Modeling and Control for Representation of Pseudo Force Sensation Using Functional Electrical Stimulation

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Modeling and Control for Representation of Pseudo Force Sensation Using Functional Electrical Stimulation

Persistent ID (NDL): info:ndljp/pid/12313445

Material type: 博士論文

Author: 北村, 知也

Publisher: -

Publication date: 2021

Material Format: Digital

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Name of awarding university/degree: 埼玉大学,博士(工学)

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Note (General)：: type:textContents ii1 Introduction 1 1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Purpose of...

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Material Type: 博士論文
Title: Modeling and Control for Representation of Pseudo Force Sensation Using Functional Electrical Stimulation
Author/Editor: 北村, 知也
Author Heading: 北村, 知也
Publication Date: 2021
Publication Date (W3CDTF): 2021
Alternative Title: 機能的電気刺激を用いた疑似力覚呈示のためのモデル化と制御
Periodical title: 博士論文（埼玉大学大学院理工学研究科（博士後期課程））
Degree grantor/type: 埼玉大学
Date Granted: 2021-03-25
Date Granted (W3CDTF): 2021-03-25
Dissertation Number: 甲第1197号
Degree Type: 博士(工学)
Conferring No. (Dissertation): 甲第1197号
Text Language Code: eng
Target Audience: 一般
Note (General): type:text
Contents ii1 Introduction 1 1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Purpose of This Dissertation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 Construction of This Dissertation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Modeling of Human Body Dynamics 7 2.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.3 Estimation of Relationship between Stimulation Current and Force Exerted during Isometric Contraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.4 Summary of Chapter 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 Control of Joint Angles 21 3.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.3 Chattering Reduction of FES with the Smith Compensator . . . . . . . . . . . . . . . 23 3.4 Control with Adjusted Pulse Frequency and Amplitude in FES . . . . . . . . . . . . 34 3.5 Summary of Chapter 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4 Handling of Multiple DOFs 42 4.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.3 Angle Control of Two-Link Human Arms Using Antagonist Muscle Stimulation . . . 43 4.4 Control of Two Links Between the Shoulder and Elbow using Noninvasive FES . . . 49 4.5 Summary of Chapter 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535 Bilateral Control Using FES 55 5.1 Bilateral Control of Two-Link Human Arms Using Antagonist Muscle Stimulation . . 55 5.2 Bilateral Control Using FES Based on Dynamic Model Approximation . . . . . . . . 59 5.3 Summary of Chapter 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84 6 CONCLUSION 87Acknowledgements 88Bibliography 90List of Achievements 98
指導教員 : 金子裕良
DOI: 10.24561/00019563
https://doi.org/10.24561/00019563
Persistent ID (NDL): info:ndljp/pid/12313445
https://dl.ndl.go.jp/pid/12313445
Collection: 障害者向け資料
Collection (Materials For Handicapped People:1): テキストデータ
Collection (particular): 国立国会図書館デジタルコレクション > デジタル化資料 > 博士論文
https://dl.ndl.go.jp/collections/A00014
Acquisition Basis: 博士論文（自動収集）
Date Accepted (W3CDTF): 2022-08-08T06:02:54+09:00
Date Created (W3CDTF): 2022-06-15
Format (IMT): application/pdf
Access Restrictions: 国立国会図書館内限定公開
Service for the Digitized Contents Transmission Service: 図書館・個人送信対象外
Availability of remote photoduplication service: 可
Periodical Title (URI): http://dx.doi.org/10.24561/00019563
http://id.nii.ac.jp/1586/00019563/
Data Provider (Database): 国立国会図書館 : 国立国会図書館デジタルコレクション
https://dl.ndl.go.jp