{"created":"2023-06-20T15:28:29.047281+00:00","id":7565,"links":{},"metadata":{"_buckets":{"deposit":"d1ecc630-cdec-4649-a46b-a03dfc496294"},"_deposit":{"created_by":3,"id":"7565","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"7565"},"status":"published"},"_oai":{"id":"oai:ouj.repo.nii.ac.jp:00007565","sets":["470:394:439"]},"author_link":["9662","9660","9663","9661"],"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2012-03-22","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"120","bibliographicPageStart":"115","bibliographicVolumeNumber":"29","bibliographic_titles":[{"bibliographic_title":"放送大学研究年報"},{"bibliographic_title":"Journal of the Open University of Japan","bibliographic_titleLang":"en"}]}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"　電動車椅子が滑らかな平面上を移動する場合は比較的問題は少ないが、それでも実際の使用においては現在主に以下のような解決すべき課題が残されている。\n　① 走行環境変化による走行の不安定性、② 車椅子自体の状態変化に伴う走行の不安定性、③ 段差乗り越、④ バッテリーの使用時間および質量\n　つまり走行安定性に関するものと、構造上あるいは構成上からくる機能性に関するものとがある。問題を前者に限定すると、その原因として小さな２つの前輪が挙げられる。そのため走行環境などの外部からの影響や干渉を受け易く、簡単に進行方向が変化する。これに対応する方法としては、（1）構造や構成を変えることなく制御法で補正する、（2）電動車椅子の機構や構造を変える。\n　このような背景と問題点を踏まえ、本研究は（1）の制御法として前輪角度フィードバック制御法を導入することにより、走行性を向上させることを目的とした。具体的には、電動車椅子の制御系としての入力が基本的には使用者のジョイステイックの操作方向となることから、前輪にエンコーダのみを装着し、それによって得られた前輪の角度とジョイステイックの操作角度との差をフィードバックすることにより、安定な走行を行うという極めて簡単な方法である。実機による動特性試験と走行試験の結果、本提案法の有効性が確認され、かつジョイステイック操作性の向上も見られたので、その概要を以下に報告する。","subitem_description_type":"Abstract"}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10019636","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0911-4505","subitem_source_identifier_type":"ISSN"}]},"item_10002_textarea_25":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_textarea_language":"en","subitem_textarea_value":"　The electric wheelchair is one of the widely used tools for providing mobility for the elderly and handicapped. However, it still holds functional design improvements, and structural design and system improvements. For example, it is impossible to cope with changes in the driving environment such as steps, rough roads, slopes crossing transverse to the direction of travel, etc. In particular, the rapid side-to-side swiveling motion of a caster wheel is the main cause of instability travel. This vibration is mainly depending on the dynamics of the situation. The key point in these problems is how to keep stable travel of a wheelchair. Up to now, research and development efforts have been aimed at attaching new mechanisms to the electric wheelchair to improve these disadvantages. However, there have been few reports made using the control engineering approach. Rather than using construction, or hardware, research and development using control engineering, or software approach, methodology shows strong hope for improving electric wheelchair operability and drive stability. The goal of this research is to improve drive stability through the development of a new control algorithm."}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"住谷, 秀保"},{"creatorName":"スミダ, ヒデヤス","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"9660","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"白石, 昌武"},{"creatorName":"シライシ, マサタケ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"9661","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Hideyasu, SUMIYA","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"9662","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Masatake, SHIRAISHI","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"9663","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":"2013-06-14"}],"displaytype":"detail","filename":"29-11.pdf","filesize":[{"value":"770.9 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"29-11","url":"https://ouj.repo.nii.ac.jp/record/7565/files/29-11.pdf"},"version_id":"0493e990-5941-415c-bd71-8a55f7dd7adb"}]},"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":"人間対応型電動車椅子の走行制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"人間対応型電動車椅子の走行制御"},{"subitem_title":"Drive Control of Electric Wheelchair Based on Human Friendly Actuation","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"3","path":["439"],"pubdate":{"attribute_name":"公開日","attribute_value":"2013-06-14"},"publish_date":"2013-06-14","publish_status":"0","recid":"7565","relation_version_is_last":true,"title":["人間対応型電動車椅子の走行制御"],"weko_creator_id":"3","weko_shared_id":3},"updated":"2023-06-20T16:19:56.309882+00:00"}