{"_buckets": {"deposit": "69fadd96-e88d-418c-8068-22a69a013b91"}, "_deposit": {"id": "21493", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "21493"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00021493", "sets": ["322"]}, "author_link": ["62622", "62623", "62624", "62625", "62626", "62627"], "item_10_alternative_title_19": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "An analysis of whole body reaching movements based on minimum torque-change criterion", "subitem_alternative_title_language": "en"}]}, "item_10_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2013-03-06", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "480", "bibliographicPageEnd": "184", "bibliographicPageStart": "179", "bibliographicVolumeNumber": "112", "bibliographic_titles": [{"bibliographic_title": "電子情報通信学会技術研究報告. NC, ニューロコンピューティング", "bibliographic_titleLang": "ja"}]}]}, "item_10_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "ヒトの運動の軌道生成に関して、ジャーク最小規範やトルク変化最小規範など運動の滑らかさに基づく軌道生成のモデルが提案されているが、これらめ最適規範モデルを肩と肘の単純な平面内リーチング運動に適用した研究がほとんどである。これに対して全身リーリング運動では、全身の関節を制御してターゲットに手を届かせることと身体の姿勢の安定性を保つことが要求される。本研究ではヒトの全身リーチング運動の計測実験により手先や重心およびCOPの軌道の特徴を見出すとともに、トルク変化最小規範により運動軌道を再現することを試みた。その結果、重み付きのトルク変化最小規範により、これらの身体軌道の特徴がよく再現できることを確認した。さらに評価関数の重みの物理的意味について考察した。", "subitem_description_language": "ja", "subitem_description_type": "Abstract"}, {"subitem_description": "Optimal control models, e.g., minimum torque-change model and minimum jerk model, has been proposed for accounting for simple reaching movement of human. We investigate the trajectory formation of whole body reaching movement, in which a human multi-joint must to be controlled to reach the target and maintain the body balance. In the current work, we find out the feature of hand, center of mass, center of pressure trajectory by measuring human\u0027s whole body reaching. In addition, we propose a weighted minimum torque-change model to reconstruct whole body reaching. This model can reconstruct whole body reaching. Finally, we discuss the physical meaning of weight of the cost function.", "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/110009713275/"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/23641"}]}, "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/110009713275/", "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": "崔, 珪畑", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62622", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "香川, 高弘", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62623", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "宇野, 洋二", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62624", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "CHOI, Kyuheong", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62625", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "KAGAWA, Takahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62626", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "UNO, Yoji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62627", "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": "110009713275.pdf", "filesize": [{"value": "783.8 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 783800.0, "url": {"label": "110009713275.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/21493/files/110009713275.pdf"}, "version_id": "975068b4-ebc7-4860-bf7a-64a467d7563e"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "最適化規範", "subitem_subject_scheme": "Other"}, {"subitem_subject": "姿勢制御", "subitem_subject_scheme": "Other"}, {"subitem_subject": "全身運動", "subitem_subject_scheme": "Other"}, {"subitem_subject": "軌道計画", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Optimal criterion model", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Postural control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Whole body movement", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Trajectory planning", "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": "トルク変化最小規範に基づく全身リーチング運動の解析", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "トルク変化最小規範に基づく全身リーチング運動の解析", "subitem_title_language": "ja"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/23641", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2016-02-26"}, "publish_date": "2016-02-26", "publish_status": "0", "recid": "21493", "relation": {}, "relation_version_is_last": true, "title": ["トルク変化最小規範に基づく全身リーチング運動の解析"], "weko_shared_id": -1}