{"links":{},"metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00123279","sets":["6504:8032:8037"]},"path":["8037"],"owner":"1","recid":"123279","title":["関節間の従属関係を考慮した手のモデル"],"pubdate":{"attribute_name":"公開日","attribute_value":"1993-03-01"},"_buckets":{"deposit":"66907cf5-e10b-4a95-b7ad-ca051742390f"},"_deposit":{"id":"123279","pid":{"type":"depid","value":"123279","revision_id":0},"owners":[1],"status":"published","created_by":1},"item_title":"関節間の従属関係を考慮した手のモデル","author_link":[],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"関節間の従属関係を考慮した手のモデル"},{"subitem_title":"A Model of Human Hands Based on the Dependency between Joints","subitem_title_language":"en"}]},"item_type_id":"22","publish_date":"1993-03-01","item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_22_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"}]},"item_22_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"},{"subitem_text_value":"The University of Tokyo","subitem_text_language":"en"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/123279/files/KJ00001337105.pdf"},"date":[{"dateType":"Available","dateValue":"1993-03-01"}],"format":"application/pdf","filename":"KJ00001337105.pdf","filesize":[{"value":"160.5 kB"}],"mimetype":"application/pdf","accessrole":"open_date","version_id":"9833853a-fdc7-4861-8306-c033dae62e31","displaytype":"detail","licensetype":"license_note"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_5794","resourcetype":"conference paper"}]},"item_22_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00349328","subitem_source_identifier_type":"NCID"}]},"item_22_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"手と腕はいくつかの物体が関節でつながった複合物体系としてモデル化できる。本論文では、物体と他の物体の接触面を有限個の代表接触手で近似し、この代表接触点に力がかかるとする。我々はこの代表接触点を、手や腕が他の物体に影響を与えるエンド・エフェクタとして考える。手と腕があるコンフィギレーションを取った時の操作性や有効性は、武道などのスポーツの分野においては非常に重要である。操作性の評価基準として、エンド・エフェクタの自由度を考える。コンフィギュレーション・スペースとワーク・スペースを多様体と考える。複合物体の運動学、エンド・エフェクタの自由度を、多様体写像、偏速度と偏角速度、ヤコビ行列、特異コンフィギュレーションなどを用いて解析する。また、関節の可動範囲と関節間の従属関係を、コンフィギュレーション・スペースの中で考える。最後に、提案される手と腕のモデルを用いて、少林寺拳法の名人の技を解析し、モデルの有用性を実証する。","subitem_description_type":"Other"}]},"item_22_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"344","bibliographic_titles":[{"bibliographic_title":"全国大会講演論文集"}],"bibliographicPageStart":"343","bibliographicIssueDates":{"bibliographicIssueDate":"1993-03-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"データ処理","bibliographicVolumeNumber":"第46回"}]},"relation_version_is_last":true,"weko_creator_id":"1"},"updated":"2025-01-21T03:01:18.936519+00:00","created":"2025-01-19T00:03:22.772870+00:00","id":123279}