{"_buckets": {"deposit": "00fbd68d-22a5-4c83-8bbf-a94eab9235e3"}, "_deposit": {"id": "21496", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "21496"}, "status": "published"}, "_oai": {"id": "oai:nagoya.repo.nii.ac.jp:00021496", "sets": ["322"]}, "author_link": ["62642", "62643", "62644", "62645", "62646", "62647"], "item_10_alternative_title_19": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Joint coordination of a multi-joint arm for target tracking task", "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": "178", "bibliographicPageStart": "173", "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": "本研究では,人間が一次元の手先の目標軌道を追従する,一次元軌道追従タスクを行う動作を計測し,解析を行った.このタスクにおいて,追従方向と直交する方向はタスクの達成とは関係の無い方向である.計測結果として,終端姿勢において被験者の手先はタスク達成と関係の無い方向に大きくばらついた.また,接線速度の概形はベル型であり,小さなピークが多く含まれていた.UCM解析を用いて関節間協調を定量的に評価した結果,タスクの達成に影響を与えないばらつきが時間と共に増加した.これらの運動学的な特徴や関節間協調の特徴は,我々が提案したUCM参照フィードバック制御法によってよく再現された.UCM参照フィードバック制御法は,時々刻々と目標UCM空間を生成し,UCM空間上から最適な一点を選び続ける制御方策である.これらの結果は,人間はUCM空間を参照することによって,タスク達成に関係の無いばらつきを許容しながら,多関節を協調的に制御していることを示唆している.また,人間の視覚運動制御系においてUCM空間の神経表現が存在している可能性があることを示唆している.", "subitem_description_language": "ja", "subitem_description_type": "Abstract"}, {"subitem_description": "In this paper, we measured and analyzed a one-dimensional target tracking task in which human subjects tracked one-dimensional target trajectory of the hand. In this task, the direction orthogonal to the movement direction is task-irrelevant. As a result, the hand position at the movement end was more varied in the task-irrelevant direction. Moreover, the profile of tangential hand velocity was roughly bell-shaped but they also had small peaks. Results of UCM analysis which is used to quantify the joint coordination showed that the task-irrelevant variance increased with time. These characteristics of kinematics and joint coordination were well reproduced by our UCM reference feedback control. UCM reference feedback control generates a target UCM space each time step and selects one point in UCM space. These results suggest that the human refers to UCM space step by step to control a multi-joint arm allowing the task-irrelevant variability. Moreover, it is suggested that the human would represent UCM space in visuomotor control system.", "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/110009713274/"}, {"subitem_identifier_type": "HDL", "subitem_identifier_uri": "http://hdl.handle.net/2237/23643"}]}, "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/110009713274/", "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": "東郷, 俊太", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62642", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "香川, 高弘", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62643", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "宇野, 洋二", "creatorNameLang": "ja"}], "nameIdentifiers": [{"nameIdentifier": "62644", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "TOGO, Shunta", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62645", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "KAGAWA, Takahiro", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62646", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "UNO, Yoji", "creatorNameLang": "en"}], "nameIdentifiers": [{"nameIdentifier": "62647", "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": "110009713274.pdf", "filesize": [{"value": "836.6 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_note", "mimetype": "application/pdf", "size": 836600.0, "url": {"label": "110009713274.pdf", "objectType": "fulltext", "url": "https://nagoya.repo.nii.ac.jp/record/21496/files/110009713274.pdf"}, "version_id": "91790b5c-e39f-4b71-aa70-dfa3aed0c381"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "関節間協調", "subitem_subject_scheme": "Other"}, {"subitem_subject": "UCM解析", "subitem_subject_scheme": "Other"}, {"subitem_subject": "シナジー", "subitem_subject_scheme": "Other"}, {"subitem_subject": "フィードバック制御", "subitem_subject_scheme": "Other"}, {"subitem_subject": "冗長腕", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Joint coordination", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Uncontrolled manifold analysis", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Synergy", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Feedback control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Redundant arm", "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": "軌道追従タスクにおける多関節腕の協調制御", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "軌道追従タスクにおける多関節腕の協調制御", "subitem_title_language": "ja"}]}, "item_type_id": "10", "owner": "1", "path": ["322"], "permalink_uri": "http://hdl.handle.net/2237/23643", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2016-02-26"}, "publish_date": "2016-02-26", "publish_status": "0", "recid": "21496", "relation": {}, "relation_version_is_last": true, "title": ["軌道追従タスクにおける多関節腕の協調制御"], "weko_shared_id": -1}