Standing/sitting motion assist system, standing/sitting motion assist method, standing/sitting motion assist robot, and non-transitory computer-readable recording medium

A holding mechanism for holding a user of a robot system including

• a traction mechanism that is connected to the holding mechanism and that pulls the holding mechanism so that a position of the holding mechanism draws a predetermined path;
• a position sensor that measures the position of the holding mechanism on the predetermined path;
• a force sensor that measures a first force that is applied to the traction mechanism when the position of the holding mechanism is measured by the position sensor;
• and
• a controller that estimates the position of the holding mechanism after a predetermined time on the basis of the position of the holding mechanism and the first force and, (b) if the estimated position of the holding mechanism is not on the predetermined path, controls a motion of the traction mechanism so that the position of the holding mechanism after the predetermined time lies on the predetermined path on the basis of the first force and the position of the holding mechanism,
• the holding mechanism comprising:
• a first holder that holds a neck or a back of the user;
• a second holder that holds a waist of the user;
• and
• a connector that is placed on a chest of the user and that connects the first holder and the second holder to each other on a front side of the user,
• wherein the holding mechanism is attachable to and removable from the traction mechanism via the connector.

A non-transitory computer-readable recording medium storing a program that is executed by a computer of a robot system including

• a holding mechanism that holds a user,
• a traction mechanism that is connected to the holding mechanism and that pulls the holding mechanism so that a position of the holding mechanism draws a predetermined path,
• a position sensor that measures the position of the holding mechanism on the predetermined path, and
• a force sensor that measures a first force that is applied to the traction mechanism when the position of the holding mechanism is measured by the position sensor,
• the program causing the computer to execute:
• (a) estimating the position of the holding mechanism after a predetermined time on the basis of the first force and the position of the holding mechanism measured by the position sensor;
• and,
• (b) if the estimated position of the holding mechanism is not on the predetermined path, controlling a motion of the traction mechanism so that the position of the holding mechanism after the predetermined time lies on the predetermined path on the basis of the first force and the position of the holding mechanism.

A method of controlling a robot system including

• a holding mechanism that holds a user,
• a traction mechanism that is connected to the holding mechanism and that pulls the holding mechanism so that a position of the holding mechanism draws a predetermined path,
• a position sensor that measures the position of the holding mechanism on the predetermined path, and
• a force sensor that measures a first force that is applied to the traction mechanism when the position of the holding mechanism is measured by the position sensor,
• the method comprising:
• (a) estimating the position of the holding mechanism after a predetermined time on the basis of the first force and the position of the holding mechanism measured by the position sensor;
• and,
• (b) if the estimated position of the holding mechanism is not on the predetermined path, controlling a motion of the traction mechanism so that the position of the holding mechanism after the predetermined time lies on the predetermined path on the basis of the first force and the position of the holding mechanism.