DF is applied from the support portion14to the shaft portion12, the second shaft member42, which extends diagonally from the front direction DF to the rear direction DB, receives a part of the load. This makes it possible to prevent the part of the base portion10on the rear direction DB side from rising.

The present embodiment produces the following effects.

The standing-up assist device1of the present embodiment includes: a base portion10; a shaft portion12extending upward from the base portion10and being expandable and contractible; a support portion14, provided at an upper end portion12U of the shaft portion12, for supporting a body of a user J. Further, the shaft portion12has two shaft members, a first shaft member41and a second shaft member42, which are arranged in the front-rear direction.

According to this configuration, if the user J bends forward and a load on the front direction DF is applied to the support portion14in the first phase P1(section F4A), it is also possible to prevent the part of the base portion10on the rear direction DB side (wheel34located in the rear direction DB) from rising, and enhance the balance stability. Further, since the torque received by the shaft portion12can be dispersed to the first shaft member41and the second shaft member42, a larger torque can be received.

In the standing-up assist device1of the present embodiment, the lower end portions41AD and42AD of the first shaft member41and the second shaft member42respectively have turning shafts O1and O2for turning in the front-rear direction.

With this configuration, the support portion14can be largely moved along the arc E having a turning radius corresponding to the height of the shaft portion12.

Further, the support portion14does not need to be turnably fixed to the upper end portion12U of the shaft portion12. Therefore, the support portion14can be immovably fixed to the shaft portion12, and thereby the hand of the user J can be prevented from being caught in the turn of the support portion14with respect to the shaft portion12.

In the standing-up assist device1of the present embodiment, the support portion14is moved along the fourth trajectory F4between the sitting position PA and the standing position PB by expansion and contraction, and turn of the shaft portion12. Here, the fourth trajectory F4includes: a section F4A extending from the sitting position PA to a predetermined front end position PP in the front direction DF beyond the position Pα directly under the standing position PB; and sections F4B and F4C extending upward from the predetermined front end position Pβ.

According to this configuration, when the user J stands up, he/she can bend his/her body to the front direction DF and take a posture in which his/her center of gravity is sufficiently brought to the front direction DF, and he/she can stand up with the same standing-up motion as a healthy person.

In the standing-up assist device1of the present embodiment, the shaft portion12includes a first shaft member41, and a second shaft member42provided in the front direction DF with respect to the first shaft member41. Further, the first shaft member41includes a rod41B moving linearly in the up-down direction, and an outer cylinder41A in which the rod41B is housed. An end of the second shaft member42is coupled to the outer cylinder41A of the first shaft member41.

This configuration makes it possible to largely move the support portion14using the turn, and expansion and contraction of the first shaft member41while reducing the amount of expansion and contraction of the second shaft member42required for this movement.

In the standing-up assist device1of the present embodiment, the second shaft member42contracts to a length at which the first shaft member41is turnable in the front direction DF with respect to the vertical direction.

This configuration makes it possible to make the first shaft member41turnable in the front direction DF with respect to the vertical direction, and place the support portion14at the predetermined front end position Pβ. Further, this configuration makes it possible to support the first shaft member41in the forward leaning posture with the second shaft member42, and sufficiently receive the load of the user J on the shaft portion12.

In the standing-up assist device1of the present embodiment, the second shaft member42extends diagonally while the first shaft member41extends in the vertical direction (FIG.5: standing state).

According to this configuration, if a load to the front direction DF is applied from the support portion14to the shaft portion12, the second shaft member42extending diagonally from the front direction DF to the rear direction DB receives a part of the load. This makes it possible to prevent the part of the base portion10on the rear direction DB side from rising.

The standing-up assist device1of the present embodiment includes a drive unit51for turning the shaft portion12. Further, actuators (first actuator51A, second actuator52B) included in the drive unit51are arranged on the side of lower end portion of the shaft portion12.

This configuration makes it possible to lower the center of gravity of the standing-up assist device1and enhance the stability degree.

The above-described embodiment is an example of one aspect of the present invention, and can be modified and applied without departing from the spirit of the present invention in any manner.

In the above-described embodiment, the shaft portion12may include three or more shaft members in the front-rear direction. Further, the shaft portion12may include shaft members arranged in the left-right direction in addition to the shaft members arranged in the front-rear direction.

In the above-described embodiment, the chest contact support portion36may include a load sensor to prevent the chest contact support portion36from pressing the body of the user J in sitting-down motion. In this case, when the load sensor detects the load on the chest contact support portion36due to contact with the user J while the control unit56controls the drive unit51to assist sitting-down motion, the control unit56stops driving by the drive unit51.

Unless otherwise specified, the horizontal and vertical directions and individual numerical values, shapes, and materials in the above-described embodiments include a range (called a range of equivalents) including those producing the same effects as the directions, numerical values, shapes, and materials.

[Configuration Supported by the Above Embodiment]

The above embodiments are specific examples of the following configurations.

A standing-up assist device, including: a base portion; a shaft portion extending upward from the base portion, the shaft portion being expandable and contractible; and a support portion, provided at an upper end portion of the shaft portion, for supporting a body of a user, wherein the shaft portion has a plurality of shaft members arranged in a front-rear direction.

The configuration 1 makes it possible to enhance the balance stability against the load due to the user.

The standing-up assist device according to configuration 1, wherein a turning shaft for turning in a front-rear direction is provided at a lower end portion of each of the plurality of shaft members.

The configuration 2 makes it possible to increase the movement range of the support portion.

The standing-up assist device according to configuration 2, wherein a sitting position corresponds to a position of a user in a sitting posture, a standing position corresponds to the user in a standing posture, the support portion is moved by expansion and contraction, and turn of the shaft portion, a trajectory is formed when the support portion is moved between the sitting position and the standing position, and the trajectory includes: a first section extending from the sitting position to a predetermined front end position in a front direction beyond a position directly under the standing position; and a second section extending upward from the predetermined front end position.

The configuration 3 allows the user to bend his/her body forward in standing up, and meet himself/herself with the posture in which his/her center of gravity is sufficiently moved forward.

The standing-up assist device according to any of configurations 1 to 3, wherein the plurality of shaft members includes: a first shaft member provided with the support portion at an end, the first shaft member being expandable and contractible; and a second shaft member provided in front of the first shaft member, the second shaft member being expandable and contractible, the first shaft member includes a rod moving linearly in an up-down direction, and an outer cylinder in which the rod is housed, and an end of the second shaft member is coupled to the outer cylinder of the first shaft member.

The configuration 4 makes it possible to largely move the support portion with the turn, and expansion and contraction of the first shaft member, while reducing the amount of expansion and contraction of the second shaft member required for this movement.

The standing-up assist device according to configuration 4, wherein the second shaft member contracts to a length at which the first shaft member is turnable in a front direction with respect to a vertical direction.

The configuration 5 makes it possible to make the first shaft member turnable in front direction with respect to the vertical direction, and support the first shaft member in the forward leaning posture with the second shaft member.

The standing-up assist device according to configuration 4 or 5, wherein the second shaft member extends diagonally while the first shaft member extends in a vertical direction.

The configuration 6 makes it possible to prevent the rear side of the base portion from rising.

The standing-up assist device according to any of configurations 1 to 6, further including a drive unit for turning the shaft portion, wherein the drive unit is provided on a side of a lower end portion of the shaft portion.

The configuration 7 makes it possible to lower the center of gravity of the standing-up assist device and enhance the stability degree.

REFERENCE SIGNS LIST