JP5071293B2 - Transfer support apparatus and control method for transfer support apparatus - Google Patents

Description

  The present invention relates to a transfer support device that supports a transfer operation when a person who is difficult to walk independently moves from a bed to a wheelchair or from a wheelchair to a toilet seat, etc., and a control method for the transfer support device About.

  It is not easy for a cared person who is difficult to walk independently to perform a transfer operation such as transfer from a bed to a wheelchair alone. For this reason, the caregiver's help is usually required. However, the help of the transfer is a physical burden for the caregiver and also a mental burden for the care recipient. For this reason, in recent years, many devices have been developed that support transfer operations of people who are difficult to walk independently.

  As an apparatus for supporting transfer, for example, Patent Document 1 discloses a transfer support apparatus in which a support column is tilted up on a rotating disk and a receiving plate (holding tool) is provided at the end of the support column. The care receiver can perform the transfer operation by tilting the support column while holding the holder.

  Patent Document 2 discloses a transfer support device having a function of restraining the free rotation of a wheelchair free caster used by a cared person and a function of fixing a drive wheel, and also a function of assisting the cared person to stand up. Is disclosed. Accordingly, it is possible to assist the care recipient in performing the transfer operation with a stable posture.

  Further, Patent Document 3 includes a belt portion that can move in parallel on the surface on which the care recipient is placed, and the surface on which the care recipient is placed is relative to the main body by rotating the belt portion 11. There is disclosed a transfer support device that can move in parallel and absorb friction with a cared person when the transfer support plate is inserted under the cared person. Thereby, the transfer support board can be smoothly inserted under the cared person, and the burden on the cared person and the cared person can be reduced.

  Patent Document 4 also includes a turntable, a support column that can be tilted upright on the turntable, and a body support. By tilting the support column with an electric motor, the caregiver can lift and lower the human body. A transfer support device that reduces physical burden is disclosed.

  Further, Patent Document 5 discloses a movement support device in which a backrest member is supported on a cart in an upright state by an electric operation mechanism and tilted, and a lift belt for lifting and supporting a patient is attached to the backrest member. In this movement support apparatus, the user is placed on the lift belt and lifts the cared person clinging to the backrest member by tilting the backrest member with an electric operation mechanism so that a stable transfer operation can be performed. .

JP 2006-305092 A JP 2005-279199 A JP 2005-304735 A Japanese Patent Laid-Open No. 10-192346 Japanese Patent Publication No. 7-8287

  However, in such a transfer support device, when the care recipient performs the transfer operation, the body support tool of the transfer support device is held, but the care receiver holds the body support device. There is a risk that the column will tilt and press the cared person with the body holder. For example, when a cared person sitting on the bed holds the body holder, the cared person is sandwiched between the bed and the body holder when the body holder tilts further in the downward direction. The fear arises.

  The present invention has been made in order to solve such problems, and transfer support that enables a cared person holding a body holding device to prevent the body from being pressed by the body holding device. It is an object of the present invention to provide a control method for an apparatus and a transfer support apparatus.

    The transfer support apparatus according to the present invention tilts the support, a support column having one end tiltably attached to the support table, a body holder provided at the other end of the support column, and the support column. A driving unit; a control unit configured to control the driving unit; and a detection unit configured to detect a pressure-sensitive state in a direction in which the column is driven on the surface of the body holder. .

  According to such a transfer support apparatus, it is possible to detect the state in which the cared person holding the body holding tool is pressed with a certain size or more by the body holding tool. Therefore, by controlling the tilting operation of the support column so as to prevent the care receiver from being pressed by the body holder by the control unit, the situation where the care receiver is pressed by the body holder can be prevented. It becomes possible.

  In addition, the actuator included in the driving means for moving the body holder of such a transfer assist device is generally composed of an object having a mass including the rotor of the motor. Therefore, even if a detection means is provided that can detect that the body holding tool is pressing the care recipient, it cannot immediately respond to the stop command from the control unit that moves the holding tool. After being generated, an inertial force is applied, and the movement of the body holder gradually decelerates and stops. In addition, when the caring person is caught, the power of the driving unit is cut off and the emergency stop is performed, so that the body holder stops while the cared person is pressed. Problems may arise.

  Therefore, as a method for controlling such a transfer support device, when the control unit detects a pressure-sensitive state on the surface of the body holder by the detection unit, the pressure-sensitive state is determined by the tilting operation of the support column. It is more preferable to control the driving means so as not to increase it. By controlling the driving means in this way, it is possible to reliably prevent the care recipient being pressed by the body holder.

  Furthermore, in such a transfer support device, when the pressure sensing state on the body holding member surface is detected by the detection means, the control unit stops the tilting operation of the support column, and then changes the pressure sensing state. It is more preferable to control the driving means so as to reduce it. In this case, when the cared person is applied with a pressure higher than a certain level by the body holding tool, the driving unit is driven in a direction to reduce the pressure, so that the cared person applied by the body holding tool is The pressure can be reduced.

  As such a transfer support device, the driving means selects an amount of torque for tilting the support by manual operation, and transmits an instruction signal for instructing the control unit to output the selected torque. And a torque output unit that outputs torque for tilting the column based on a control signal for controlling torque transmitted from the control unit based on a command signal transmitted by the operation unit, and When the pressure sensing state on the surface of the body holder is detected by the detection means, the control unit controls the torque output unit so as to stop the tilting operation of the column and restricts the direction in which the column is tilted. It is more preferable to output a control signal for controlling the torque.

  In this way, after tilting the column so that the body holding tool is automatically moved, if a certain level of pressure is applied to the cared person, the tilting of the column stops, and more The movement of the body holder in the direction in which pressure is applied to the care recipient is also restricted by external force. Therefore, it becomes possible to avoid the state where the cared person is pressed by the body holder more reliably.

  The control signal for restricting the direction in which the support column is tilted as described above may be a signal for controlling the torque so that the support column is not tilted in the direction in which the pressure applied to the care recipient by the body holder is increased. If it does in this way, when a caregiver or an external caregiver moves a body support tool manually, there is no possibility that the body support tool may be moved by mistake so as to increase the pressure on the care receiver by the body support tool. .

  Also, as a control signal for restricting the direction in which the column is tilted as described above, instead of prohibiting the column tilting direction as described above, the column is tilted in the direction in which the pressure-sensitive state by the body holder is increased. In this case, the torque may be controlled so that a torque smaller than the torque commanded by the command signal transmitted from the operation unit is output. In this way, when a cared person or an external caregiver manually moves the body holding tool, the possibility that the body holding tool may accidentally increase the force with which the cared person presses is reduced. can do.

  Further, as the driving means as described above, the operation unit includes a lever that can be operated in a direction to reduce the pressure-sensitive state on the surface of the body holder, and the operation amount of the lever with respect to the control unit. It is preferable to transmit a command signal instructing to output a torque having a magnitude proportional to. In this way, the operability for determining the direction of moving the body holder and the magnitude of torque is increased by operating the lever, so that the cared person or an external caregiver can easily operate.

  In the case of the operation unit as described above, when the operation direction of the lever is limited to the vertical direction parallel to the vertical direction, the movement direction of the body holder is limited to the vertical direction and Since it can be simplified, it is more preferable.

  In addition, the present invention also provides a control method for controlling the transfer support device, the control method includes a support base, and a support column having one end tiltably attached to the support base, A body holder provided at the other end of the column, a drive means for tilting the column, and a pressure-sensitive state on the surface of the body holder for detecting the pressure-sensitive state in the direction of driving the column. In the transfer assisting device comprising the detecting means, when the pressure sensing state on the surface of the body holder is detected by the detecting means, the driving means is controlled so as not to increase the pressure sensitive state by the tilting operation of the support column. It is characterized by that. According to such a control method for the transfer support apparatus, it is possible to reliably prevent a situation where the cared person is further pressed after being pressed by the body holder.

  Further, in the control method of the above-described transfer assist device, when the pressure sensing state on the body holder surface is detected by the detection means, the pressure sensing state is reduced after stopping the tilting operation of the support column. It is more preferable to control the driving means. In this case, when the cared person is applied with a pressure higher than a certain level by the body holding tool, the driving unit is driven in a direction to reduce the pressure, so that the cared person applied by the body holding tool is The pressure can be reduced.

  Further, in the above-described transfer assist device, the driving unit selects an amount of torque for tilting the support by manual operation, and transmits an instruction signal for instructing the control unit to output the selected torque; A torque output unit that outputs torque for tilting the column based on a control signal that controls torque determined based on the command signal transmitted by the operation unit, and the body holding tool is provided by the detection unit. It is more preferable to control the torque output unit so as to stop the tilting operation of the column and to control the torque so as to limit the direction in which the column is tilted when a pressure-sensitive state on the surface is detected. is there. In this way, after tilting the column so that the body holding tool is automatically moved, if a certain level of pressure is applied to the cared person, the tilting of the column stops, and more The movement of the body holder in the direction in which pressure is applied to the care recipient is also restricted by external force. Therefore, it becomes possible to avoid the state where the cared person is pressed by the body holder more reliably.

  Note that the method of limiting the direction in which the column is tilted as described above does not tilt the column in the direction in which the pressure-sensitive state is increased when controlling the torque so as to limit the direction in which the column is tilted. Alternatively, the torque may be controlled. If it does in this way, when a caregiver or an external caregiver moves a body support tool manually, there is no possibility that the body support tool may be moved by mistake so as to increase the pressure on the care receiver by the body support tool. .

  Further, as another method for restricting the direction in which the support column is tilted as described above, when the torque is controlled so as to limit the direction in which the support column is tilted, the command signal transmitted from the operation unit is commanded. A method of controlling the torque so as to output a torque smaller than the torque is also conceivable. By doing in this way, when a cared person or an external caregiver moves a body holding tool manually, possibility that the pressure with respect to a cared person will be accidentally increased by a body holding tool can be reduced.

  As described above, according to the present invention, it is possible to prevent a cared person who has performed an operation while holding the body holder from being pressed by the body holder.

Embodiment 1 of the Invention
Hereinafter, a transfer support apparatus according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 schematically shows a side view of the transfer support apparatus 10 according to the first embodiment, and supports a transfer operation for sitting on the bed 100 from a state where the cared person P stands up. It shows a state.

  As shown in FIG. 1, the transfer support device 10 includes a pedestal 11, a support pedestal 12 supported with respect to the pedestal, a column 13 with one end thereof being attached to the support pedestal 12, and a column 13. A torque output unit 20 that outputs torque for tilting the body, a body holder 30 provided at the other end of the support column 13 with respect to the support base 12, a control unit 40 for controlling the torque output unit 20, It has.

  The pedestal 11 includes a plurality of wheels for allowing movement on a substantially horizontal floor surface at the bottom surface. These wheels are configured so that they can be switched between a freely rotating state and a fixed state.When the cared person performs a transfer operation, these wheels are fixed as the fixed state. When the caregiver performs the transfer operation, the transfer support device 10 can be stabilized.

  The support 12 is a substantially plate-like material that extends in a substantially vertical direction from the surface of the pedestal 11, and has a rotation shaft inside thereof, so that the torque applied by a torque output unit described later is applied to the pedestal 11. It is comprised so that horizontal rotation is possible, and the relative position about the horizontal direction of the body holder 30 can be changed. In the present embodiment, it is not particularly necessary to rotate the support base 12 in the horizontal direction in order to perform the transfer operation of the care recipient P, and the description of the state in which the support base 12 rotates in the horizontal direction is omitted. It shall be.

  The column 13 is a substantially columnar column member, and one end of the column 13 is attached to the shaft 14 support base 12 so as to be tiltable, and the body holder 30 is attached to the other end. This support | pillar 13 is equipped with the structure which slidably fits and hold | maintains several pipes from which diameter differs so that the length can be changed according to the magnitude | size etc. of a care receiver's body to be used. . In addition, the tilting operation of the support column 13 with respect to the support base 12 is performed by the torque applied by the torque output unit 20.

  The torque output unit 20 applies torque for tilting the support column 13 with respect to the support base 12. Although a detailed description of the structure is omitted, a control signal from the control unit 40 includes a power source, a motor, a wire, a pulley for winding the wire, or a sensor for detecting the winding amount of the wire. As a result of performing a process such as winding a wire with a motor based on the above, a torque having a predetermined magnitude and direction is applied to the column 13 in order to tilt the column 13.

  The body holder 30 is composed of a member having elasticity that is large enough to be held by both arms when the cared person is in contact with the upper body. In addition, a joystick 31 as an operation unit is provided on the back side of the body holding device 30 (the back side as viewed from the care recipient to be used), and the care receiver P or an external caregiver can use this joystick. By operating 31, the inclination of the column 13 can be commanded. Specifically, the lever 31a of the joystick 31 has a structure that can be tilted only in the vertical direction. By operating the lever 31a, a command signal corresponding to the operation amount and the operation direction can be obtained. It is transmitted to the control unit 40. Although details will be described later, the control unit 40 determines the magnitude of the torque output from the torque output unit 20 based on the command signal, and outputs the determined magnitude of torque to the torque output unit 20. A control signal for performing is transmitted.

  In addition, a pressure-sensitive sensor 32 is provided on the end face of the body holder 30 as a detection unit that detects pressure in the direction in which the body holder 30 presses the care recipient (that is, the direction in which the support column 13 tilts). It has been. As the pressure sensor 32, a so-called touch sensor or the like that transmits a detection signal to the control unit 40 when a pressure value equal to or greater than a predetermined value is detected is preferably used. Here, the pressure value for the pressure-sensitive sensor to transmit the detection signal is a relatively small value that does not give a large feeling of pressure to the cared person, although the body holder contacts the cared person. It is assumed that it is set to.

  The control unit 40 is configured by a computer such as an arithmetic processing unit or an ECU including a predetermined storage area, and outputs torque based on the command signal obtained by operating the joystick 31 (lever 31a). A signal for performing control to output torque is transmitted to the unit 20. As shown in FIG. 2, the control unit 40 receives a command signal, determines the magnitude and direction of the torque output by the torque output unit 20, and based on the determined magnitude and direction of the torque. A signal creation unit 42 for creating a signal (control signal) for controlling the torque output of the torque output unit, and a transmission unit 43 for transmitting the created control signal to the torque output unit 20 are provided.

  The torque determination unit 41 reads information related to the operation amount of the lever 31a included in the command signal, and determines the magnitude of the torque by multiplying the operation amount by a specific gain. However, depending on the operation direction of the lever 31a, A function of changing the magnitude of the gain multiplied by the operation amount 31a is provided. That is, when the lever 31a is operated in a direction in which the column 13 is tilted downward, the gain G1 multiplied by the lever operation amount is changed to the lever operation amount in a direction in which the column 13 is tilted upward. It is set larger than the gain G2 to be multiplied. Thus, the care receiver P is suddenly applied with a large force by the body holder 30 by increasing the torque in the direction in which the column 13 is tilted downward (that is, the direction in which the body holder is lowered). It is possible to prevent the situation of being pressed.

  Further, after receiving the detection signal from the pressure sensor 32 transmitted to the control unit 40, the torque determination unit 41 is transmitted to the control unit 40 when the lever 31 a of the joystick 31 is further operated. Among the command signals, a signal that tilts the support column 13 downward (that is, a direction in which the care receiver is pressed) is invalidated. That is, after receiving the detection signal from the pressure sensor 32, when the lever 31a is further operated and a command signal is transmitted, when the lever 31a is operated in a direction to tilt the support column 13 downward, The magnitude of the gain G1 multiplied by the operation amount is changed to zero. This prevents the support post 13 from being further tilted downward while the cared person P is pressed by the body holder 30. On the other hand, when the lever 31a is operated so as to tilt the support column 13 upward, the control signal for outputting the torque obtained by multiplying the lever operation amount by the gain G2 is the same as before receiving the detection signal. Send.

  A procedure executed by the control unit 40 when the care receiver performs a transfer operation in the transfer support apparatus configured as described above will be described in detail with reference to the flowchart shown in FIG.

  First, when the care receiver P moves to a place where the transfer operation is performed and starts the operation of the transfer support device (for example, the care receiver P operates the lever 31a), the control unit 40 determines the operation amount of the lever 31a. A control signal is transmitted to the torque output unit 20 so as to tilt the support column 13 with the torque commanded based on it (STEP 101). In response to the control signal from the control unit 40, the torque output from the torque output unit 20 causes the support column 13 to tilt at a predetermined constant speed in a direction in which the care receiver is lowered.

  Next, when the tilting motion of the column 13 is started, the control unit 40 determines whether or not the detection signal from the pressure sensor 32 is received (STEP 102). When the detection signal from the pressure sensor 32 is not received, the control signal for outputting torque is transmitted so as to return to STEP 101 and continue the operation of tilting the column 13.

  On the other hand, when it is determined in STEP 102 that the signal from the pressure sensor 32 has been received, the care receiver P is sandwiched by the body holder 30 or the transfer support operation for the care receiver is completed. It shifts to control for a body holding tool not to press the care receiver P any more. Such control is performed in the following procedure.

  That is, when receiving the signal from the pressure sensor 32, the control unit 40 first temporarily stops the tilting operation of the column (STEP 103). This stopping operation of the support 13 is continued for a predetermined time, for example, several seconds.

  Next, it is determined whether or not a command signal that causes the operation of the support column 13 to be performed within a predetermined time after the operation of the support column 13 is stopped (STEP 104). If it is determined in STEP 104 that a command signal has been input to the column 13 of the command signal transmitted by operating the lever 31a of the joystick 31 as the operation unit (that is, the care receiver is Further, the gain multiplied by the lever operation amount is set to zero so as to invalidate the signal tilted in the pressing direction (STEP 105). As a result, only the signal transmitted by operating the lever 31a that tilts the column upward (that is, the direction in which the care receiver is pressed) is effective, and the control unit 40 sends the torque output unit 20 to the torque output unit 20. Transmits a control signal that outputs only a torque that tilts the column 13 upward.

  Next, the control unit 40 determines whether or not the state where the care receiver is pressed is released based on a signal from the pressure sensor 32 (STEP 106). If it is determined that the cared person is not released from the pressed state, the process returns to STEP 106 and waits until the cared person is released from the pressed state. On the other hand, if it is determined in STEP 106 that the cared person is released from the pressed state, the control for tilting the column 13 based on the command signal transmitted by the operation of the lever 31a is restored to the normal control ( (STEP 107). Thereby, even if the direction in which the lever 31a is operated is downward, torque for tilting the support column 13 is output.

  When the control for tilting the support column returns to the normal control, it is determined whether or not the transfer support operation is completed (STEP 108). If it is determined in STEP 108 that the transfer operation has not ended, the process returns to STEP 101 again to continue the control for performing the transfer operation. On the other hand, if it is determined in STEP 108 that the transfer operation has ended, a predetermined end process is performed (STEP 109), and the transfer support operation is ended.

  On the other hand, if the command signal is not input within the predetermined time in STEP 104, the process proceeds to STEP 205, and it is determined whether or not the transfer support operation is completed. If it is determined in STEP 205 that the transfer support operation has been completed, the process proceeds to STEP 109 and a predetermined termination process is performed. On the other hand, if it is determined in STEP 205 that the transfer support operation has not ended, the process proceeds to STEP 105, where a command signal obtained by operating the lever 31a is limited, and then the body holder is covered by the operation of the lever 31a. Control is performed so that torque is applied only in the direction of releasing the pressing state applied to the caregiver.

  In STEP 108 and STEP 205, a method for determining whether or not the transfer support operation has ended is not particularly limited. For example, an end button for inputting that the transfer support operation has ended is used. It is also possible to determine that the transfer support operation has ended by pressing this end button. At this time, a message to confirm whether or not the transfer support operation by voice output or the like has been completed is output, and the fact that the transfer support operation has been completed is input to the cared person to the transfer support device. You may be prompted.

  As described above, according to the transfer support device and the control method of the transfer support device according to the present embodiment, it is determined by the signal from the pressure sensor 32 that the cared person is pressed by the body holder. When it is done, tilting of the column in the direction in which the care receiver is further pressed can be restricted. Therefore, it is possible to prevent a situation in which the care recipient is pressed by the body holder.

  In the above-described embodiment, the lever of the joystick as the operation unit is configured to be operable only in the vertical direction, but may be configured to be operable in the horizontal direction (left-right direction). For example, as in the present embodiment, the support base 12 is configured to be rotatable in the horizontal direction, and when it is necessary to adjust the position of the body holder in the left-right direction, the lever is tilted in the left-right direction. Thus, the position of the body holder may be adjusted.

  In the above-described embodiment, after the pressure sensor provided on the body holder transmits the detection signal, the command signal from the lever 31a is limited only in the direction in which the column 13 tilts upward. However, the present invention is not limited to this. That is, when the detection signal from the pressure sensor is received, the control unit 40 does not prohibit the downward movement of the support column 13 but reduces the torque necessary for the downward movement compared to the normal time. Such control may be performed.

  As an example of a method for performing such control, when the torque determination unit 41 in the control unit 40 receives a detection signal from the pressure sensor 32, it is transmitted when the lever 31a of the joystick 31 is operated. Among the command signals, there is a method in which a signal for tilting the column 13 in the downward direction is not invalidated, and a torque for tilting in the downward direction is output smaller. Specifically, the gain G1 (gain when the lever 31a is operated in the direction of tilting the support column 13 downward) set in the torque determination unit 41 is received when the detection signal from the pressure sensor is received. By changing to a smaller value, such control can be performed.

  Further, instead of such a method, a method may be considered in which an upper limit value is provided in advance for the torque that tilts the support column 13 determined by the torque determination unit 41 downward. In this case, when the detection signal from the pressure sensor is received, even if a command signal for commanding torque output exceeding the upper limit value is received, the control signal transmitted to the torque output unit is limited. In addition, by preventing the torque exceeding the upper limit from being output, it is possible to limit the torque that is applied to tilt the support column downward while the body holder is in contact with the care recipient. It becomes. In addition, you may set the upper limit about such a torque not only when tilting the support | pillar 13 downward but when tilting upward.

  Moreover, in the said embodiment, although the state which pressed the care receiver by the pressure sensor was detected, the example which stops the tilting operation | movement of a support | pillar temporarily is shown, However, This invention is limited to this is not. That is, when the detection signal from the pressure sensor is received, the support column may be tilted by a predetermined distance in a direction in which the care receiver is released from the pressed state. If it does in this way, the state where a cared person is pinched with a body holder can be avoided more certainly.

  In the above-described embodiment, an example in which the operation unit is a joystick provided with the lever 31a is described. However, the present invention is not limited to this, and the column 13 is operated in the vertical direction. For example, it may be a button-type operation unit.

It is a side view which shows roughly a mode that the transfer assistance apparatus which concerns on the 1st Embodiment of this invention was seen from the side. It is a block diagram which simplifies and shows the internal structure of the control part contained in the transfer assistance apparatus shown in FIG. It is a flowchart which shows the procedure for a cared person to perform transfer operation | movement by the transfer assistance apparatus shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Transfer support apparatus 11 ... Base 12 ... Supporting base 13 ... Post 20 ... Torque output part (drive means)
30: Body holder 31: Operation unit (drive means)
31a ・ ・ ・ Lever 32 ・ ・ ・ Pressure sensor 40 ・ ・ ・ Control unit 41 ・ ・ ・ Torque determination unit 42 ・ ・ ・ Signal creation unit 43 ・ ・ ・ Transmission unit P ・ ・ ・ Care recipient

Claims (8)

A support base, a support column having one end tiltably attached to the support table, a body holder provided at the other end of the support column, a drive unit that tilts the support column, and a control unit that controls the drive unit And a detecting unit for detecting a pressure-sensitive state on the surface of the body holder on the surface of the body holder for driving the column .
When the pressure sensing state on the body holder surface is detected by the detection means, the control unit controls the driving means to reduce the pressure sensing state after stopping the tilting operation of the column,
The drive means selects a torque amount for tilting the column by manual operation, and transmits an instruction signal for instructing the control section to output the selected torque, and an instruction transmitted by the operation section A torque output unit that outputs torque for tilting the support column based on a control signal for controlling torque transmitted from the control unit based on the signal,
The control unit includes a torque determination unit that determines a magnitude of the torque by multiplying an operation amount of the operation unit included in the command signal by a specific gain;
When the pressure sensing state on the surface of the body holding tool is detected by the detection means, the control unit controls the torque output unit so as to stop the tilting operation of the column, and the operation unit lowers the column. A transfer assisting device , wherein the magnitude of a gain to be multiplied by an operation amount of the operation unit is changed when operated in a tilting direction . The transfer support apparatus according to claim 1 , wherein the control signal is a signal for controlling torque so as not to tilt the support column in a direction in which the pressure-sensitive state is increased. The control signal is a signal for controlling the torque so as to output a torque smaller than the torque commanded by the command signal transmitted by the operation unit when the support column is tilted in the direction of increasing the pressure-sensitive state. The transfer support apparatus according to claim 1 . The operation unit includes a lever that can be operated in a direction to reduce the pressure-sensitive state on the surface of the body holding tool, and outputs a torque having a magnitude proportional to an operation amount of the lever to the control unit. the transfer assist apparatus according to claim 1, characterized by transmitting a command signal commanded to 3. The transfer support device according to claim 4 , wherein an operation direction of the lever is limited to a vertical direction parallel to a vertical direction. A support base, a support column having one end tiltably attached to the support table, a body holder provided at the other end of the support column, a drive unit that tilts the support column, and a control unit that controls the drive unit A control method for a transfer assisting device comprising: a control unit for detecting the pressure sensing state on a surface of the body holding tool in a direction in which the support is driven.
When the pressure sensing state on the body holder surface is detected by the detection means, the control unit controls the driving means to reduce the pressure sensing state after stopping the tilting operation of the column,
The drive means selects a torque amount for tilting the column by manual operation, and transmits an instruction signal for instructing the control section to output the selected torque, and an instruction transmitted by the operation section A torque output unit that outputs torque for tilting the support column based on a control signal for controlling torque transmitted from the control unit based on the signal,
The control unit includes a torque determination unit that determines a magnitude of the torque by multiplying an operation amount of the operation unit included in the command signal by a specific gain;
When the pressure sensing state on the surface of the body holding tool is detected by the detection means, the control unit controls the torque output unit so as to stop the tilting operation of the column, and the operation unit lowers the column. A method for controlling a transfer support apparatus, comprising: changing a magnitude of a gain to be multiplied by an operation amount of the operation unit when operated in a tilting direction . The transfer support according to claim 6 , wherein when controlling the torque so as to limit a direction in which the column is tilted, the torque is controlled so as not to tilt the column in a direction in which the pressure-sensitive state is increased. Control method of the device. The torque is controlled so as to output a torque smaller than a torque commanded by a command signal transmitted by the operation unit when the torque is controlled so as to limit a direction in which the column is tilted. Item 7. A method for controlling the transfer support apparatus according to Item 6 .

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