Abstract: A recording medium stores a module terminal design program for causing a computer to execute processing including: creating, for each placement position where a target macro that has a multilayer structure placed in a design target circuit is placeable according to a power supply structure of the design target circuit, a temporary macro that represents a placement pattern of terminals of each layer of the target macro; extracting, based on a result of comparison between placement patterns of the temporary macros, a common pattern; extracting a difference pattern that represents a difference from the extracted common pattern; registering the common pattern and the difference pattern; and creating, when the target macro is placed at any one placement position, a module terminal for a lifting target terminal in the target macro based on the common pattern and a difference pattern that corresponds to the any one placement position.

Abstract: An assistance device that assists a care receiver in standing up, includes: a first arm extending upward from a base; a second arm provided on the first arm and swinging around a first_horizontal axis; a support member provided on the second arm; a first and second covers respectively provided on the first and second arms and covering at least a part of the first and second arms respectively; and a third cover configured to be swingable around a second horizontal axis is swingably attached to the first arm or the first cover and is slidably attached to the second arm or the second cover, alternatively the third cover is swingably attached to the second arm or the second cover and is slidably attached to the first arm or the first cover.

Abstract: The assistance method using an assistance device including a base, a support section configured to lift and lower the upper body of a care receiver with respect to the base while supporting the upper body of the care receiver from the front, and a driving section configured to drive the support section. The assistance device is configured to be waterproof. The assistance method includes a boarding step for boarding the seated care receiver onto the assistance device; and a rear side washing step for washing the body of the care receiver while the buttocks of the care receiver is lifted by lifting the support section.

Abstract: A caring device includes an adjustment command section configured to give a command for an adjustment of a standing start position of a support member, a standing operation command section configured to give a command for assistance of the standing operation using the support member, and a control device. The control device perform a cooperative operation of the first arm and the second arm so that the support member moves in an up-down direction when a command of the adjustment command section is received. The control device performs a cooperative operation of the first arm and the second arm so that a reference position of the support member moves along different movement trajectories in accordance with the standing start position adjusted by the command of the adjustment command section when a command of the standing operation command section is received.

Abstract: An assistance apparatus (1) includes: a base (2); a support arm section (3) that can support a part of the body of the care receiver and that is provided to the base and can perform motion with respect to the standing direction for causing the care receiver to stand or the seating direction for causing the care receiver to be seated; an actuator (5) that is connected to the base and the support arm section; and a buffer mechanism (7) that is disposed at one of members from the base to the support arm section coupled via the actuator or is disposed between members connected to each other and that absorbs at least a part of a drive force of the actuator when an external force in the standing direction is applied by drive of the actuator to the support arm section performing motion toward the seating direction.

Abstract: A switching module includes a determiner to open a first bidirectional switch and close a second bidirectional switch from a first time point over a testing period to determine that the first bidirectional switch has a short circuit failure when a differential absolute value of voltage values detected by voltmeters is equal to a preset voltage threshold value or less, and to open the first bidirectional switch and close the second bidirectional switch from a second time point after a period of n+½ times, where n is a positive integer, the set cycle from the first time point elapses, over a testing period to determine that the first bidirectional switch has a short circuit failure when a differential absolute value of the voltage values detected by the voltmeters is equal to the voltage threshold value or less.

Abstract: An assistance device that assists a care receiver in standing up includes: a first arm extending upward from a base; a second arm provided on the first arm and swinging around a horizontal axis; a support member provided on the second arm and supporting an upper half body of the care receiver; a first and second covers respectively provided on the first and second arms and covering at least a part of the first and second arms respectively; and a third cover supported, when the first arm or the first cover is defined as a first member and the second arm or the second cover is defined as a second member, so as to be swingable around a horizontal axis relative to a first one of the first and second members and provided to be slidably movable relative to a second one of the first and second members.

Abstract: An assistive apparatus includes a base, a first arm provided on the base and configured to revolve around a horizontal first center axis, a second arm provided on the first arm and configured to revolve around a horizontal second center axis, a support member provided on the second arm and configured to support an upper half body of an assisted person, and a driving device configured to perform a cooperative operation of the first arm and the second arm. The first arm is configured to be located ahead of a knee bending position at which an upper thigh portion and a lower thigh portion of the assisted person bend in an initial state before execution of assistance of a standing operation.

Abstract: A caring device includes an adjustment command section configured to give a command for an adjustment of a standing start position of a support member, a standing operation command section configured to give a command for assistance of the standing operation using the support member, and a control device. The control device perform a cooperative operation of the first arm and the second arm so that the support member moves in an up-down direction when a command of the adjustment command section is received. The control device performs a cooperative operation of the first arm and the second arm so that a reference position of the support member moves along different movement trajectories in accordance with the standing start position adjusted by the command of the adjustment command section when a command of the standing operation command section is received.

Abstract: A detection device which detects a state of a moving member such as an origin position of the moving member in a short time, is provided with a dog which includes the multiple slits, in which at least one of a separation distance between adjacent slits and a width of the slits themselves is formed in multiple kinds, a sensor which detects the presence or absence of the slits, a count position acquisition section which acquires a count start position and a count end position corresponding to the separation distance between the adjacent slits or the width of the slits themselves based on detection results of the sensor, and a state detection section which acquires a count value increase or decrease number from the count start position to the count end position and detects a state of the moving member based on the acquired count value increase or decrease number.

Abstract: The assistance method using an assistance device including a base, a support section configured to lift and lower the upper body of a care receiver with respect to the base while supporting the upper body of the care receiver from the front, and a driving section configured to drive the support section. The assistance device is configured to be waterproof. The assistance method includes a boarding step for boarding the seated care receiver onto the assistance device; and a rear side washing step for washing the body of the care receiver while the buttocks of the care receiver is lifted by lifting the support section.

Abstract: An assistance apparatus (1) includes: a base (2); a support arm section (3) that can support a part of the body of the care receiver and that is provided to the base and can perform motion with respect to the standing direction for causing the care receiver to stand or the seating direction for causing the care receiver to be seated; an actuator (5) that is connected to the base and the support arm section; and a buffer mechanism (7) that is disposed at one of members from the base to the support arm section coupled via the actuator or is disposed between members connected to each other and that absorbs at least a part of a drive force of the actuator when an external force in the standing direction is applied by drive of the actuator to the support arm section performing motion toward the seating direction.

Abstract: A switching module includes a determiner to open a first bidirectional switch and close a second bidirectional switch from a first time point over a testing period to determine that the first bidirectional switch has a short circuit failure when a differential absolute value of voltage values detected by voltmeters is equal to a preset voltage threshold value or less, and to open the first bidirectional switch and close the second bidirectional switch from a second time point after a period of n+½ times, where n is a positive integer, the set cycle from the first time point elapses, over a testing period to determine that the first bidirectional switch has a short circuit failure when a differential absolute value of the voltage values detected by the voltmeters is equal to the voltage threshold value or less.

Abstract: An assisting device provide with: a movable base on which a care receiver rides; a raising and lowering member supported on the base to be movable in an up-down direction; a raising and lowering drive section configured to drive the raising and lowering member up and down; an oscillating member supported on the raising and lowering member to be capable of oscillating; an oscillating drive section configured to drive the oscillating of the oscillating member; a holding member supported on the oscillating member to be freely tiltable, and configured to hold an upper body of the care receiver; a first handle provided on the oscillating member; and a second handle provided on the holding member, and configured to tilt together with the holding member. Accordingly, practicality is improved with regard to safe moving operation of the assisting device and safe free tilting of the holding member.

Abstract: An assisting device provide with: a movable base on which a care receiver rides; a raising and lowering member supported on the base to be movable in an up-down direction; a raising and lowering drive section configured to drive the raising and lowering member up and down; an oscillating member supported on the raising and lowering member to be capable of oscillating; an oscillating drive section configured to drive the oscillating of the oscillating member; a holding member supported on the oscillating member to be freely tiltable, and configured to hold an upper body of the care receiver; a first handle provided on the oscillating member; and a second handle provided on the holding member, and configured to tilt together with the holding member. Accordingly, practicality is improved with regard to safe moving operation of the assisting device and safe free tilting of the holding member.

Abstract: A care robot that assists a standing-upright motion or a sitting motion of a care receiver without making the care receiver uncomfortable. In the care robot, a standing-upright trajectory, along which a movement control portion of a care receiver moves, is set so a center of gravity of the care receiver is in a range of the soles of both feet between a point in time early after the start of a standing-upright motion and an end time point of the standing-upright motion of the care receiver. A sitting trajectory is set so the center of gravity of the care receiver is out of the range of the soles of both feet from a point in time early after the start of a sitting motion of the care receiver, and moves toward a predetermined sitting position of the care receiver.

Abstract: A detection device which detects a state of a moving member such as an origin position of the moving member in a short time, is provided with a dog which includes the multiple slits, in which at least one of a separation distance between adjacent slits and a width of the slits themselves is formed in multiple kinds, a sensor which detects the presence or absence of the slits, a count position acquisition section which acquires a count start position and a count end position corresponding to the separation distance between the adjacent slits or the width of the slits themselves based on detection results of the sensor, and a state detection section which acquires a count value increase or decrease number from the count start position to the count end position and detects a state of the moving member based on the acquired count value increase or decrease number.

Abstract: There is provided a movement assistance robot in which a single type of movement assistance robot can take care of multiple users having different physical abilities.