{"created":"2021-03-01T06:16:59.868674+00:00","id":457,"links":{},"metadata":{"_buckets":{"deposit":"61f7cfcc-f103-4958-ab4d-839bf4ba9f18"},"_deposit":{"id":"457","owners":[],"pid":{"revision_id":0,"type":"depid","value":"457"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000457","sets":["34:35:36","9:10:14"]},"item_2_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Handling Force Detection and Active Power Assistance in Human Handling of Direct Drive Manipulator"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1986-06","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicPageEnd":"219","bibliographicPageStart":"209","bibliographicVolumeNumber":"4","bibliographic_titles":[{"bibliographic_title":"日本ロボット学会誌"}]}]},"item_2_description_13":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_2_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"When a manipulator is handled with human force, it is necessary to reduce reaction force caused by inertia, friction, gravity, etc. This paper describes an active power assistance system for a direct-drive manipulator, which assists handling force with motor, and force detection system for that purpose. This method detect handling force by combination of motor-torque detection with motor-current and rotation detection with internal sensors (tacho-generator etc.). It does not need special force sensors. Some configurations of power assistance system are also shown. Effectiveness of the proposed method is demonstrated by feasibility experiments.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106603","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Arai, Hirohiko"}]},{"nameIdentifiers":[{"nameIdentifier":"106604","nameIdentifierScheme":"WEKO"}],"names":[{"name":"Tachi, Susumu"}]}]},"item_2_publisher_20":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本ロボット学会"}]},"item_2_source_id_10":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00141189","subitem_source_identifier_type":"NCID"}]},"item_2_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"02891824","subitem_source_identifier_type":"ISSN"}]},"item_2_subject_15":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"548.3","subitem_subject_scheme":"NDC"}]},"item_2_text_4":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"機械技術研究所"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"荒井, 裕彦"}],"nameIdentifiers":[{"nameIdentifier":"106601","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106602","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":"2017-06-26"}],"displaytype":"detail","filename":"0403B003.pdf","filesize":[{"value":"647.2 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"0403B003.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/457/files/0403B003.pdf"},"version_id":"7c4307c5-65af-4e6f-8844-0e723736d3ee"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Human handling of a manipulator","subitem_subject_scheme":"Other"},{"subitem_subject":"Reaction force","subitem_subject_scheme":"Other"},{"subitem_subject":"Force detection","subitem_subject_scheme":"Other"},{"subitem_subject":"Active power assistance","subitem_subject_scheme":"Other"},{"subitem_subject":"Direct-drive manipulator","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":"直接駆動マニピュレータの人力操作における操作力検出と能動的力補助","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"直接駆動マニピュレータの人力操作における操作力検出と能動的力補助"}]},"item_type_id":"2","owner":"1","path":["14","36"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-03-12"},"publish_date":"2010-03-12","publish_status":"0","recid":"457","relation_version_is_last":true,"title":["直接駆動マニピュレータの人力操作における操作力検出と能動的力補助"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:25.808239+00:00"}