{"created":"2021-03-01T06:14:27.620164+00:00","id":7784,"links":{},"metadata":{"_buckets":{"deposit":"8850d6ff-155c-4a1d-8d68-ae839658fee9"},"_deposit":{"id":"7784","owners":[],"pid":{"revision_id":0,"type":"depid","value":"7784"},"status":"published"},"_oai":{"id":"oai:nagoya.repo.nii.ac.jp:00007784","sets":["312:313:314"]},"author_link":["22079","22080","22081","22082"],"item_10_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"219","bibliographicPageStart":"214","bibliographic_titles":[{"bibliographic_title":"The 15th IEEE International Symposium on Robot and Human Interactive Communication","bibliographic_titleLang":"en"}]}]},"item_10_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"We are developing an optical three-axis tactile sensor capable of acquiring normal and shearing force, with the aim of mounting it on a robotic finger. The tactile sensor is based on the principle of an optical waveguide-type tactile sensor, which is composed of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera. The sensing element of silicone rubber comprises one columnar feeler and eight conical feelers. The contact areas of the conical feelers, which maintain contact with the acrylic dome, detect the three-axis force applied to the tip of the sensing element. Normal and shearing forces are then calculated from integration and centroid displacement of the gray-scale value derived from the conical feeler's contacts. To evaluate the present tactile sensor, we have conducted a series of experiments using a y-z stage, a rotational stage, and a force gauge, and have found that although the relationship between the intergrated gray-scale value and nomal force depends on the sensor's latitude on the hemispherical surface, it is easy to modify the sensitivity according to the latitude, and that the centroid displacement of the gray-scale value is proportional to the shearing force. When we examined repeatability of the present tactile sensor with 1,000 load-unload cycles, the respective error of the normal and shearing forces was 2 and 5 ％.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10_identifier_60":{"attribute_name":"URI","attribute_value_mlt":[{"subitem_identifier_type":"HDL","subitem_identifier_uri":"http://hdl.handle.net/2237/9504"}]},"item_10_publisher_32":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"IEEE","subitem_publisher_language":"ja"}]},"item_10_relation_11":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/ROMAN.2006.314420","subitem_relation_type_select":"DOI"}}]},"item_10_relation_8":{"attribute_name":"ISBN","attribute_value_mlt":[{"subitem_relation_type":"isPartOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"1-4244-0565-3","subitem_relation_type_select":"ISBN"}}]},"item_10_rights_12":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"Copyright © 2006 IEEE. Reprinted from (relevant publication info). This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org.","subitem_rights_language":"en"}]},"item_10_select_15":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_select_item":"publisher"}]},"item_10_text_14":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_text_value":"application/pdf"}]},"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":"Ohka, Masahiro","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"22079","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kobayashi, Hiroaki","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"22080","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Takata, Jumpei","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"22081","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Mitsuya, Yasunaga","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"22082","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":"2018-02-19"}],"displaytype":"detail","filename":"ohka_2.pdf","filesize":[{"value":"916.8 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"ohka_2.pdf","objectType":"fulltext","url":"https://nagoya.repo.nii.ac.jp/record/7784/files/ohka_2.pdf"},"version_id":"96eec8cf-2142-4319-b7c9-549fab09438a"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"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":"Sensing Precision of an Optical Three-axis Tactile Sensor for a Robotic Finger","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Sensing Precision of an Optical Three-axis Tactile Sensor for a Robotic Finger","subitem_title_language":"en"}]},"item_type_id":"10","owner":"1","path":["314"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2008-02-27"},"publish_date":"2008-02-27","publish_status":"0","recid":"7784","relation_version_is_last":true,"title":["Sensing Precision of an Optical Three-axis Tactile Sensor for a Robotic Finger"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-01-16T05:02:56.398198+00:00"}