{"created":"2023-07-27T06:55:28.834970+00:00","id":51434,"links":{},"metadata":{"_buckets":{"deposit":"fe81337b-fc09-4535-8364-2ad65e708210"},"_deposit":{"created_by":18,"id":"51434","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"51434"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00051434","sets":["2812:2813:3929"]},"author_link":["79703","86130"],"item_9_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2020-05-26","bibliographicIssueDateType":"Issued"},"bibliographicPageStart":"5p.","bibliographicVolumeNumber":"2017-04-01 - 2020-03-31","bibliographic_titles":[{"bibliographic_title":"令和1(2019)年度 科学研究費補助金 基盤研究(C) 研究成果報告書"},{"bibliographic_title":"2019 Fiscal Year Final Research Report","bibliographic_titleLang":"en"}]}]},"item_9_creator_33":{"attribute_name":"著者別表示","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{}],"nameIdentifiers":[{},{}]}]},"item_9_description_21":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"主としてロボット指機構を対象として、柔軟な被膜の内部に実装可能な多層構造の触覚センサの開発及び実装方法の確立を行った。荷重分布重心位置検出方式の触覚センサのシートを、シリコーンゴムの被膜の内部に層状に2層埋め込んだ構造を用いることで、法線・接線方向の荷重を推定可能な触覚センサを開発した。さらに、スキャニングにより圧力分布が得られる検出方式のセンサシートで1層のみまたは2層ともに置き換えることで、制御に有用な重心位置に関する情報と物体認識に有用な圧力分布情報を得られる構成を開発した。また、柔軟なロボット指機構に触覚センサを埋め込み、反射的な運動生成を行う腱駆動メカニズムの開発を行った。","subitem_description_type":"Abstract"},{"subitem_description":"We have developed a tactile sensor with a multi-layer structure that can be mounted inside a flexible skin, and established a mounting method mainly for robot finger mechanism. The tactile sensor can estimate the load in the normal and tangential directions by using a structure in which two sheets of a tactile sensor of the center-of-pressure (CoP) detection method are embedded in layers inside a silicone rubber coating. Furthermore, we have developed a structure that can obtain the CoP information useful for control and pressure distribution information useful for object recognition, by replacing one layer or both layers with a sensor sheet that can obtain pressure distribution by scanning. We also developed a tendon-driven mechanism that embeds a tactile sensor in a flexible robot finger mechanism to generate reflexive motion.","subitem_description_type":"Abstract"}]},"item_9_description_22":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"研究課題/領域番号:17K06257, 研究期間(年度):2017-04-01 - 2020-03-31","subitem_description_type":"Other"},{"subitem_description":"出典：「三次元造形技術を利用した柔軟・高精度な立体型触覚センサの研究開発」研究成果報告書　課題番号17K06257\n（KAKEN：科学研究費助成事業データベース（国立情報学研究所））\n（https://kaken.nii.ac.jp/report/KAKENHI-PROJECT-17K06257/17K06257seika/)を加工して作成","subitem_description_type":"Other"}]},"item_9_description_5":{"attribute_name":"提供者所属","attribute_value_mlt":[{"subitem_description":"金沢大学理工研究域フロンティア工学系","subitem_description_type":"Other"}]},"item_9_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.24517/00057737","subitem_identifier_reg_type":"JaLC"}]},"item_9_relation_28":{"attribute_name":"関連URI","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/search/?qm=20582331"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/search/?qm=20582331","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17K06257/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-17K06257/","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/report/KAKENHI-PROJECT-17K06257/17K06257seika/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/report/KAKENHI-PROJECT-17K06257/17K06257seika/","subitem_relation_type_select":"URI"}}]},"item_9_version_type_25":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2021-04-19"}],"displaytype":"detail","filename":"TE-PR-SUZUKI-Y-kaken 2020-5p.pdf","filesize":[{"value":"195.3 kB"}],"format":"application/pdf","licensetype":"license_11","mimetype":"application/pdf","url":{"label":"TE-PR-SUZUKI-Y-kaken 2020-5p.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/51434/files/TE-PR-SUZUKI-Y-kaken 2020-5p.pdf"},"version_id":"4a55fec2-9865-4e59-919b-fb3a95632c96"}]},"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":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_title":"三次元造形技術を利用した柔軟・高精度な立体型触覚センサの研究開発","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"三次元造形技術を利用した柔軟・高精度な立体型触覚センサの研究開発"},{"subitem_title":"Development of a flexible and precise tactile sensor using 3D modeling technology","subitem_title_language":"en"}]},"item_type_id":"9","owner":"18","path":["3929"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-04-19"},"publish_date":"2021-04-19","publish_status":"0","recid":"51434","relation_version_is_last":true,"title":["三次元造形技術を利用した柔軟・高精度な立体型触覚センサの研究開発"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-07-27T14:04:32.079753+00:00"}