{"created":"2023-05-15T12:35:22.940273+00:00","id":288,"links":{},"metadata":{"_buckets":{"deposit":"a98a3c69-2469-41ef-90b2-c4311b37aa9d"},"_deposit":{"created_by":2,"id":"288","owners":[2],"pid":{"revision_id":0,"type":"depid","value":"288"},"status":"published"},"_oai":{"id":"oai:kutarr.kochi-tech.ac.jp:00000288","sets":["5"]},"author_link":["1284","1285","1286"],"item_2_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2014","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"636934-10","bibliographicPageStart":"636934-1","bibliographicVolumeNumber":"2014","bibliographic_titles":[{"bibliographic_title":"Mathematical Problems in Engineering"}]}]},"item_2_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"The problem of robust reliable tracking control on the omnidirectional rehabilitative training walker is examined. The new nonlinear redundant input method is proposed when one wheel actuator fault occurs. The aim of the study is to design an asymptotically stable controller that can guarantee the safety of the user and ensure tracking on a training path planned by a physical therapist. The redundant degrees of freedom safety control and the asymptotically zero state detectable concept of the walker are presented, the model of redundant degree is constructed, and the property of center of gravity constant shift is obtained. A controller that can satisfy asymptotic stability is obtained using a common Lyapunov function for admissible uncertainties resulting from an actuator fault. Simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motion when one wheel actuator is at fault.","subitem_description_type":"Abstract"}]},"item_2_publisher_35":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Hindawi Publishing Corporation"}]},"item_2_relation_13":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.1155/2014/636934","subitem_relation_type_select":"DOI"}}]},"item_2_rights_14":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"Copyright © 2014 Ping Sun et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited."}]},"item_2_rights_15":{"attribute_name":"権利（URI）","attribute_value_mlt":[{"subitem_rights":"https://creativecommons.org/licenses/by/3.0/ | https://creativecommons.org/licenses/by/3.0/"}]},"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":"Sun, Ping"}],"nameIdentifiers":[{"nameIdentifier":"1284","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Wang, Shuoyu"}],"nameIdentifiers":[{"nameIdentifier":"1285","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Karimi, Hamid Reza"}],"nameIdentifiers":[{"nameIdentifier":"1286","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","filename":"28-11.pdf","filesize":[{"value":"2.5 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"28-11.pdf","url":"https://kutarr.kochi-tech.ac.jp/record/288/files/28-11.pdf"},"version_id":"22777447-9fad-4259-887a-87a74b055209"}]},"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":"Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker"}]},"item_type_id":"2","owner":"2","path":["5"],"pubdate":{"attribute_name":"公開日","attribute_value":"2017-03-24"},"publish_date":"2017-03-24","publish_status":"0","recid":"288","relation_version_is_last":true,"title":["Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker"],"weko_creator_id":"2","weko_shared_id":-1},"updated":"2023-05-15T13:39:15.834021+00:00"}