# US 10,765,585 B2 · Walking assistance robot for assisting smooth start of user's action after standing up from chair > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,765,585 B2 - Document ID: US10765585B2 - Status: Granted - Kind: B2 - Application number: 15/417,278 - Filed: 2017-01-27 - Published: 2017-09-14 - Granted: 2020-09-08 - Earliest claimed: 2016-03-09 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: Hidetsugu Maekawa - Web page: https://patentgrep.com/patent/US10765585B2 ## CPC - A61H 3/04: Wheeled walking aids for patients or disabled persons - A61G 5/14: Standing-up or sitting-down aids - B62B 5/00: Accessories or details specially adapted for hand carts ({B62B3/1404} , B62B9/00 take precedence; wheels, axles, or axle bearings for vehicles B60B; castors for vehicles, castors in general B60B33/00) - A61H 2003/043: {with a drive mechanism} - A61H 2003/046: {with braking means} - A61H 2201/1207: with electric or magnetic drive - A61H 2201/501: connected to external computer devices or networks - A61H 2201/5061: Force sensors - A61H 2201/5097: wireless - A61H 2230/045: used as a control parameter for the apparatus - A61H 2230/06: Heartbeat rate - A61H 2230/105: used as a control parameter for the apparatus - B62B 5/0033: {Electric motors} - B62B 5/0069: {Control} - B62B 5/0485: {by braking on the running surface, e.g. the tyre} - Y10S 901/01: Mobile robot - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - A61G: TRANSPORT, PERSONAL CONVEYANCES OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS (appliances for aiding patients or disabled persons to walk A61H3/00); OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES (embalming corpses A01N1/00) - B62B: HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES (characterised by animal propulsion B62C; propulsion of sledges by driver or engine B62M) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A system is disclosed which includes a walking assistance robot for assisting a smooth start of a user's action after standing up from a chair. A system according to an aspect of the present disclosure includes a walking assistance robot and an automatic elevation chair that moves a seating surface where a user sits. The automatic elevation chair detects a consciousness level of the user and transmits consciousness level information on the detected consciousness level of the user to the walking assistance robot via the network. The walking assistance robot, including a body and a rotor that moves the walking assistance robot, receives the consciousness level information via the network and controls resistance force to rotation of the rotor based on the received consciousness level information. ## Claims ### Claim 1 A walking assistance robot comprising: a body; a rotor that moves the walking assistance robot; a handle that is provided to the body and that a user is able to hold; a sensor that detects a handle load imposed on the handle; a processor, and a memory storing a computer program, which when executed by the processor, causes the processor to perform operations including: receiving consciousness level information on a consciousness level of the user via a network; performing resistance force control, in which resistance force applied to rotation of the rotor is controlled based on the received consciousness level information; and terminating the resistance force control so that the resistance force is not applied to the rotor, based on the handle load detected by the sensor. ### Claim 2 (depends on 1) The walking assistance robot according to claim 1, wherein in the resistance force control, the resistance force is increased as the consciousness level of the user is lower. ### Claim 3 (depends on 1) The walking assistance robot according to claim 1, further comprising a brake that applies the resistance force to the rotor, wherein, in the resistance force control, the resistance force is controlled by changing the resistance force applied to the rotor by the brake based on the received consciousness level information, and the resistance force control is terminated by releasing the brake so that the brake does not apply the resistance force to the rotor. ### Claim 4 (depends on 1) The walking assistance robot according to claim 1, wherein the processor further performs operations including: determining whether or not the handle load detected by the sensor is stable, wherein the resistance force control is terminated in response to determining that the handle load is stable. ### Claim 5 (depends on 4) The walking assistance robot according to claim 4, wherein the handle load is determined as stable, when a fluctuation of the handle load is within a predetermined range. ### Claim 6 (depends on 3) The walking assistance robot according to claim 3, wherein, in the resistance force control, the brake applies the resistance force to the rotor to regulate the rotation of the rotor so that the walking assistance robot is movable when the walking assistance robot is pushed by a force greater than the resistance force, and is not locked to stop the walking assistance robot. ### Claim 7 (depends on 1) The walking assistance robot according to claim 1, wherein the consciousness level of the user is determined based on a heart beat of the user detected by a heartbeat sensor.