{"created":"2021-03-01T06:17:00.171315+00:00","id":462,"links":{},"metadata":{"_buckets":{"deposit":"0fd63446-1a11-4ed8-ab39-9140151d4597"},"_deposit":{"id":"462","owners":[],"pid":{"revision_id":0,"type":"depid","value":"462"},"status":"published"},"_oai":{"id":"oai:repository.dl.itc.u-tokyo.ac.jp:00000462","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":"Impedance Controlled Master Slave Manipulation System Part II : Modification of Force Sensation and Extension of Operation Capability"}]},"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1990-06","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicPageEnd":"264","bibliographicPageStart":"253","bibliographicVolumeNumber":"8","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":"This research is concerned with master slave manipulation. A new master slave system in tele-existence mode, i.e., the basic part of impedance controlled master slave system, has been presented in the part I. In the part II, the system is expanded so that it controls both impedance models of the environment and the manipulators, and modifies the force sensation of the master and slave manipulators as if an operator were in the different physical environment, and the impedances of the master and slave manipulators are determined by using similarity transformation in physical modelling when the manipulators have different scales, force and/or velocity conditions. These methods are verified in the experiments with the two degrees of freedom direct drive manipulator.","subitem_description_type":"Abstract"}]},"item_2_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"nameIdentifiers":[{"nameIdentifier":"106631","nameIdentifierScheme":"WEKO"}],"names":[{"name":"SAKAKI, Taisuke"}]},{"nameIdentifiers":[{"nameIdentifier":"106632","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":"安川電機製作所"},{"subitem_text_value":"機械技術研究所"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"榊, 泰輔"}],"nameIdentifiers":[{"nameIdentifier":"106629","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"舘, 暲"}],"nameIdentifiers":[{"nameIdentifier":"106630","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":"0803B013.pdf","filesize":[{"value":"763.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"0803B013.pdf","url":"https://repository.dl.itc.u-tokyo.ac.jp/record/462/files/0803B013.pdf"},"version_id":"6fa42582-6480-4ef1-9307-a85a2b9f86d3"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Impedance Control","subitem_subject_scheme":"Other"},{"subitem_subject":"Master Slave Manipulation","subitem_subject_scheme":"Other"},{"subitem_subject":"Tele-Existence","subitem_subject_scheme":"Other"},{"subitem_subject":"Similarity Transformation","subitem_subject_scheme":"Other"},{"subitem_subject":"Physical Modelling","subitem_subject_scheme":"Other"},{"subitem_subject":"Telerobotics","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":"インピーダンス制御型マスタ・スレーブ・システム (II) : 操作感の変更と操作能力の拡張","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"インピーダンス制御型マスタ・スレーブ・システム (II) : 操作感の変更と操作能力の拡張"}]},"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":"462","relation_version_is_last":true,"title":["インピーダンス制御型マスタ・スレーブ・システム (II) : 操作感の変更と操作能力の拡張"],"weko_creator_id":"1","weko_shared_id":null},"updated":"2022-12-19T03:41:25.671068+00:00"}