{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1390001288106923136.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"DOI","@value":"10.18974/tvrsj.23.4_239"}},{"identifier":{"@type":"NAID","@value":"130007599212"}}],"dc:title":[{"@language":"ja","@value":"深層学習を用いた押下動作映像からの硬さ推定"},{"@language":"en","@value":"Softness Estimation Based on Images of Pushing Action Using Deep Learning"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"<p>In this research, we propose a method that estimates the softness of an object based on the motion images of a hand and a forearm when a target object is pushed with a stick. The softness of the object is estimated from those images by using deep learning. For the motion recognition, we capture a series of RGB-D images with a depth camera. A subject pushes objects of different softness with a stick for collecting motion images for learning. Then the captured images are learned through Convolutional Neural Network and their characteristics are parameterized appropriately to achieve the softness estimation system. The results of softness estimation show that root mean square error of the estimated value of non-learned softness scores within 5 points in durometer hardness. It means that pushing motions of human beings include tactile information that leads to estimate the target object softness and our system can recognize it accurately. We also confirmed that using all the 3 types of images (RGB-image, depth image and Canny edge image) as the input results in the highest accuracy for both personalized and generalized networks.</p>"}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1030862623786949120","@type":"Researcher","personIdentifier":[{"@type":"NRID","@value":"9000399777761"},{"@type":"KAKEN_RESEARCHERS","@value":"50914818"},{"@type":"NRID","@value":"1000050914818"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/yuri_mikawa"}],"foaf:name":[{"@language":"ja","@value":"三河 祐梨"},{"@language":"en","@value":"Mikawa Yuri"}],"jpcoar:affiliationName":[{"@language":"ja","@value":"東京大学大学院"},{"@language":"en","@value":"The University of Tokyo"}]},{"@id":"https://cir.nii.ac.jp/crid/1420845751146364544","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"00518714"},{"@type":"NRID","@value":"1000000518714"},{"@type":"NRID","@value":"9000018428413"},{"@type":"NRID","@value":"9000291276743"},{"@type":"NRID","@value":"9000313611178"},{"@type":"NRID","@value":"9000392507329"},{"@type":"NRID","@value":"9000003825589"},{"@type":"NRID","@value":"9000291276746"},{"@type":"NRID","@value":"9000392506644"},{"@type":"NRID","@value":"9000392506682"},{"@type":"NRID","@value":"9000308723929"},{"@type":"NRID","@value":"9000392506712"},{"@type":"NRID","@value":"9000331420571"},{"@type":"NRID","@value":"9000019994373"},{"@type":"NRID","@value":"9000291276739"},{"@type":"NRID","@value":"9000392505855"},{"@type":"NRID","@value":"9000279210221"},{"@type":"NRID","@value":"9000347039645"},{"@type":"NRID","@value":"9000399777762"},{"@type":"NRID","@value":"9000308050609"},{"@type":"NRID","@value":"9000346959873"},{"@type":"NRID","@value":"9000392526113"},{"@type":"NRID","@value":"9000392506296"},{"@type":"NRID","@value":"9000392506704"},{"@type":"NRID","@value":"9000278509771"},{"@type":"NRID","@value":"9000279206672"},{"@type":"NRID","@value":"9000410877783"},{"@type":"NRID","@value":"9000291276642"},{"@type":"NRID","@value":"9000291615988"},{"@type":"NRID","@value":"9000391813591"},{"@type":"NRID","@value":"9000392507749"},{"@type":"NRID","@value":"9000402263594"},{"@type":"NRID","@value":"9000241476945"},{"@type":"NRID","@value":"9000392506717"},{"@type":"NRID","@value":"9000025026273"},{"@type":"NRID","@value":"9000347042147"},{"@type":"NRID","@value":"9000326652260"},{"@type":"NRID","@value":"9000019068374"},{"@type":"NRID","@value":"9000312256766"},{"@type":"NRID","@value":"9000273004277"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/yasutoshi_makino"}],"foaf:name":[{"@language":"en","@value":"Makino Yasutoshi"},{"@language":"ja","@value":"牧野 泰才"}],"jpcoar:affiliationName":[{"@language":"en","@value":"The University of Tokyo"},{"@language":"ja","@value":"東京大学大学院"},{"@language":"en","@value":"JST PRESTO"},{"@language":"ja","@value":"JSTさきがけ"}]},{"@id":"https://cir.nii.ac.jp/crid/1420564276173578624","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"40226147"},{"@type":"NRID","@value":"1000040226147"},{"@type":"NRID","@value":"9000006381480"},{"@type":"NRID","@value":"9000401706285"},{"@type":"NRID","@value":"9000406191539"},{"@type":"NRID","@value":"9000347039647"},{"@type":"NRID","@value":"9000107389524"},{"@type":"NRID","@value":"9000322106003"},{"@type":"NRID","@value":"9000258161210"},{"@type":"NRID","@value":"9000404946610"},{"@type":"NRID","@value":"9000403667794"},{"@type":"NRID","@value":"9000345275625"},{"@type":"NRID","@value":"9000347320224"},{"@type":"NRID","@value":"9000391812108"},{"@type":"NRID","@value":"9000347042148"},{"@type":"NRID","@value":"9000398402049"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/hiroyukishinoda"}],"foaf:name":[{"@language":"ja","@value":"篠田 裕之"},{"@language":"en","@value":"Shinoda Hiroyuki"}],"jpcoar:affiliationName":[{"@language":"en","@value":"The University of Tokyo"},{"@language":"ja","@value":"東京大学大学院"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"1344011X"},{"@type":"EISSN","@value":"24239593"}],"prism:publicationName":[{"@language":"ja","@value":"日本バーチャルリアリティ学会論文誌"},{"@language":"en","@value":"Transactions of the Virtual Reality Society of Japan"},{"@language":"ja","@value":"VR学会論文誌"},{"@language":"en","@value":"TVRSJ"}],"dc:publisher":[{"@language":"en","@value":"THE VIRTUAL REALITY SOCIETY OF JAPAN"},{"@language":"ja","@value":"特定非営利活動法人 日本バーチャルリアリティ学会"}],"prism:publicationDate":"2018","prism:volume":"23","prism:number":"4","prism:startingPage":"239","prism:endingPage":"248"},"availableAt":"2018","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=tactile%20sensor","dc:title":"tactile sensor"},{"@id":"https://cir.nii.ac.jp/all?q=neural%20network","dc:title":"neural network"},{"@id":"https://cir.nii.ac.jp/all?q=machine%20learning","dc:title":"machine learning"},{"@id":"https://cir.nii.ac.jp/all?q=deep%20learning","dc:title":"deep learning"},{"@id":"https://cir.nii.ac.jp/all?q=softness%20estimation","dc:title":"softness estimation"}],"dataSourceIdentifier":[{"@type":"JALC","@value":"oai:japanlinkcenter.org:2006685424"},{"@type":"CIA","@value":"130007599212"}]}