{"_buckets": {"deposit": "ee5bafdc-19b4-47e3-a30d-324ef88f4da9"}, "_deposit": {"id": "21477", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "21477"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00021477", "sets": ["322"]}, "author_link": ["62496", "62497", "62498", "62499", "62500", "62501"], "item_10_alternative_title_19": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Prevention of backward falling while walking on a step by a walking-assist robot", "subitem_alternative_title_language": "en"}]}, "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2011-02-28", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "460", "bibliographicPageEnd": "118", "bibliographicPageStart": "113", "bibliographicVolumeNumber": "110", "bibliographic_titles": [{"bibliographic_title": "電子情報通信学会技術研究報告. MBE, MEとバイオサイバネティックス", "bibliographic_titleLang": "ja"}]}]}, "item_10_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "本研究は,対麻痺患者のための装着型歩行補助ロボットWPALを用いた昇段歩行における後方転倒を予防する制御系の開発を目的とする.昇段時の着地位置が段差の端にあると後方に転倒する恐れがある.着地位置に起因する後方転倒を予防するため,着地時の遊脚の圧力中心位置から段差との接地状態を検出する方法を提案する.また,後方へのバランスの安定性が離脚時の重心の位置と速度により評価できることから,離脚時の重心に関する制約条件を加えて軌道を生成することで,後方転倒のリスクを低減する.提案法を歩行補助ロボットに実装し,高さが異なる2種類の段差に対する歩行実験を行い,その有効性を検証する.", "subitem_description_language": "ja", "subitem_description_type": "Abstract"}, {"subitem_description": "The goal of our study is to develop control systems for prevention of backward falling while walking on a step by a wearable walking-assist robot WPAL for paraplegics. It is likely to fall backward when the landing position after stepping on a bump is on the edge of the bump. To prevent a backward falling that is attributed to the landing position, we propose a method of detecting foot placement state on a bump from the center of pressure (COP) of the swing leg at foot landing. Moreover, the stability of the backward balance is evaluated from the center of mass position and its velocity at a toe-off period. Thus the risk of a backward falling is decreased by trajectory generation with a constrained condition concerning the center of mass at a toe-off period. We confirmed the effectiveness of the proposed method through implementing our method into the robot and conducting walking experiments for two kinds of steps with different height.", "subitem_description_language": "en", "subitem_description_type": "Abstract"}]}, "item_10_identifier_60": {"attribute_name": "URI", "attribute_value_mlt": [{"subitem_identifier_type": "URI", "subitem_identifier_uri": "http://ci.nii.ac.jp/naid/110008689294/"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/23624"}]}, "item_10_publisher_32": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "一般社団法人電子情報通信学会", "subitem_publisher_language": "ja"}]}, "item_10_relation_43": {"attribute_name": "関連情報", "attribute_value_mlt": [{"subitem_relation_type": "isVersionOf", "subitem_relation_type_id": {"subitem_relation_type_id_text": "http://ci.nii.ac.jp/naid/110008689294/", "subitem_relation_type_select": "URI"}}]}, "item_10_rights_12": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "(c)一般社団法人電子情報通信学会 本文データは学協会の許諾に基づきCiNiiから複製したものである", "subitem_rights_language": "ja"}]}, "item_10_select_15": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_10_source_id_7": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "11046929", "subitem_source_identifier_type": "PISSN"}]}, "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": "小田, 佑樹", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62496", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "香川, 高弘", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62497", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "宇野, 洋二", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62498", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "ODA, Yuki", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62499", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "KAGAWA, Takahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62500", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "UNO, Yoji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62501", "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": "2018-02-21"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "110008689294.pdf", "filesize": [{"value": "1.0 MB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 1000000.0, "url": {"label": "110008689294.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/21477/files/110008689294.pdf"}, "version_id": "2b2f2e2a-acaf-4b52-81b3-5eaddfaa7c0a"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "歩行補助ロボット", "subitem_subject_scheme": "Other"}, {"subitem_subject": "昇段歩行", "subitem_subject_scheme": "Other"}, {"subitem_subject": "後方転倒予防", "subitem_subject_scheme": "Other"}, {"subitem_subject": "軌道生成", "subitem_subject_scheme": "Other"}, {"subitem_subject": "床反", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Walking-assist robot", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Walking on a step", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Prevention of backward falling", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Trajectory generation", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Ground reaction force", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "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": "歩行補助ロボットによる昇段歩行における後方転倒予防", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "歩行補助ロボットによる昇段歩行における後方転倒予防", "subitem_title_language": "ja"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/23624", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2016-02-25"}, "publish_date": "2016-02-25", "publish_status": "0", "recid": "21477", "relation": {}, "relation_version_is_last": true, "title": ["歩行補助ロボットによる昇段歩行における後方転倒予防"], "weko_shared_id": -1}