{"created":"2024-10-02T02:46:34.393947+00:00","id":2000659,"links":{},"metadata":{"_buckets":{"deposit":"9b5eb277-f378-45ee-a5d5-2b4f58e7985d"},"_deposit":{"created_by":11,"id":"2000659","owner":"11","owners":[11],"pid":{"revision_id":0,"type":"depid","value":"2000659"},"status":"published"},"_oai":{"id":"oai:usp.repo.nii.ac.jp:02000659","sets":["1719360431479:1719360490713:1722998947419"]},"author_link":["92"],"item_1617186331708":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ゲルとワイヤ駆動機構により超多関節構造を実現する軽量柔軟ロボットハンドの開発","subitem_title_language":"ja"}]},"item_1617186385884":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"Development of lightweight and soft robot hands with many joints using shape memory gel and wire-driven mechanism","subitem_alternative_title_language":"en"}]},"item_1617186419668":{"attribute_name":"研究代表者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"山野, 光裕","creatorNameLang":"ja"},{"creatorName":"ヤマノ, ミツヒロ","creatorNameLang":"ja-Kana"},{"creatorName":"YAMANO, Mitushiro","creatorNameLang":"en"}],"familyNames":[{"familyName":"山野","familyNameLang":"ja"},{"familyName":"ヤマノ","familyNameLang":"ja-Kana"},{"familyName":"YAMANO","familyNameLang":"en"}],"givenNames":[{"givenName":"光裕","givenNameLang":"ja"},{"givenName":"ミツヒロ","givenNameLang":"ja-Kana"},{"givenName":"Mitushiro","givenNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"92","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"200000204_ja.html","nameIdentifierScheme":"滋賀県立大学研究者総覧","nameIdentifierURI":"https://db.spins.usp.ac.jp/html/200000204_ja.html"}]}]},"item_1617186609386":{"attribute_name":"主題","attribute_value_mlt":[{"subitem_subject":"ロボットハンド","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"ソフトロボット","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"ソフトロボティクス","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"ワイヤ駆動機構","subitem_subject_language":"ja","subitem_subject_scheme":"Other"},{"subitem_subject":"形状記憶ゲル","subitem_subject_language":"ja","subitem_subject_scheme":"Other"}]},"item_1617186626617":{"attribute_name":"研究課題番号","attribute_value_mlt":[{"subitem_description":"19K04297","subitem_description_language":"ja","subitem_description_type":"Other"}]},"item_1617186702042":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_1719208003433":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_1719208060448":{"attribute_name":"報告年度","attribute_value_mlt":[{"subitem_date_issued_datetime":"2023","subitem_date_issued_type":"Issued"}]},"item_1719375495957":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"research report","resourceuri":"http://purl.org/coar/resource_type/c_18ws"}]},"item_1720761294142":{"attribute_name":"関連サイト","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_language":"ja","subitem_relation_name_text":"科学研究費助成事業データベース"}],"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"https://kaken.nii.ac.jp/ja/grant/KAKENHI-PROJECT-19K04297/","subitem_relation_type_select":"URI"}}]},"item_1724117245127":{"attribute_name":"内容記述","attribute_value_mlt":[{"subitem_description":"形状記憶ゲルとワイヤ駆動機構を用い，軽量な多関節ロボットハンドを数種，開発した．一般に，多関節のロボットハンドは，多くの作業に対応しやすいが，重量が大きくなりやすい．温度による硬軟の切り替えが可能な素材である形状記憶ゲルとワイヤ駆動機構を用いた設計により，軽さと関節の多さを両立させることができた．試作したロボット指やロボットハンドを用いて基礎的な実験を行い，有効性を示した．\n　開発したロボットハンドの構造に合った動作フォームの計算も行った．","subitem_description_language":"ja","subitem_description_type":"Abstract"},{"subitem_description":"We have developed some types of lightweight and many-joint robot hands using shape memory gel and wire-driven mechanism. In general, many-joint robot hands can be used for many kinds of tasks, but their weights tend to be large. We have achieved both lightness and many joints of the robot hands by using wire-driven mechanism and shape memory gel which is the material switchable between hardness and softness depending on its temperature. We have shown the effectiveness of the robot fingers and robot hands by some basic experiments. We have calculated some suitable motions for the structures of the robot hands.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_title":"ゲルとワイヤ駆動機構により超多関節構造を実現する軽量柔軟ロボットハンドの開発","item_type_id":"40014","owner":"11","path":["1722998947419"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-10-02"},"publish_date":"2024-10-02","publish_status":"0","recid":"2000659","relation_version_is_last":true,"title":["ゲルとワイヤ駆動機構により超多関節構造を実現する軽量柔軟ロボットハンドの開発"],"weko_creator_id":"11","weko_shared_id":-1},"updated":"2024-10-02T02:48:12.030811+00:00"}