{"created":"2023-06-20T16:46:46.679865+00:00","id":18346,"links":{},"metadata":{"_buckets":{"deposit":"b4111964-597b-4775-98ed-1bbd86156cae"},"_deposit":{"created_by":29,"id":"18346","owners":[29],"pid":{"revision_id":0,"type":"depid","value":"18346"},"status":"published"},"_oai":{"id":"oai:kindai.repo.nii.ac.jp:00018346","sets":["14:923:1549:4323"]},"author_link":["30974","30973"],"item_2_biblio_info_21":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2017-02-28","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"39","bibliographicPageEnd":"26","bibliographicPageStart":"19","bibliographic_titles":[{"bibliographic_title":"近畿大学生物理工学部紀要"},{"bibliographic_title":"Memoirs of the Faculty of Biology-Oriented Science and Technology of Kindai University","bibliographic_titleLang":"en"}]}]},"item_2_description_33":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"[要旨] 自力で食事できない人々のための食事支援ロボットはすでに開発されているが、まだ十分に普及しているとは言えない。それは、従来の装置では、ロボットアーム先端のスプーンを食ベ物の方向ヘ動かすために操作者が顎でジョイスティックを操作しなくてはならず、さらに食ベ物を口元に運ぶ際に食事具を動作させるための複雑で大きな駆動装置が圧迫感を生じさせているからである。そこで本研究では,ジョイスティックに代えて非接触計測装置であるKINECTセンサで計測した体幹傾斜角度を用いることで操作性を向上させた。また、食ベ物を取る道具をスプーンから箸に取り換え、その駆動装置をロボットの横に移動し、ワイヤによって遠隔で操作できるようにした。この食事支援ロボットシステムを新規に製作し、KINECTセンサの認識機能を実験的に検証し、さらにその出力を用いたロボットの動作確認を行った。そして箸の開閉用ワイヤ引き込み装置は、把持力を一定に保ち、食ベ物を落下させないように制御することができた。その結果、このロボットシステムは食事支援のための基本的動作ができることを確認した。\n[Abstract] While some kind of meal assistance robots for the people who can't have a meal without support have been already developed, those robots don't become widely used for nursing care. One reason why is that the user has to operate a joystick by his jaw in order to manipulate a spoon mounted on the robot arm to the specific target (foods). In addition, it is another reason why large and complicated drive equipment to operate tools for a meal provide a feeling of pressure to users. For these problems, we invent a robot control device by using inclination angle of user's trunk measured by the KINECT sensor with no contact to the control device. And chopsticks which is remotely operated by the wire driving system to hold foods are adopted in our robot instead of a spoon to have various kinds of foods. Verification test of recognizing Function of the KINECT sensors and operation check about this newly developed robot are performed in our project. As the result, it is confirmed that it is possible to control clamping force to hold foods without dropping them and this robot system is able to assist meal activities. ","subitem_description_type":"Abstract"}]},"item_2_description_41":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_2_publisher_14":{"attribute_name":"出版者 名前","attribute_value_mlt":[{"subitem_publisher":"近畿大学生物理工学部"}]},"item_2_source_id_22":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"13427202","subitem_source_identifier_type":"ISSN"}]},"item_2_text_7":{"attribute_name":"著者(英)","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Nakagawa,Hideo"},{"subitem_text_language":"en","subitem_text_value":"Kitayama,lchiro"}]},"item_2_text_8":{"attribute_name":"著者 所属","attribute_value_mlt":[{"subitem_text_value":"近畿大学生物理工学部人間工学科"},{"subitem_text_value":"近畿大学生物理工学部人間工学科"}]},"item_2_text_9":{"attribute_name":"著者所属(翻訳)","attribute_value_mlt":[{"subitem_text_value":"Kindai University"},{"subitem_text_value":"Kindai University"}]},"item_2_version_type_12":{"attribute_name":"版","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_be7fb7dd8ff6fe43","subitem_version_type":"NA"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"中川, 秀夫"},{"creatorName":"ナカガワ, ヒデオ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"北山, 一郎"},{"creatorName":"キタヤマ, イチロウ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2017-04-13"}],"displaytype":"detail","filename":"AN11153712-20170228-0019.pdf","filesize":[{"value":"7.3 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"AN11153712-20170228-0019.pdf","url":"https://kindai.repo.nii.ac.jp/record/18346/files/AN11153712-20170228-0019.pdf"},"version_id":"cc0f9718-23a8-4aea-9f3c-7ad83a7bf64a"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"KINECT","subitem_subject_scheme":"Other"},{"subitem_subject":"箸","subitem_subject_scheme":"Other"},{"subitem_subject":"食事支援","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"KINECT sensor","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Chopsticks","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Meal support","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Robot","subitem_subject_language":"en","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":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"〈Original Papers〉KINECTを用いた箸型食事支援ロボットシステムの開発","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"〈Original Papers〉KINECTを用いた箸型食事支援ロボットシステムの開発"},{"subitem_title":"〈Original Papers〉Development of chopsticks type robot system for meal assistance using KINECT sensor","subitem_title_language":"en"}]},"item_type_id":"2","owner":"29","path":["4323"],"pubdate":{"attribute_name":"公開日","attribute_value":"2017-04-13"},"publish_date":"2017-04-13","publish_status":"0","recid":"18346","relation_version_is_last":true,"title":["〈Original Papers〉KINECTを用いた箸型食事支援ロボットシステムの開発"],"weko_creator_id":"29","weko_shared_id":-1},"updated":"2023-06-20T21:57:13.809989+00:00"}