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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7\n 2.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8\n 2.3 Estimation of Relationship between Stimulation Current and Force Exerted during\n Isometric Contraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8\n 2.4 Summary of Chapter 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18\n\n3 Control of Joint Angles 21\n 3.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21\n 3.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22\n 3.3 Chattering Reduction of FES with the Smith Compensator . . . . . . . . . . . . . . . 23\n 3.4 Control with Adjusted Pulse Frequency and Amplitude in FES . . . . . . . . . . . . 34\n 3.5 Summary of Chapter 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40\n \n4 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Modeling and Control for Representation of Pseudo Force Sensation Using Functional Electrical Stimulation
https://doi.org/10.24561/00019563
https://doi.org/10.24561/0001956398387191-ab7c-4e2c-89c8-23bdb543b37b
名前 / ファイル | ライセンス | アクション |
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GD0001317.pdf (13.3 MB)
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Item type | 学位論文 / Thesis or Dissertation(1) | |||||
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公開日 | 2022-06-15 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Modeling and Control for Representation of Pseudo Force Sensation Using Functional Electrical Stimulation | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||
資源タイプ | doctoral thesis | |||||
ID登録 | ||||||
ID登録 | 10.24561/00019563 | |||||
ID登録タイプ | JaLC | |||||
アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
タイトル(別言語) | ||||||
その他のタイトル | 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 | |||||
著者 |
北村, 知也
× 北村, 知也 |
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著者 所属 | ||||||
埼玉大学大学院理工学研究科(博士後期課程)理工学専攻 | ||||||
著者 所属(別言語) | ||||||
Graduate School of Science and Engineering, Saitama University | ||||||
書誌 | ||||||
収録物名 | 博士論文(埼玉大学大学院理工学研究科(博士後期課程)) | |||||
書誌情報 |
発行日 2021 |
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出版者名 | ||||||
出版者 | 埼玉大学大学院理工学研究科 | |||||
出版者名(別言語) | ||||||
出版者 | Graduate School of Science and Engineering, Saitama University | |||||
形態 | ||||||
内容記述タイプ | Other | |||||
内容記述 | ii, 101p | |||||
学位授与番号 | ||||||
学位授与番号 | 甲第1197号 | |||||
学位授与年月日 | ||||||
学位授与年月日 | 2021-03-25 | |||||
学位名 | ||||||
学位名 | 博士(工学) | |||||
学位授与機関 | ||||||
学位授与機関識別子Scheme | kakenhi | |||||
学位授与機関識別子 | 12401 | |||||
学位授与機関名 | 埼玉大学 | |||||
目次 | ||||||
内容記述タイプ | Other | |||||
内容記述 | Contents ii 1 Introduction 1 1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 Purpose of This Dissertation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.3 Construction of This Dissertation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5 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 87 Acknowledgements 88 Bibliography 90 List of Achievements 98 |
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注記 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 指導教員 : 金子裕良 | |||||
版 | ||||||
[出版社版] | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
資源タイプ | ||||||
内容記述タイプ | Other | |||||
内容記述 | text | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
作成日 | ||||||
日付 | 2022-06-15 | |||||
日付タイプ | Created | |||||
アイテムID | ||||||
GD0001317 |