{"created":"2023-07-27T06:55:33.358659+00:00","id":51592,"links":{},"metadata":{"_buckets":{"deposit":"732a1565-866f-4e68-bcce-55e35b355585"},"_deposit":{"created_by":18,"id":"51592","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"51592"},"status":"published"},"_oai":{"id":"oai:kanazawa-u.repo.nii.ac.jp:00051592","sets":["2812:2813:4014"]},"author_link":["2882","85420"],"item_9_biblio_info_8":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2021-05-07","bibliographicIssueDateType":"Issued"},"bibliographicPageStart":"7p.","bibliographicVolumeNumber":"2018-06-29 - 2021-03-31","bibliographic_titles":[{"bibliographic_title":"令和2(2020)年度 科学研究費補助金 挑戦的研究(萌芽) 研究成果報告書"},{"bibliographic_title":"2020 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":"本研究では，表面のテクスチャや液膜を上手く活用して，表面摩擦を操ることで，物体把持・操りを実現する新しい物体把持・操作の方法論の確立に挑んだ．まず，乾潤両状態で高摩擦を与えるテクスチャと，潤滑作用を有する液体を表面に滲出する機構により，表面摩擦を変える機構を開発した．この機構を搭載したロボットハンドを開発し，液体滲出による精密物体配置の実現や物体をもつ位置を変えるインハンド操作の実現を行った．柔らかい材料の場合，接触面積の大小が摩擦の大小に対応することを踏まえ，接触面積（テクスチャ）を変えることで摩擦を変える機構を開発した．この機構を搭載したロボットハンドによるチューブ操作の実現を行った．","subitem_description_type":"Abstract"},{"subitem_description":"In this study, we attempted to establish a new methodology for object grasping and manipulation by manipulating the surface friction, utilizing the surface texture and liquid film. First, we developed a mechanism to change the surface friction by using a texture that gives high friction in both dry and wet conditions, and a mechanism that exudes a liquid with lubricating effect on the surface. We developed a robot hand equipped with this mechanism, and realized precise object placement and in-hand manipulation to change the holding position of an object by liquid exudation. In the case of soft materials, the size of the contact area corresponds to the size of the friction, and thus we developed a mechanism to change the friction by changing the contact area (texture). The robot hand equipped with this mechanism was used to manipulate tubes.","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:18K18831, 研究期間(年度):2018-06-29 - 2021-03-31","subitem_description_type":"Other"},{"subitem_description":"出典：「汗・指紋制御に基づく極小把持力把持術の開拓」研究成果報告書　課題番号18K18831\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-18K18831/18K18831seika/）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":"10.24517/00057895","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=80363125"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/search/?qm=80363125","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18K18831/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18K18831/","subitem_relation_type_select":"URI"}},{"subitem_relation_name":[{"subitem_relation_name_text":"https://kaken.nii.ac.jp/report/KAKENHI-PROJECT-18K18831/18K18831seika/"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/report/KAKENHI-PROJECT-18K18831/18K18831seika/","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":"2022-02-17"}],"displaytype":"detail","filename":"TE-PR-WATANABE-T-kaken 2021-7p.pdf","filesize":[{"value":"80.8 kB"}],"format":"application/pdf","licensetype":"license_11","mimetype":"application/pdf","url":{"label":"TE-PR-WATANABE-T-kaken 2021-7p.pdf","url":"https://kanazawa-u.repo.nii.ac.jp/record/51592/files/TE-PR-WATANABE-T-kaken 2021-7p.pdf"},"version_id":"63d4e003-bbff-47ce-a7cb-f146ef210fb4"}]},"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":"汗・指紋制御に基づく極小把持力把持術の開拓","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"汗・指紋制御に基づく極小把持力把持術の開拓"},{"subitem_title":"Development of Grasping Technique with Small Force by Controlling Sweat and Fingerprints","subitem_title_language":"en"}]},"item_type_id":"9","owner":"18","path":["4014"],"pubdate":{"attribute_name":"公開日","attribute_value":"2022-02-17"},"publish_date":"2022-02-17","publish_status":"0","recid":"51592","relation_version_is_last":true,"title":["汗・指紋制御に基づく極小把持力把持術の開拓"],"weko_creator_id":"18","weko_shared_id":-1},"updated":"2023-07-27T13:50:31.569139+00:00"}