{"_buckets": {"deposit": "7fbeefc4-ffb3-441d-9b1a-2b402d1bfea8"}, "_deposit": {"id": "21489", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "21489"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00021489", "sets": ["322"]}, "author_link": ["62594", "62595", "62596", "62597", "62598", "62599"], "item_10_alternative_title_19": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Development of Sensor Control Systems Corresponding to the Stumble Recovery during Walking with a Wearable Robot", "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": "88", "bibliographicPageStart": "83", "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": "本研究は,歩行補助ロボットのつまずきに対し,歩行を継続できるようにバランスを回復するセンサ制御系を開発することを目的とする.人間がつまずくとそのタイミングに依存して,足部を上昇させる応答と下降させる応答の2種類の反射パターンが現れることが知られている.提案法では,まずロボットの床反力センサの信号からつまずきを検出する.次に,つまずいたと判断された場合に,歩行を継続するために人間の反射パターンに基づいて歩行パターンを修正する.回復パターンでは,運動初期と後期におけるつまずきに対して,上昇動作と下降動作を選択的に実行するようにオンラインで目標歩行パターンを修正する.実機実験を行い,過電流となる非常停止の防止に対する提案法の有効性を評価した.", "subitem_description_language": "ja", "subitem_description_type": "Abstract"}, {"subitem_description": "We develop a control system of a wearable robot to recover balance from a stumble. Patterns of stumble recovery response depend on the timing of the disturbance. In the proposed method, firstly, a collision of an obstacle is detected by the signals from a sensor of ground reaction force (GRF) of the robot. Then the recovery motion based on human recovery response is performed. For the stumble in the late movement, the recovery pattern is generated to lowering trajectory. On the other hand, for the stumble in the early movement, the recovery pattern is generated to elevating trajectory. Experiments of walking with WPAL demonstrated that the proposed method is effectiveness for prevention of emergency stop by the over-current protection.", "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/110009546188/"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/23637"}]}, "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/110009546188/", "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": "周, 広宇", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62594", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "香川, 高弘", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62595", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "宇野, 洋二", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62596", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "ZHOU, Guangyu", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62597", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "KAGAWA, Takahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62598", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "UNO, Yoji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62599", "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": "110009546188.pdf", "filesize": [{"value": "887.6 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 887600.0, "url": {"label": "110009546188.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/21489/files/110009546188.pdf"}, "version_id": "fc8b9e24-33c7-4087-8562-d18883e8d0e7"}]}, "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": "床反力", "subitem_subject_scheme": "Other"}, {"subitem_subject": "つまずきの回復", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Wearable robot", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Ground reaction force", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Stumble recovery", "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": "歩行補助ロボットのつまずきに対応するセンサ制御系の開発", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "歩行補助ロボットのつまずきに対応するセンサ制御系の開発", "subitem_title_language": "ja"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/23637", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2016-02-26"}, "publish_date": "2016-02-26", "publish_status": "0", "recid": "21489", "relation": {}, "relation_version_is_last": true, "title": ["歩行補助ロボットのつまずきに対応するセンサ制御系の開発"], "weko_shared_id": -1}