{"_buckets": {"deposit": "0d8512ad-1ef8-44ff-82ae-30b8f434c555"}, "_deposit": {"id": "21480", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "21480"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00021480", "sets": ["322"]}, "author_link": ["62510", "62511", "62512", "62513", "62514", "62515", "62516", "62517"], "item_10_alternative_title_19": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Sit-to-stand assistance based on ground reaction force using a wearable robot for paraplegics", "subitem_alternative_title_language": "en"}]}, "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2012-03-07", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "482", "bibliographicPageEnd": "94", "bibliographicPageStart": "89", "bibliographicVolumeNumber": "111", "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": "下肢麻痺患者の自立支援に向けて歩行補助ロボットWPALの開発が進められている.補助ロボットを用いた制御において使用者の意図に合わせて補助を行うことが重要である.本研究では補助ロボットを用いた起立動作に焦点を当て,起立の際の上肢の運動に合わせて動作補助を行う制御系開発を目的とする.健常者の起立動作の計測実験を行った結果,足裏の床反力だけでなく歩行器の力を考慮することで下肢関節の運動の開始タイミングを検出できることがわかった.この結果から,歩行器に作用する力を計測するシステムと歩行補助ロボットによる起立補助の制御系を開発した.開発したシステムでは,足裏と歩行器の床反力のデータから起立動作の開始タイミングを検出し,下肢運動を実行する.開発した制御法とスイッチによって起立動作タイミングを与える従来法を比較する動作試験を行い,提案法の有効性を評価した.", "subitem_description_language": "ja", "subitem_description_type": "Abstract"}, {"subitem_description": "Wearable robots have been developed to restore leg motor functions of paraplegic patients. Coordination between the paralyzed leg motion by the robot and the user\u0027s voluntary movement is important to assist the sit-to-stand movement. In this study, we address developing an assist control of sit-to-stand movement based on the motion of the upper extremities. From measurement experiments of sit-to-stand motion, it was found that the beginning of the leg motion can be detected by ground reaction force acting on the foot soles and a walker. Based on the measurement results, we developed a control system of the wearable robot in which the leg movement for standing up is triggered by the ground reaction force acting on the walker and foot soles. We examined the effectiveness of the proposed method comparing with previous method in which the leg motion was triggered by a mechanical switch.", "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/110009546189/"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/23628"}]}, "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/110009546189/", "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": "0913-5685", "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": "後藤, 謙治", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62510", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "香川, 高弘", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62511", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "宇野, 洋二", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62512", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "阪口, 豊", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62513", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "GOTO, Kenji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62514", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "KAGAWA, Takahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62515", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "UNO, Yoji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62516", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "SAKAGUCHI, Yutaka", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62517", "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": "110009546189.pdf", "filesize": [{"value": "845.2 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 845200.0, "url": {"label": "110009546189.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/21480/files/110009546189.pdf"}, "version_id": "b158d0ef-94b4-4e83-a895-3d3608d5a556"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "装着型ロボット", "subitem_subject_scheme": "Other"}, {"subitem_subject": "床反力", "subitem_subject_scheme": "Other"}, {"subitem_subject": "起立動作", "subitem_subject_scheme": "Other"}, {"subitem_subject": "歩行器", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Wearable robot", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Ground reaction force", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Sit-to-stand motion", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Walker", "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": "床反力情報に基づく装着型ロボットによる起立補助", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "床反力情報に基づく装着型ロボットによる起立補助", "subitem_title_language": "ja"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/23628", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2016-02-25"}, "publish_date": "2016-02-25", "publish_status": "0", "recid": "21480", "relation": {}, "relation_version_is_last": true, "title": ["床反力情報に基づく装着型ロボットによる起立補助"], "weko_shared_id": -1}