@phdthesis{oai:sucra.repo.nii.ac.jp:00019594,
 author = {北村, 知也},
 month = {},
 note = {ii, 101p, 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, 指導教員 : 金子裕良, text, application/pdf},
 school = {埼玉大学},
 title = {Modeling and Control for Representation of Pseudo Force Sensation Using Functional Electrical Stimulation},
 year = {2021},
 yomi = {キタムラ, トモヤ}
}