{"_buckets": {"deposit": "0f8e657d-0086-44b7-a2ad-75b87c5b9f65"}, "_deposit": {"id": "12069", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "12069"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00012069", "sets": ["322"]}, "author_link": ["38294", "38295", "38296"], "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2009-07-14", "bibliographicIssueDateType": "Issued"}, "bibliographicPageEnd": "565", "bibliographicPageStart": "560", "bibliographic_titles": [{"bibliographic_title": "IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)", "bibliographic_titleLang": "en"}]}]}, "item_10_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "This paper analyzes grasp synthesis in multi-fingered robot arm equipped with a tactile sensor to handle objects located at arbitrary positions. We developed an 11-dof multi-fingered arm and a novel optical three-axis tactile sensor system based on an optical waveguide transduction method. The tactile sensor can simultaneously acquire normal and shearing forces. We analyzed normal and shear force distribution to grasp real object. The slippage direction acquired from the shear force data was used to control arm movements in the incipient grasp and release motion. Normal force is used to distinguish object stiffness and to generate optimum grasp pressure. The analysis results are compiled in a control algorithm inside the robot control system. The algorithm was evaluated in experiments with real objects, and the results revealed good performance of the robot arm when handling arbitrary located objects.", "subitem_description_language": "en", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/13947"}, {"subitem_identifier_type": "DOI", "subitem_identifier_uri": "http://dx.doi.org/10.1109/AIM.2009.5229954"}]}, "item_10_publisher_32": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "IEEE", "subitem_publisher_language": "en"}]}, "item_10_relation_11": {"attribute_name": "DOI", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "https://doi.org/10.1109/AIM.2009.5229954", "subitem_relation_type_select": "DOI"}}]}, "item_10_relation_8": {"attribute_name": "ISBN", "attribute_value_mlt": [{"subitem_relation_type": "isPartOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "978-1-4244-2852-6", "subitem_relation_type_select": "ISBN"}}]}, "item_10_rights_12": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.", "subitem_rights_language": "en"}]}, "item_10_select_15": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_text_14": {"attribute_name": "フォーマット", "attribute_value_mlt": [{"subitem_text_value": "application/pdf"}]}, "item_1615787544753": {"attribute_name": "出版タイプ", "attribute_value_mlt": [{"subitem_version_resource": "http://purl.org/coar/version/c_970fb48d4fbd8a85", "subitem_version_type": "VoR"}]}, "item_access_right": {"attribute_name": "アクセス権", "attribute_value_mlt": [{"subitem_access_right": "open access", "subitem_access_right_uri": "http://purl.org/coar/access_right/c_abf2"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "Yussof, Hanafiah", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "38294", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Wada, Jiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "38295", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Ohka, Masahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "38296", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2018-02-20"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "repo3.pdf", "filesize": [{"value": "1.7 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 1700000.0, "url": {"label": "repo3.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/12069/files/repo3.pdf"}, "version_id": "9683aafa-0741-41e7-9e40-0a7dd6aa65bd"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "eng"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "Grasp synthesis based on tactile sensation in robot manipulation of arbitrary located object", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Grasp synthesis based on tactile sensation in robot manipulation of arbitrary located object", "subitem_title_language": "en"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/13947", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2010-08-04"}, "publish_date": "2010-08-04", "publish_status": "0", "recid": "12069", "relation": {}, "relation_version_is_last": true, "title": ["Grasp synthesis based on tactile sensation in robot manipulation of arbitrary located object"], "weko_shared_id": -1}