JP6945201B2 - Auxiliary device for long-term care - Google Patents

Description

The present invention relates to a suspended type nursing care assisting device, and more particularly to a nursing care assisting device to which the advanced motion control theory is applied.

In recent years, the increase in demand for long-term care due to the elderly society has become a problem in Japan. According to data from the Ministry of Health, Labor and Welfare, the number of people requiring long-term care in Japan is currently about 6.22 million, while the number of long-term care workers is small at about 1.7 million, and the shortage of long-term care workers is regarded as a problem. In addition, the Ministry of Health, Labor and Welfare has announced that it will not be possible to meet the demand for long-term care unless the number of long-term care personnel is increased to at least 2.53 million by 2025. According to the current situation scenario, the supply forecast of long-term care personnel in 2025 is less than 2.15 million, and it is said that efforts to secure human resources should be taken immediately in light of the replenishment of more than 370,000 in the demand gap. It has been.

In addition, it is known that the movement support for a care recipient, which is generally performed at present, puts a heavy burden on the shoulders and hips of the caregiver. These problems are not limited to Japan, and it is highly possible that similar problems will occur in countries around the world in the near future.

The conventional motion support device is mainly intended to reduce the burden on the caregiver, and since it is used by being worn by the caregiver, the range in which the joints can be moved by wearing the device is restricted by the movable range of the device. There was a difficulty in taking appropriate nursing care movements. In addition, since it is difficult to wear it all the time, it was not worn after all for the excretion movement of the care recipient during removal. Furthermore, since there is a limit to the bones and muscles that support the caregiver even when wearing it, it is not possible to generate force (torque) that exceeds the limit, and if there is a malfunction of the machine, the caregiver will be wearing it because it is wearing it. It was difficult to avoid the danger.

In addition, when a disturbance occurs in the auxiliary device due to the influence of the external environment such as a human being, it is not possible to effectively respond to the disturbance, and the power of long-term care assistance is insufficient or, conversely, excessive. In the former case, there is a risk of giving a heavy burden to the shoulders and hips of the caregiver, and in the latter case, there is a danger that too much force is applied to the care recipient (hereinafter referred to as “user”).

By the way, according to the advanced motion control theory, it is possible to control the position of the operation target and the force acting on the operation object by using the bidirectional control. There are also basic theories and technical examples as shown in Patent Document 1 that realize this with good responsiveness and do not require a force detector.

The present invention is intended to apply such advanced motion control theory to the field of long-term care.

Japanese Patent No. 4696307

From the above background, the present invention reduces the great burden on the caregiver during long-term care, does not give stress to the user, and can perform the long-term care work with an appropriate force equivalent to that of human long-term care work. The purpose is to provide an auxiliary device.

In order to achieve the above object, the nursing care assisting device according to the present invention is a nursing care assisting device including one arm portion that moves up and down independently and another arm portion, and one of them serves as an arm portion on the operation side. The other is an arm portion on the working side, and the arm portion on the operating side is composed of a pair of arms, and a pressing bar provided at the tip portion in a direction orthogonal to the pair of arms to support the user's chest is provided. The arm portion on the working side is composed of another pair of arms, and the tip portion is provided with another pressing bar provided in a direction orthogonal to the other pair of arms and supporting the thigh or buttocks of the user. The one arm portion and the other arm portion are rotatably provided on the same common shaft, and the one arm portion and the other arm portion are rotatably provided on the same common shaft. The support arm provided with the common shaft is provided with a bidirectional control unit on the operation side for raising and lowering one arm portion and a bidirectional control unit on the work side for raising and lowering the other arm portion. The control unit and the bidirectional control unit on the working side have the same configuration.
Further, in the nursing care assisting device according to claim 1, the bidirectional control unit on the operation side comprises a motor and a transmission means coaxial with the motor, and the bidirectional control unit on the work side is a motor and the motor. It is characterized in that the pair of bidirectional control units transmit the motion control information in parallel.
Further, in the nursing care assisting device according to claim 2 , each of the above-mentioned transmission means is pivotally attached to the above-mentioned common shaft, and the power decelerated by the speed reducer coaxial with the shaft of the motor is transmitted to each arm portion. It is characterized in that it is composed of a pulley and a belt.
Further, in the nursing care assisting device according to claim 2 or 3, an encoder different from the encoder provided on the motor on the input shaft side of each arm portion is also provided on the output shaft side of each arm portion. And.
Further, in the nursing care assisting device according to any one of claims 1 to 4, the support arm is movable up and down.
Further, the nursing care assisting device according to any one of claims 1 to 5, characterized in that the support arm is rotatable.
Further, in the nursing care assisting device according to any one of claims 1 to 6, the support arm is movable in one direction.
Further, in the nursing care assisting device according to any one of claims 1 to 6, the support arm is movable in one direction and in a direction orthogonal to the one direction.
Further, the nursing care assisting device according to any one of claims 1 to 6, characterized in that the support arm can be moved in one direction in which the support arm is tilted.
Further, in the nursing care assisting device according to any one of claims 1 to 9, each of the pressing bars is provided at the tip of each pair of arms.
Further, in the nursing care assisting device according to any one of claims 1 to 9, each of the pressing bars is provided at the tip of any one of the pair of arms.

According to the nursing care assisting device according to the present invention, the transmission of motion control information can be realized bidirectionally, so that the caregiver can cope with the disturbance generated in the nursing care assisting device due to the influence of the external environment such as human beings. It can respond quickly and respond quickly with moderate force.

Since it is possible to perform long-term care work with an appropriate force equivalent to that of human long-term care work, it is possible to reduce the great burden on the caregiver during long-term care, and it has the effect of not giving unnecessary stress to the user. be.

It is a front view partial sectional view which shows one Embodiment of the nursing care assist device by this invention. It is a right side view of FIG. It is a left side view of FIG. It is the figure which looked at the IV-IV part of FIG. 1 from the top. It is a schematic block diagram of the bidirectional control unit of FIG. An example of use of FIG. 1 is shown, where FIG. 1A is a side view showing a sitting state, and FIG. 1B is a side view showing a standing state. Other usage examples of FIG. 1 are shown, (A) is a side view showing a standing state, and (B) is a side view showing a walking state. Yet another usage example of FIG. 1 is shown, (A) is a side view showing a walking state, and (B) is a side view showing a step walking state. FIG. 1 is an enlarged partial cross-sectional view of the IX portion. It is a schematic side view which shows the inverse proportion of FIG. (A) and (B) are views used for explaining the function of one embodiment of the nursing care assisting device according to the present invention, (A) is a schematic side view of a sitting posture, and (B) is a standing posture. (C) is a schematic side view showing inverse proportion, and (D) is a schematic side view of the same standing posture.

FIG. 1 shows an embodiment of the nursing care assisting device 1 according to the present invention. For convenience, parts that perform the same function are designated by the same reference numerals, and the description thereof will be omitted.

In FIGS. 1 to 5, 1 is a base and can be moved in one direction (arrow directions in FIGS. 2, 3 and 4) on the rail 5 erected on the ceiling 3 (shown in FIGS. 2 to 4). It is provided in. Reference numeral 2 is a swivel motor. Reference numeral 7 denotes a support arm, which is rotatably provided on the base 1 and is rotatably provided on the base 1 by a rotational operation. Reference numeral 8 denotes a motor for driving the support arm 7. Reference numeral 9 denotes a common shaft of the support arm 7, and a pair of arm portions 11 and 12 are provided on the common shaft 9. The arm portion 11 and the arm portion 12 move independently of each other, and move up and down independently by a rotating motion. One of the arm portions is the operation side arm portion, and the other is the work side arm portion.
In this embodiment, the outer arm portion located above is the operation side arm portion 11, and the inner arm portion located below is the work side arm portion 12. The operation side arm portion 11 is composed of a pair of arms 11a and 11b, and a pressing bar 11c fixed to the arms 11a and 11b and supporting the chest of the user is provided at the tip end portion. The working side arm portion 12 is composed of a pair of arms 12a and 12b, and a pressing bar 12c which is fixed to the arms 12a and 12b and supports the thigh and buttocks of the user is provided at the tip end portion. In the support arm 7, a bidirectional control unit 13 on the operation side and a bidirectional control unit 21 on the work side for raising and lowering the work side arm unit 12 are provided.

The bidirectional control unit 13 on the operation side and the bidirectional control unit 21 on the work side have the same configuration. That is, the bidirectional control unit 13 on the operation side includes a motor 14, a speed reducer 16 coaxially attached to the motor 14, and a transmission means 17 axially attached to the motor 14 via the speed reducer 16. The transmission means 17 includes a drive pulley 17a axially attached to the shaft of the motor 14, a driven pulley 17b axially attached to the common shaft 9, and a belt 17c spanned between the pulleys 17a and 17b. The decelerated power is transmitted to the common shaft 9. The bidirectional control unit 21 on the working side includes a motor 22, a speed reducer 24 coaxially attached to the motor 22, and a transmission means 25 axially attached to the motor 22 via the speed reducer 24. The transmission means 25 includes a drive pulley 25a axially attached to the shaft of the motor 22, a driven pulley 25b axially attached to the common shaft 9, and a belt 25c spanned between the pulleys 25a and 25b. The decelerated power is transmitted to the common shaft 9. These pairs of bidirectional control units 13 and 21 are connected in parallel, and information is transmitted in parallel. Reference numeral 15 denotes an encoder attached to the motor 14 of the bidirectional control unit 13 on the operation side, and reference numeral 23 denotes an encoder attached to the motor 22 of the bidirectional control unit 21 on the work side. It is provided on each output shaft side separately from the 18 (shown in FIG. 9) or the input shaft side encoder 26 (shown in FIG. 9) on the working side. Reference numeral 32 denotes a gear on the input shaft side, which is provided coaxially with the motor 31 on the input shaft side. Reference numeral 33 denotes an encoder provided in the motor 31.

FIG. 5 is a schematic configuration diagram of the bidirectional control units 13 and 21 according to the present invention. The bidirectional control unit 13 on the operation side and the bidirectional control unit 21 on the work side are connected in parallel to a power supply (not shown), and information is transmitted in parallel. The bidirectional control unit 13 on the operation side is connected to the motor driver 38 from the power supply via the magnetic contactor 37, and is connected to the motor 14 to which the encoder 15 is attached from the motor driver 38. On the other hand, the bidirectional control unit 21 on the working side is connected to the motor driver 40 from the power supply via the magnetic contactor 39, and is connected to the motor 22 to which the encoder 23 is attached from the motor driver 40. The motor drivers 38 and 40 are connected to the central motion control unit 41 of the computer 43, respectively. On the other hand, the motor drivers 38 and 40 are connected to the bidirectional control unit 13 on the operation side and the bidirectional control unit 21 on the work side. The power supplies of the bidirectional control units 13 and 21 may be common or separate.

When a disturbance force acts on one of the arm portions 11 and 12 on the operating side, the driving force is decelerated and transmitted from the speed reducer 16 (24) to the one bidirectional control unit 13 (21) on the operating side. Therefore, signals due to the analog output voltage are output to the motor driver 38 (40), respectively. This signal is input to the central motion control unit 41 and output as a change in electric power. Therefore, by detecting this change in electric power by the central motion control unit 41, one of the motors 14 (22) on the operating side The torque is controlled, and the other motor 22 (14) on the working side operates accordingly, and the forces on the operating side and the working side are adjusted. In this paragraph, the reference numerals in parentheses indicate the case where a disturbance force acts on the arm portion 12.

Next, a support operation such as standing and sitting on the toilet bowl 51 will be described with reference to FIG. First, as shown in FIG. 6B, the long-term care user A comes to the toilet bowl 51. At this time, the pressing bar 11c hits the chest of the user A, and the pressing bar 12c hits the thigh. That is, the user A puts his upper body in the space area S (shown in FIG. 1) surrounded by the arms 11a and 11b and the pressing bar 11c, his chest is in contact with and supported by the pressing bar 11c, and his thigh. Comes to a predetermined position of the toilet bowl 51 in a state of being in contact with and supported by the pressing bar 12c. At this time, the posture of the user A is standing. The explanation of walking to the toilet is given in FIG.

Next, as shown in FIG. 6 (A), the user A sits on the toilet bowl 51 by the support operation of the caregiver B and takes a sitting posture. The caregiver B applies an appropriate force, that is, an external pressure, to the pressing bar 11c, which is the operating portion, and causes the user A to sit on the toilet bowl 51 with the upper arm supported by the pressing bar 11c. Consider the case where the user A has some disturbance factor that hinders the smooth sitting posture in this process. For example, when the user A cannot squat down smoothly, a force that opposes the pressing action of the pressing bar 11c by the caregiver B is applied to the pressing bar 12c on the working side, and this is transmitted to the operating side arm portion 11 as disturbance information. Will be done. Therefore, since the caregiver B can control the pressing bar 11c by an appropriately adjusted force, the user A can sit without feeling any pain or pain when taking the sitting posture. This is because the bidirectional control unit 13 on the operation side operated by the caregiver B and the bidirectional control unit 21 on the work side with which the user A abuts have the same configuration, so that the position control and the force control can be operated promptly. This is because the caregiver B controls the pressing bar 11c by an appropriately adjusted force transmitted to the side.

When shifting from the sitting posture to the standing posture, the operation is the opposite of the above. The caregiver B pushes up the pressing bar 11c, which is the operation unit, with an appropriate force. Then, the pressing bar 12c on the working side pushes up the buttocks or thighs of the user A, so that the user A can take a standing posture. Even in this process, if the user A cannot stand up smoothly, a force that opposes the upward pressing action of the pressing bar 11c by the caregiver B is applied to the pressing bar 12c, and this is used as disturbance information for the operating side arm portion 11. Is transmitted to. Therefore, as described above, since the caregiver B can control the pressing bar 11c with an appropriately adjusted force, the user A can stand up without feeling any pain or pain when taking a standing posture. It is.

Here, let us compare the general control by the servomotor and the control by the present invention.
Position control has the feature that it can move and stop accurately from the current coordinates to the specified coordinates, but on the other hand, if any external force is generated during the movement, it tries to continue driving to the specified coordinates. If it cannot move to the specified coordinates, it can be stopped as an abnormal state after a certain period of time has passed. Speed control has the characteristic that it can respond at an arbitrary speed over time even if the target position changes, and on the other hand, it tries to maintain the target speed when some external force is generated during driving. .. Torque control has the characteristic that it can be operated with a specified torque, but on the other hand, if no external force is generated during operation, it tries to continue accelerating. However, in order to accurately respond to constantly changing positions, speeds, and torques, it is not enough to apply the above general control methods, which is dangerous for use on the human body and is applicable to long-term care. Difficult to do.
On the other hand, the control according to the present invention uses bidirectional control, so that the caregiver can arbitrarily change the position, speed, and torque from moment to moment by his / her own movement. As a result, even if it is applied to the human body, safety problems are solved, and it can be controlled and used for long-term care.

In addition, the reason why the arm portions are paired will be described here. Two drive units are required for responsive control according to the present invention, that is, bidirectional control using the tip motion control theory, one of which is on one arm side and the other on the other arm side. Position / force control can be performed by transmitting position information and force information in both directions. Further, by using the force estimation by the position sensor together, the position / force can be controlled without using the force sensor. (See Japanese Patent No. 4696307 for this basic theory).

Initially, as shown in FIG. 10, a prototype was made for a single arm (that is, a single arm corresponding to the operating side arm portion 11 or the working side arm portion 12 of the present invention) and tested. However, in such a configuration of the uniaxial arm portion 11', the user stands up on the pressing bar 11c'arranged on the chest only by the force of the upper arm, so that the upper arm is pushed open by the pressing bar 11c'. It became very difficult to get up in a hurray state, and in the worst case, I sometimes fell. On the other hand, when the pressing bar 11c'is placed at the position shown by the alternate long and short dash line in FIG. 10 and the user A is pushed up, the upper body is not supported and becomes unstable, and there is a risk of falling due to the momentum when pushing up the thigh or buttocks. It became large, and in the worst case, it could fall.

As described above, in the present invention, the arm portions 11 and 12 are not simply formed as a pair, but the operating positions of the two arm portions are specified to work on the chest, thigh, and buttocks of the human body. This makes it easier to balance the sitting motion and the standing motion of the user A, and has the effect of stabilizing the motion of the user A in the movement of the center of gravity accompanying the posture change. Further, with the above configuration, the force is distributed to the chest to the upper arm and the thigh to the buttocks, so that the user A can operate with a smaller force. This also has the effect of leading to a sense of security. Further, even when the user A fails to stand up and sits down, the lower arm portion is prevented from further moving down, so that the user A does not have to be crushed.

The invention of the present application is, so to speak, a biaxial arm portion, and since any one arm portion may be the operation side and the other as the work side, the caregiver B, the user A, or any side may be used. There is an effect that can be operated. Therefore, according to the present invention, there is an effect that it can be used not only for mere nursing care but also for a wide range of life support and independence support such as walking assistance and rehabilitation as described in FIGS. 7 and 8.

Next, the walking support operation will be described with reference to FIG. 7. As shown in FIG. 7 (A), the user A puts his upper body in the space area S (shown in FIG. 1) surrounded by the arms 11a and 11b (shown in FIG. 1) and the pressing bar 11c, and the chest is The thigh is abutted and supported by the pressing bar 11c, and the thigh is abutted and supported by the pressing bar 12c, that is, standing in a standing posture. In this state, the user A walks with the support of the caregiver B as shown in FIG. 7 (B). In the movement of the center of gravity during the walking motion, the upper body of the user A is supported by the pressing bar 11c, so that it is easy to balance and the walking motion is stabilized. Further, since the disturbance force is dispersed in the chest, that is, the upper arm, and the thigh to the buttocks, the user A can walk with a smaller force. This also has the effect of leading to a sense of security. Further, since any one of the arm portions may be the operation side and the other as the work side, there is an effect that the caregiver B, the user A, or any side can operate the arm portion.

Since the base 1 on which the operation side arm portion 11 and the working side arm portion 12 are supported can be moved forward or backward, it is possible to return from FIG. 7B to FIG. 7A. The direction of the user A when returning may be the left side in FIG. 7B, but in rehabilitation or the like, the user A may return by reverse walking while keeping the right direction as shown in the illustrated example.

Next, the step walking support operation will be described with reference to FIG. As shown in FIG. 8 (A), the user A puts his upper body in the space area S (shown in FIG. 1) surrounded by the arms 11a and 11b (shown in FIG. 1) and the pressing bar 11c, and the chest is The thigh is abutted and supported by the pressing bar 11c, and the thigh is abutted and supported by the pressing bar 12c, that is, standing in a standing posture. In this state, the user A walks on steps such as stairs with the support of the caregiver B, as shown in FIG. 8 (B). In the movement of the center of gravity during the step walking operation, the upper body of the user A is supported by the pressing bar 11c, so that it is easy to balance, and thus the step walking operation is stabilized. Further, since the disturbance force is dispersed in the chest to the upper arm and the thigh to the buttocks, the user A can perform the step walking operation with a smaller force. This also has the effect of leading to a sense of security. Further, since any one of the arm portions may be the operation side and the other as the work side, there is an effect that the caregiver B, the user A, or any side can operate the arm portion.

Since the base 1 on which the operation side arm portion 11 and the working side arm portion 12 are supported can be moved forward or backward, it is possible to return from FIG. 8 (B) to FIG. 8 (A). The direction of the user A when returning may be the left side in FIG. 8B, but in rehabilitation or the like, the user A may return by reverse walking while keeping the right direction as shown in the illustrated example.

In the nursing care assisting device according to the above embodiment, as shown in FIG. 9, encoders 15 and 23 other than the encoders 18 and 26 provided on the input shaft side are motors of the operating side arm portion 11 and the working side arm portion 12. It is also provided on the output shaft side of 14 and 22. That is, in the present invention, it is necessary to obtain a large torque by setting the reduction ratio to a large value (1/160 in the embodiment) in consideration of the weight of the user A. However, in this way, the device is delicate by the position sensor. Since it depends on the position information, there is a possibility that a delicate force cannot be detected due to a deviation of the numerical value due to a large reduction ratio. In order to prevent this, the encoders 15 and 23 on the output shaft side are provided separately from the encoders 18 and 26 on the input shaft side. Therefore, according to the above embodiment, it is possible to detect a minute displacement of the output shaft due to a minute change in the force of the user A, and the caregiver B can perform an immediate operation. Considering the frictional resistance of the speed reducers 16 and 24 of each arm, the encoders 15 and 23 are provided on the output shaft side separately from the input shaft side, so that the correlation between the input shaft and the output shaft can be confirmed. In this respect as well, the responsiveness is further improved. In the figure, 19 and 27 are output shafts of the operation side arm portion 11 or the work side arm portion, and 20 and 28 are connecting shafts 29 and 30 for connecting the output shafts 19 and 27 and the encoders 15 and 23 on the output shaft side. Is a pedestal for stopping the rotation of the encoders 15 and 23 on the output shaft side of each arm portion.

When shifting from the sitting posture (FIG. 11 (A)) to the standing posture (FIG. 11 (B)), the center of gravity can be moved simply by bidirectionally controlling the operation side arm portion 11 and the working side arm portion 12. Where it becomes unnatural, since the operation side arm portion 11 and the work side arm portion 12 are raised and lowered by the rotation operation a, the user A moves diagonally forward, and the user A keeps the foot position A1. You can stand up with virtually no movement. On the other hand, in the inverse proportion of the vertical movement b, when shifting from the sitting posture (FIG. 11 (C)) to the standing posture (FIG. 11 (D)), the user A stands up without moving the position of the foot. Is difficult, and the foot moves from the A2 position to the A3 position. Therefore, according to the nursing care assisting device according to the above embodiment, even the user A who has difficulty in moving the movement can start up smoothly.

The nursing care assisting device according to the present invention is not limited to the above-described embodiment. For example, the common shaft 9 that rotatably and vertically supports the operation side arm portion 11 and the work side arm portion 12 is not only movable in only one direction as shown in the drawing, but also in one direction and the said common shaft 9. It can also be made movable in a direction orthogonal to one direction. Further, the pressing bars 11c and 12c of the operation side arm portion 11 and the working side arm portion 12 may be a cantilever type (not shown) in addition to the double-sided type as shown in the figure. In the latter case, since the user A can enter the space area S including one arm and the bar from the space without the arm, there is an effect that the user A can easily enter the space area S without the support operation of the caregiver B. Further, the transmission means of the bidirectional control unit 13 and the bidirectional control unit 21 is arbitrary. In FIG. 9, the motors 14 and 22 are unitized together with the speed reducers 16 and 24 and the encoders 18 and 26, but these motors 14, 22 and the speed reducers 16 and 24 and the encoders 18 and 26 are used in combination with each other. You may. Further, the speed reducers 16 and 24 may be other than those shown in the illustrated examples.

The nursing care assisting device according to the present invention can be used for various nursing care.

1 Base 2 Swing motor 3 Ceiling 5 Rail 7 Support arm 8 Motor 9 Common axis 11 Operation side arm 11a Arm 11b Arm 11c Press bar 12 Work side arm 12a Arm 12b Arm 12c Press bar 13 Operation side bidirectional control unit 14 Motor 15 Encoder 16 Reducer 17 Transmission means 17a Drive pulley 17b Driven pulley 17c Belt 18 Encoder 19 Output shaft 20 Connecting shaft 21 Working side bidirectional control unit 22 Motor 23 Encoder 24 Reducer 25 Transmission means 25a Drive pulley 25b Driven pulley 25c Belt 26 Encoder 27 Output shaft 28 Connecting shaft 29 Pedestal 30 Pedestal 31 Motor (input shaft side)
32 gear (input shaft side)
33 Encoder (input shaft side)
37 Electromagnetic contactor 38 Motor driver 39 Electromagnetic contactor 40 Motor driver 41 Central motion control unit 43 Computer 51 Toilet bowl A User B Caregiver

Claims (11)

It is a nursing care auxiliary device consisting of one arm part that moves up and down independently and the other arm part, one of which is the operation side arm part and the other is the work side arm part.
The arm portion on the operation side is composed of a pair of arms, and a pressing bar provided at the tip portion in a direction orthogonal to the pair of arms to support the chest of the user is provided.
The arm portion on the working side is composed of another pair of arms, and another pressing bar provided at the tip portion in a direction orthogonal to the other pair of arms and supporting the thigh or buttocks of the user is provided. ,
The one arm portion and the other arm portion are rotatably provided on the same common shaft.
The support arm provided with the common shaft is provided with a bidirectional control unit on the operation side for raising and lowering one arm portion and a bidirectional control unit on the work side for raising and lowering the other arm portion.
A nursing care auxiliary device characterized in that the bidirectional control unit on the operation side and the bidirectional control unit on the work side have the same configuration. In the nursing care assisting device according to claim 1, the bidirectional control unit on the operation side comprises a motor and a transmission means coaxial with the motor, and the bidirectional control unit on the work side is coaxial with the motor. An auxiliary device for long-term care, which is composed of a transmission means of the above, and in which these pair of bidirectional control units transmit motion control information in parallel. In the nursing care assisting device according to claim 2 , each of the above-mentioned transmission means is pivotally attached to the above-mentioned common shaft, and a pulley for transmitting the power decelerated by a speed reducer coaxial with the shaft of the motor to each arm portion. An auxiliary device for long-term care, which comprises a belt and a belt. The nursing care assisting device according to claim 2 or 3, wherein an encoder different from the encoder provided on the motor on the input shaft side of each arm portion is also provided on the output shaft side of each arm portion. Auxiliary device for long-term care. The nursing care assisting device according to any one of claims 1 to 4, wherein the support arm can be raised and lowered. The nursing care assisting device according to any one of claims 1 to 5, wherein the support arm is rotatable. The nursing care assisting device according to any one of claims 1 to 6, wherein the support arm can move in one direction. The nursing care assisting device according to any one of claims 1 to 6, wherein the support arm can move in one direction and in a direction orthogonal to the one direction. The nursing care assisting device according to any one of claims 1 to 6, wherein the support arm can be moved in one direction in which the support arm is tilted. The nursing care assisting device according to any one of claims 1 to 9, wherein each of the pressing bars is provided at a tip end portion of each of the pair of arms. The nursing care assisting device according to any one of claims 1 to 9, wherein each of the pressing bars is provided at the tip of any one of the pair of arms.

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