{"created":"2023-05-15T15:29:45.998412+00:00","id":19594,"links":{},"metadata":{"_buckets":{"deposit":"ed0b871e-771f-4914-9ca1-a64736c7a60c"},"_deposit":{"created_by":15,"id":"19594","owners":[15],"pid":{"revision_id":0,"type":"depid","value":"19594"},"status":"published"},"_oai":{"id":"oai:sucra.repo.nii.ac.jp:00019594","sets":["94:429:431:432:1016"]},"author_link":["30427"],"item_113_alternative_title_1":{"attribute_name":"タイトル（別言語）","attribute_value_mlt":[{"subitem_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"}]},"item_113_biblio_info_9":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2021","bibliographicIssueDateType":"Issued"}}]},"item_113_date_35":{"attribute_name":"作成日","attribute_value_mlt":[{"subitem_date_issued_datetime":"2022-06-15","subitem_date_issued_type":"Created"}]},"item_113_date_granted_20":{"attribute_name":"学位授与年月日","attribute_value_mlt":[{"subitem_dategranted":"2021-03-25"}]},"item_113_degree_grantor_22":{"attribute_name":"学位授与機関","attribute_value_mlt":[{"subitem_degreegrantor":[{"subitem_degreegrantor_name":"埼玉大学"}],"subitem_degreegrantor_identifier":[{"subitem_degreegrantor_identifier_name":"12401","subitem_degreegrantor_identifier_scheme":"kakenhi"}]}]},"item_113_degree_name_21":{"attribute_name":"学位名","attribute_value_mlt":[{"subitem_degreename":"博士(工学)"}]},"item_113_description_13":{"attribute_name":"形態","attribute_value_mlt":[{"subitem_description":"ii, 101p","subitem_description_type":"Other"}]},"item_113_description_24":{"attribute_name":"目次","attribute_value_mlt":[{"subitem_description":"Contents ii\n1 Introduction 1\n 1.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1\n 1.2 Purpose of This Dissertation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4\n 1.3 Construction of This Dissertation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5\n\n2 Modeling of Human Body Dynamics 7\n 2.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 Handling of Multiple DOFs 42\n 4.1 Background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42\n 4.2 Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43\n 4.3 Angle Control of Two-Link Human Arms Using Antagonist Muscle Stimulation . . . 43\n 4.4 Control of Two Links Between the Shoulder and Elbow using Noninvasive FES . . . 49\n 4.5 Summary of Chapter 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53\n\n5 Bilateral Control Using FES 55\n 5.1 Bilateral Control of Two-Link Human Arms Using Antagonist Muscle Stimulation . . 55\n 5.2 Bilateral Control Using FES Based on Dynamic Model Approximation . . . . . . . . 59\n 5.3 Summary of Chapter 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84\n \n6 CONCLUSION 87\n\nAcknowledgements 88\n\nBibliography 90\n\nList of Achievements 98","subitem_description_type":"Other"}]},"item_113_description_25":{"attribute_name":"注記","attribute_value_mlt":[{"subitem_description":"指導教員 : 金子裕良","subitem_description_type":"Other"}]},"item_113_description_33":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"text","subitem_description_type":"Other"}]},"item_113_description_34":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_113_dissertation_number_19":{"attribute_name":"学位授与番号","attribute_value_mlt":[{"subitem_dissertationnumber":"甲第1197号"}]},"item_113_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.24561/00019563","subitem_identifier_reg_type":"JaLC"}]},"item_113_publisher_11":{"attribute_name":"出版者名","attribute_value_mlt":[{"subitem_publisher":"埼玉大学大学院理工学研究科"}]},"item_113_publisher_12":{"attribute_name":"出版者名（別言語）","attribute_value_mlt":[{"subitem_publisher":"Graduate School of Science and Engineering, Saitama 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