運動制御と臨床応用

出版社： 文光堂
著者：
発行日： 2020-06-11
分野： 臨床医学：外科  >  リハビリ医学
ISBN： 9784830645846
電子書籍版： 2020-06-11 （第1版第1刷）
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商品紹介

本書では，シミュレータやモデルを用いて捉えたヒトの身体制御システムについて，国内外の研究結果に基づく豊富な知見と多数のイラストを盛り込みながら丁寧に解説している．
I部ではFB制御，FF制御などシミュレータを用いた運動制御・運動学習，Ii部では姿勢制御とその運動学習，III部ではUCM解析の理論と運動の協調性の定量化を取り上げている．さらに付録として著者自らが作成した制御シミュレータの取得・操作マニュアルが付いており，読んで理解するのみならず，操作し体感しながら制御の理論や仕組みの理解を深めることができる．
リハビリテーション医学とシステム工学の連携に興味がある研究者をはじめ，さまざまな側面からヒトの姿勢・運動のメカニズムを理解し，臨床で活用したい理学療法士や作業療法士，医師にとっても必読の一冊だと言えよう．

目次

  • 第I部運動制御理論の基礎
    　第1章　制御理論への招待
    　　1　工学的運動制御理論の視点
    　　2　システムとモデル
    　　3　階層間変換と不良設定問題
    　　4　制御する側とされる側のシステム：操作量≠制御量
    　第2章　シミュレータで学ぶフィードバック制御
    　　1　フィードバック制御とは：手動制御と自動制御
    　　2　ON-OFF制御
    　　3　比例制御
    　　4　PID制御
    　　5　時間遅れのある系でのフィードバック制御
    　　6　フィードバック制御の理解を深めるための補足
    　第3章　シミュレータで学ぶ運動制御と運動学習
    　　1　適切な軌道の実現：定値制御と追値（追従）制御
    　　2　フィードフォワード制御
    　　3　制御対象のモデルを用いた制御
    　　4　ニューラルネットワークと学習
    　　5　逆モデルの学習とフィードフォワード制御
    　　6　フィードバック誤差学習

    第II部　姿勢制御と臨床応用
    　第4章　姿勢の安定性
    　　1　安定性限界
    　　2　COMとCOPの位置関係
    　　3　安定性臨界
    　第5章　姿勢反応
    　　1　予測的姿勢調節
    　　2　代償的姿勢反応
    　　3　ステッピング戦略
    　第6章　姿勢制御の運動学習
    　　1　感覚フィードバック
    　　2　顕在学習と潜在学習
    　　3　バランス練習による神経可塑性

    第III部　運動の協調性と定量化
    　第7章　UCM解析の理論
    　　1　冗長性と協調性
    　　2　グラフ上の点のバラツキから協調性を読み取る
    　　3　UCM解析の計算原理と計算例
    　　4　より一般的な場合のUCM解析の計算式
    　第8章　姿勢制御の協調性と定量化
    　　1　ステップ1：筋シナジー
    　　2　ステップ2：ヤコビ行列（ヤコビアン）
    　　3　ステップ3：UCM解析

    付録　単関節運動制御シミュレータUniAxisJoint.jar操作説明書
    略語一覧

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本参考文献は電子書籍掲載内容を元にしております。

第I部 運動制御理論の基礎

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第II部 姿勢制御と臨床応用

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第III部 運動の協調性と定量化

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