{"created":"2023-05-15T11:57:47.372315+00:00","id":3545,"links":{},"metadata":{"_buckets":{"deposit":"633faea6-bf70-431a-8e2b-5c6112a2f385"},"_deposit":{"created_by":3,"id":"3545","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"3545"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00003545","sets":["8:24"]},"author_link":["14002","14001","14000","3456"],"item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"2","bibliographicPageEnd":"70","bibliographicPageStart":"62","bibliographicVolumeNumber":"4","bibliographic_titles":[{"bibliographic_title":"Journal of Automation, Mobile Robotics & Intelligent Systems"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"Antagonistic mechanisms attract attentions as joint actuators of linkage mechanisms, which control output torque, joint stiffness and position simultaneously. As the actuators or components of antagonistic driven joints, special devices with nonlinear elasticity property such as pneumatic actuators, nonlinear springs are often utilized to satisfy the requirements of antagonistic mechanisms. However, these devices have difficulties in control caused by complex and nonlinear properties, downsizing of actuator, and response time of articular compliance. In order to solve these problems, we propose a new antagonistic joint mechanism using kinematic transmission mechanism (KTM), which is composed of links and cams with dedicated design. The performance of KTM is evaluated through stiffness and position control simulations and experiments.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"affiliations":[{"affiliationNames":[{"affiliationName":"","lang":"ja"}],"nameIdentifiers":[]}],"familyNames":[{"familyName":"Ishii","familyNameLang":"en"},{"familyName":"石井","familyNameLang":"ja"},{"familyName":"イシイ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Kazuo","givenNameLang":"en"},{"givenName":"和男","givenNameLang":"ja"},{"givenName":"カズオ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3456","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"10291527","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000010291527"},{"nameIdentifier":"7403966003","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=7403966003"},{"nameIdentifier":"353","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html"}],"names":[{"name":"Ishii, Kazuo","nameLang":"en"},{"name":"石井, 和男","nameLang":"ja"},{"name":"イシイ, カズオ","nameLang":"ja-Kana"}]}]},"item_21_link_62":{"attribute_name":"研究者情報","attribute_value_mlt":[{"subitem_link_url":"https://hyokadb02.jimu.kyutech.ac.jp/html/353_ja.html"}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"PIAP"}]},"item_21_rights_13":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"http://www.jamris.org/"}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1897-8649","subitem_source_identifier_type":"ISSN"},{"subitem_source_identifier":"2080-2145","subitem_source_identifier_type":"ISSN"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Fukuoka Industry, Science & Technology Foundation, The University of Kitakyushu"},{"subitem_text_value":"Kyushu Institute of Technology"},{"subitem_text_value":"Kyushu Institute of Technology"},{"subitem_text_value":"Kyushu Institute of Technology"}]},"item_21_text_63":{"attribute_name":"連携ID","attribute_value_mlt":[{"subitem_text_value":"41"}]},"item_21_text_64":{"attribute_name":"業績ID","attribute_value_mlt":[{"subitem_text_value":"36CF241464AF88AD492577120059E73E"}]},"item_21_version_type_58":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Sonoda, Takashi"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nishida, Yuya"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Nassiraei, Amir Ali Forough"}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"Ishii, Kazuo","creatorNameLang":"en"},{"creatorName":"石井, 和男","creatorNameLang":"ja"},{"creatorName":"イシイ, カズオ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2010-07-05"}],"displaytype":"detail","filename":"JAMRIS_No02_2010_P_62-70.pdf","filesize":[{"value":"1.5 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"JAMRIS_No02_2010_P_62-70.pdf","url":"https://kyutech.repo.nii.ac.jp/record/3545/files/JAMRIS_No02_2010_P_62-70.pdf"},"version_id":"05d2cc67-9b1b-419e-8776-13676af861df"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"antagonistic-driven joints","subitem_subject_scheme":"Other"},{"subitem_subject":"equilibrium point hypothesis","subitem_subject_scheme":"Other"},{"subitem_subject":"controllable stiffness mechanisms","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"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":"Development of antagonistic wire-driven joint employing kinematic transmission mechanism","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Development of antagonistic wire-driven joint employing kinematic transmission mechanism"}]},"item_type_id":"21","owner":"3","path":["24"],"pubdate":{"attribute_name":"公開日","attribute_value":"2010-07-05"},"publish_date":"2010-07-05","publish_status":"0","recid":"3545","relation_version_is_last":true,"title":["Development of antagonistic wire-driven joint employing kinematic transmission mechanism"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-10-25T10:07:50.748739+00:00"}