{"_buckets": {"deposit": "6e84bf41-08f3-4a00-af96-f577178aa36d"}, "_deposit": {"created_by": 2, "id": "268", "owners": [2], "pid": {"revision_id": 0, "type": "depid", "value": "268"}, "status": "published"}, "_oai": {"id": "oai:kutarr.kochi-tech.ac.jp:00000268", "sets": ["5"]}, "author_link": ["1151", "1150", "1152", "1153", "1149", "1154"], "item_2_biblio_info_7": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2012-01", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "1", "bibliographicPageEnd": "149", "bibliographicPageStart": "145", "bibliographicVolumeNumber": "6", "bibliographic_titles": [{"bibliographic_title": "ICIC Express Letters"}]}]}, "item_2_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "Walking is a vital exercise for health promotion and fundamental ability necessary for everyday life. Up to now, many robots for walking support or walking rehabilitation of the elderly and the disabled are reported. In this paper, a new omni-directional walking support machine is developed. The machine can realize walking support by following the user\u0027s control intention which is detected according to the user\u0027s manipulation. However, the motion of the machine is affected by the nonlinear frictions, center-of-gravity (COG) shifts and loads changes caused by users. It is necessary to improve the machine\u0027s motion performance to follow the user intention and support the user. Therefore, this paper describes a motion control method based on digital acceleration control to deal with the problem of nonlinear frictions, COG shifts and loads changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method.", "subitem_description_type": "Abstract"}]}, "item_2_publisher_35": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "ICIC International"}]}, "item_2_rights_14": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "ICIC International © 2012"}]}, "item_2_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "1881-803X", "subitem_source_identifier_type": "ISSN"}]}, "item_2_version_type_18": {"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": "Wang, Yina"}], "nameIdentifiers": [{"nameIdentifier": "1149", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Wang, Shuoyu"}], "nameIdentifiers": [{"nameIdentifier": "1150", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Tan, Renpeng"}], "nameIdentifiers": [{"nameIdentifier": "1151", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Jiang, Yinlai"}], "nameIdentifiers": [{"nameIdentifier": "1152", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Ishida, Kenji"}], "nameIdentifiers": [{"nameIdentifier": "1153", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "Fujie, Masakatsu G."}], "nameIdentifiers": [{"nameIdentifier": "1154", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2019-02-13"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "28-3.pdf", "filesize": [{"value": "283.2 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 283200.0, "url": {"label": "28-3.pdf", "url": "https://kutarr.kochi-tech.ac.jp/record/268/files/28-3.pdf"}, "version_id": "dafe33b8-e69f-4c44-9bfa-a2c479db9d51"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Walking support", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Omni-directional walker", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Digital acceleration control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Centre-of-gravity shift", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Nonlinear friction", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Load changes", "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": "Motion Control for an Intelligent Walking Support Machine", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "Motion Control for an Intelligent Walking Support Machine"}]}, "item_type_id": "2", "owner": "2", "path": ["5"], "permalink_uri": "http://hdl.handle.net/10173/1452", "pubdate": {"attribute_name": "公開日", "attribute_value": "2017-03-24"}, "publish_date": "2017-03-24", "publish_status": "0", "recid": "268", "relation": {}, "relation_version_is_last": true, "title": ["Motion Control for an Intelligent Walking Support Machine"], "weko_shared_id": -1}