Tetsuro FUNATO
| Department of Mechanical and Intelligent Systems Engineering | Associate Professor |
| Cluster II (Emerging Multi-interdisciplinary Engineering) | Associate Professor |
- Profile:
* Analysis of human motion and posture control for standing and walking (2008-) * Modelling of neural mechanism of cricket for behavior selection (2005-2008) * Estimation of residual stress and deformation of welded structure (2003-2008)
Researcher Information
Career
Educational Background
- Apr. 2005 - Mar. 2008
Tokyo Institute of Technology, Graduate School, Division of Science and Engineering, Department of Mechanical and Control Engineering, Japan - Apr. 2003 - Mar. 2005
Tokyo Institute of Technology, Graduate School of Information Science and Engineering, Department of Mechanical and Environmental Informatics, Japan - Apr. 1999 - Mar. 2003
Tokyo Institute of Technology, School of Engineering, Department of Control and Systems Engineering
Member History
- 01 Apr. 2018 - 31 Mar. 2019
委員, 計測制御学会国際委員会 - 01 Apr. 2016 - 31 Mar. 2018
運営委員, 計測自動制御学会・自律分散システム部会運営委員会 - 01 Apr. 2016 - 31 Mar. 2018
編集委員, 日本ロボット学会・会誌編集委員会 - 01 Apr. 2015 - 31 Mar. 2017
選考委員, 日本ロボット学会・Advanced Robotics誌論文賞選考委員会 - Apr. 2013 - Mar. 2014
運営委員・幹事補佐, 計測自動制御学会・制御部門運営委員会, Society - Jan. 2012 - Jan. 2014
運営委員, 計測自動制御学会・自律分散システム部会運営委員会, Society
Research Activity Information
Award
- Dec. 2018
IEEE-MHS Best Paper Award, Ryutaro Sakai;Tetsuro Funato;Soichiro Fujiki;Akira Konosu;Shinya Aoi;Dai Yanagihara
International society - Mar. 2016
電気学会
スペクトルの特徴量を用いた電気的除細動の効果の予測
電気学会 優秀論文発表賞, 荻野義大;中野和司;舩戸徹郎;大屋英稔;大西慶秀;西田祐気
Japan society - Oct. 2015
計測自動制御学会
座面高と速度の異なるヒト起立動作における筋シナジー解析
計測自動制御学会論文賞, 安 琪;石川 雄己;舩戸 徹郎;青井 伸也;岡 敬之;山川 博司;山下 淳;淺間 一
Official journal - Dec. 2012
計測自動制御学会システム・インテグレーション部門
ヒト歩行運動に内在する低次元構造とそのシステムモデル
計測自動制御学会システム・インテグレーション部門研究奨励賞, 青井伸也;舩戸徹郎;冨田望;土屋和雄
Japan society - Dec. 2011
計測自動制御学会システム・インテグレーション部門
計測自動制御学会システム・インテグレーション部門優秀講演賞
Paper
- Multi-timescale neural adaptation underlying long-term musculoskeletal reorganization
Roland Philipp; Yuki Hara; Naoki Uchida; Naohito Ohta; Tomomichi Oya; Tetsuro Funato; Kazuhiko Seki
Cold Spring Harbor Laboratory, 21 Oct. 2024, ABSTRACT
The central nervous system (CNS) can effectively control body movements despite environmental changes. While much is known about adaptation to external environmental changes, less is known about responses to internal bodily changes. This study investigates how the CNS adapts to long-term alterations in the musculoskeletal system using a tendon transfer model in non-human primates. We surgically relocated finger flexor and extensor muscles to examine how the CNS adapts its strategy for finger movement control by measuring muscle activities during grasping tasks. Two months post-surgery, the monkeys demonstrated significant recovery of grasping function despite the initial disruption. Our findings suggest a two-phase CNS adaptation process: an initial phase enabling function with the transferred muscles, followed by a later phase abolishing this enabled function and restoring a more efficient and “good enough” control strategy resembling the original. These results highlight a multi-phase CNS adaptation process with distinct time constants in response to sudden bodily changes, offering potential insights into understanding and treating movement disorders.
SIGNIFICANCE STATEMENT
This study demonstrates the remarkable ability of the CNS to adapt motor control to long-term internal changes, even after significant alterations to the musculoskeletal system. These findings expand our understanding of CNS plasticity and offer promising insights for enhancing rehabilitation following injuries or surgeries that disrupt body mechanics. By unraveling the mechanisms behind this long-term adaptation, targeted rehabilitation strategies to optimize motor recovery in patients with stroke, spinal cord injury, or musculoskeletal disorders can be developed, ultimately improving patient outcomes and quality of life. - Bayesian estimation of trunk-leg coordination during walking using phase oscillator models
Haruma Furukawa; Takahiro Arai; Tetsuro Funato; Shinya Aoi; Toshio Aoyagi
Neuroscience Research, Oct. 2024, Peer-reviwed, True, In human walking, the legs and other body parts coordinate to produce a rhythm with appropriate phase relationships. From the point of view for rehabilitating gait disorders, such as Parkinson Disorders, it is important to understand the control mechanism of the gait rhythm. A previous study showed that the antiphase relationship of the two legs during walking is not strictly controlled using the reduction of the motion of the legs during walking to coupled phase oscillators. However, the control mechanisms other than those of the legs remains unknown. In particular, the trunk moves in tandem with the legs and must play an important role in stabilizing walking because it is above the legs and accounts for more than half of the mass of the human body. This study aims to uncover the control mechanism of the leg-trunk coordination in the sagittal plane using the coupled phase oscillators model and Bayesian estimation. We demonstrate that the leg-trunk coordination is not strictly controlled, as well as the interleg coordination.
Scientific journal - Roles of the cerebellar vermis in predictive postural controls against external disturbances
Akira Konosu; Yuma Matsuki; Kaito Fukuhara; Tetsuro Funato; Dai Yanagihara
Scientific Reports, Springer Science and Business Media LLC, 14, 1, 07 Feb. 2024, Peer-reviwed, Abstract
The central nervous system predictively controls posture against external disturbances; however, the detailed mechanisms remain unclear. We tested the hypothesis that the cerebellar vermis plays a substantial role in acquiring predictive postural control by using a standing task with floor disturbances in rats. The intact, lesioned, and sham groups of rats sequentially underwent 70 conditioned floor-tilting trials, and kinematics were recorded. Six days before these recordings, only the lesion group underwent focal suction surgery targeting vermal lobules IV–VIII. In the naïve stage of the sequential trials, the upright postures and fluctuations due to the disturbance were mostly consistent among the groups. Although the pattern of decrease in postural fluctuation due to learning corresponded among the groups, the learning rate estimated from the lumbar displacement was significantly lower in the lesion group than in the intact and sham groups. These results suggest that the cerebellar vermis contributes to predictive postural controls.
Scientific journal, English - Computational prediction of muscle synergy using a finite element framework for a musculoskeletal model on lower limb
Sentong Wang; Kazunori Hase; Tetsuro Funato
Frontiers in Bioengineering and Biotechnology, Frontiers Media SA, 11, 1130219, 18 Jul. 2023, Peer-reviwed, Previous studies have demonstrated that the central nervous system activates muscles in module patterns to reduce the complexity needed to control each muscle while producing a movement, which is referred to as muscle synergy. In previous musculoskeletal modeling-based muscle synergy analysis studies, as a result of simplification of the joints, a conventional rigid-body link musculoskeletal model failed to represent the physiological interactions of muscle activation and joint kinematics. However, the interaction between the muscle level and joint level that exists in vivo is an important relationship that influences the biomechanics and neurophysiology of the musculoskeletal system. In the present, a lower limb musculoskeletal model coupling a detailed representation of a joint including complex contact behavior and material representations was used for muscle synergy analysis using a decomposition method of non-negative matrix factorization (NMF). The complexity of the representation of a joint in a musculoskeletal system allows for the investigation of the physiological interactions in vivo on the musculoskeletal system, thereby facilitating the decomposition of the muscle synergy. Results indicated that, the activities of the 20 muscles on the lower limb during the stance phase of gait could be controlled by three muscle synergies, and total variance accounted for by synergies was 86.42%. The characterization of muscle synergy and musculoskeletal biomechanics is consistent with the results, thus explaining the formational mechanism of lower limb motions during gait through the reduction of the dimensions of control issues by muscle synergy and the central nervous system.
Scientific journal, English - 患者別の膝関節の接触・変形を考慮した筋骨格系モデルによる歩行分析
王森彤; 長谷和徳; 舩戸徹郎
臨床バイオメカニクス, 44, 163-169, 2023, Peer-reviwed
Scientific journal, Japanese - Muscle synergy analysis yields an efficient and physiologically relevant way of assessing stroke
Tetsuro Funato; Noriaki Hattori; Arito Yozu; Qi An; Tomomichi Oya; Shouhei Shirafuji; Akihiro Jino; Kyoichi Miura; Giovanni Martino; Denise Berger; Ichiro Miyai; Jun Ota; Yury Ivanenko; Andrea d'Avella; Kazuhiko Seki
Brain Communications, Oxford University Press, 4, 4, fcac200, 09 Aug. 2022, Peer-reviwed, Abstract
The Fugl-Meyer Assessment is widely used to test motor function in stroke survivors. In the Fugl-Meyer Assessment, stroke survivors perform several movement tasks and clinicians subjectively rate the performance of each task item. The individual task items in the Fugl-Meyer Assessment are selected on the basis of clinical experience, and their physiological relevance has not yet been evaluated. In the present study, we aimed to objectively rate the performance of task items by measuring the muscle activity of 41 muscles from the upper body while stroke survivors and healthy participants performed 37 Fugl-Meyer Assessment upper extremity task items. We used muscle synergy analysis to compare muscle activity between subjects and found that 13 muscle synergies in the healthy participants (which we defined as standard synergies) were able to reconstruct all of the muscle activity in the Fugl-Meyer Assessment. Among the standard synergies, synergies involving the upper arms, forearms and fingers were activated to varying degrees during different task items. In contrast, synergies involving posterior trunk muscles were activated during all tasks, which suggests the importance of posterior trunk muscle synergies throughout all sequences. Furthermore, we noted the inactivation of posterior trunk muscle synergies in stroke survivors with severe but not mild impairments, suggesting that lower trunk stability and the underlying activity of posterior trunk muscle synergies may have a strong influence on stroke severity and recovery. By comparing the synergies of stroke survivors with standard synergies, we also revealed that some synergies in stroke survivors corresponded to merged standard synergies; the merging rate increased with the impairment of stroke survivors. Moreover, the degrees of severity-dependent changes in the merging rate (the merging rate–severity relationship) were different among different task items. This relationship was significant for 26 task items only and not for the other 11 task items. Because muscle synergy analysis evaluates coordinated muscle activities, this different dependency suggests that these 26 task items are appropriate for evaluating muscle coordination and the extent of its impairment in stroke survivors. Overall, we conclude that the Fugl-Meyer Assessment reflects physiological function and muscle coordination impairment and suggest that it could be performed using a subset of the 37 task items.
Scientific journal, English - A Model of Predictive Postural Control Against Floor Tilting in Rats
Akira Konosu; Tetsuro Funato; Yuma Matsuki; Akihiro Fujita; Ryutaro Sakai; Dai Yanagihara
Frontiers in Systems Neuroscience, Frontiers Media SA, 15, 141, 25 Nov. 2021, Peer-reviwed, Humans and animals learn the internal model of bodies and environments from their experience and stabilize posture against disturbances based on the predicted future states according to the internal model. We evaluated the mechanism of predictive control during standing, by using rats to construct a novel experimental system and comparing their behaviors with a mathematical model. In the experiments, rats (n = 6) that were standing upright using their hindlimbs were given a sensory input of light, after a certain period, the floor under them tilted backward. Initially, this disturbance induced a large postural response, including backward rotation of the center-of-mass angle and hindlimb segments. However, the rats gradually adjusted to the disturbance after experiencing 70 sequential trials, and a reduction in the amplitude of postural response was noted. We simulated the postural control of the rats under disturbance using an inverted pendulum model and model predictive control (MPC). MPC is a control method for predicting the future state using an internal model of the control target. It provides control inputs that optimize the predicted future states. Identification of the predictive and physiological parameters so that the simulation corresponds to the experiment, resulted in a value of predictive horizon (0.96 s) close to the interval time in the experiment (0.9–1.15 s). These results suggest that the rats predict posture dynamics under disturbance based on the timing of the sensory input and that the central nervous system provides plasticity mechanisms to acquire the internal model for MPC.
Scientific journal, English - Quantitative evaluation of posture control in rats with inferior olive lesions
Tetsuro Funato; Yota Sato; Yamato Sato; Soichiro Fujiki; Shinya Aoi; Kazuo Tsuchiya; Dai Yanagihara
Scientific Reports, 11, 1, 20362-20362, 13 Oct. 2021, Peer-reviwed, True, Impairment of inferior olivary neurons (IONs) affects whole-body movements and results in abnormal gait and posture. Because IONs are activated by unpredicted motion rather than regular body movements, the postural dysfunction caused by ION lesions is expected to involve factors other than simple loss of feedback control. In this study, we measured the postural movements of rats with pharmacological ION lesions (IO rats) trained to stand on their hindlimbs. The coordination of body segments as well as the distribution and frequency characteristics of center of mass (COM) motion were analyzed. We determined that the lesion altered the peak properties of the power spectrum density of the COM, whereas changes in coordination and COM distribution were minor. To investigate how the observed properties reflected changes in the control system, we constructed a mathematical model of the standing rats and quantitatively identified the control system. We found an increase in linear proportional control and a decrease in differential and nonlinear control in IO rats compared with intact rats. The dystonia-like changes in body stiffness explain the nature of the linear proportional and differential control, and a disorder in the internal model is one possible cause of the decrease in nonlinear control.
Scientific journal, English - Contribution of phase resetting to adaptive rhythm control in human walking based on the phase response curves of a neuromusculoskeletal model
Daiki Tamura; Shinya Aoi; Tetsuro Funato; Soichiro Fujiki; Kei Senda; Kazuo Tsuchiya
Frontiers in Neuroscience, 14, 17, 2020, Peer-reviwed
Scientific journal, English - Gait generation and its energy efficiency based on rat neuromusculoskeletal model
Misaki Toeda; Shinya Aoi; Soichiro Fujiki; Tetsuro Funato; Kazuo Tsuchiya; Dai Yanagihara
Frontiers in Neuroscience, 13, 1337, Dec. 2019, Peer-reviwed
Scientific journal, English - Variant and Invariant Spatiotemporal Structures in Kinematic Coordination to Regulate Speed During Walking and Running
Hiroko Oshima; Shinya Aoi; Tetsuro Funato; Nobutaka Tsujiuchi; Kazuo Tsuchiya
Frontiers in Computational Neuroscience, 13, 63-63, 20 Sep. 2019, Peer-reviwed, True, Humans walk, run, and change their speed in accordance with circumstances. These gaits are rhythmic motions generated by multi-articulated movements, which have specific spatiotemporal patterns. The kinematic characteristics depend on the gait and speed. In this study, we focused on the kinematic coordination of locomotor behavior to clarify the underlying mechanism for the effect of speed on the spatiotemporal kinematic patterns for each gait. In particular, we used seven elevation angles for the whole-body motion and separated the measured data into different phases depending on the foot-contact condition, that is, single-stance phase, double-stance phase, and flight phase, which have different physical constraints during locomotion. We extracted the spatiotemporal kinematic coordination patterns with singular value decomposition and investigated the effect of speed on the coordination patterns. Our results showed that most of the whole-body motion could be explained by only two sets of temporal and spatial coordination patterns in each phase. Furthermore, the temporal coordination patterns were invariant for different speeds, while the spatial coordination patterns varied. These findings will improve our understanding of human adaptation mechanisms to tune locomotor behavior for changing speed.
Scientific journal, English - Neuromusculoskeletal model that walks and runs across a speed range with a few motor control parameter changes based on the muscle synergy hypothesis
Shinya Aoi; Tomohiro Ohashi; Ryoko Bamba; Soichiro Fujiki; Daiki Tamura; Tetsuro Funato; Kei Senda; Yury Ivanenko; Kazuo Tsuchiya
Scientific Reports, 9, 1, 369-369, 23 Jan. 2019, Peer-reviwed, True, Humans walk and run, as well as change their gait speed, through the control of their complicated and redundant musculoskeletal system. These gaits exhibit different locomotor behaviors, such as a double-stance phase in walking and flight phase in running. The complex and redundant nature of the musculoskeletal system and the wide variation in locomotion characteristics lead us to imagine that the motor control strategies for these gaits, which remain unclear, are extremely complex and differ from one another. It has been previously proposed that muscle activations may be generated by linearly combining a small set of basic pulses produced by central pattern generators (muscle synergy hypothesis). This control scheme is simple and thought to be shared between walking and running at different speeds. Demonstrating that this control scheme can generate walking and running and change the speed is critical, as bipedal locomotion is dynamically challenging. Here, we provide such a demonstration by using a motor control model with 69 parameters developed based on the muscle synergy hypothesis. Specifically, we show that it produces both walking and running of a human musculoskeletal model by changing only seven key motor control parameters. Furthermore, we show that the model can walk and run at different speeds by changing only the same seven parameters based on the desired speed. These findings will improve our understanding of human motor control in locomotion and provide guiding principles for the control design of wearable exoskeletons and prostheses.
Scientific journal, English - Construction of Experimental Environment for Muscle Synergy Analysis of Bipedal Walking in Rats
Ryutaro Sakai; Tetsuro Funato; Soichiro Fujiki; Akira Konosu; Shinya Aoi; Dai Yanagihara
IEEE International Symposium on Micro-NanoMechatronics and Human Science, 316-317, 11 Dec. 2018, Peer-reviwed
International conference proceedings, English - Investigation of Phase Resetting Effect on Phase Response Curve in Human Walking using a Neuromusculoskeletal Model
Daiki Tamura; Shinya Aoi; Tetsuro Funato; Soichiro Fujiki; Kei Senda; Kazuo Tsuchiya
IEEE International Symposium on Micro-NanoMechatronics and Human Science, 318-320, 11 Dec. 2018, Peer-reviwed
International conference proceedings, English - Muscle activity coordination of upper limbs, trunk, and lower limbs during bipedal and quadrupedal walking in the Japanese macaque
Hiroko Oshima; Shinya Aoi; Katsumi Nakajima; Yasuo Higurashi; Tetsuro Funato; Nobutaka Tsujiuchi; Akihito Ito; Kazuo Tsuchiya
2nd International Symposium on Embodied-Brain Systems Science, P18, 05 Dec. 2018, Peer-reviwed
International conference proceedings, English - Investigating energy efficiency of gait in rat based on the muscle synergy hypotheses using a neuromusculoskeletal model
Misaki Toeda; Shinya Aoi; Soichiro Fujiki; Tetsuro Funato; Kazuo Tsuchiya; Dai Yanagihara
2nd International Symposium on Embodied-Brain Systems Science, P43, 05 Dec. 2018, Peer-reviwed
International conference proceedings, English - Muscle Synergy Analysis of Bipedal Walking in Rats
Ryutaro Sakai; Tetsuro Funato; Akira Konosu; Soichiro Fujiki; Shinya Aoi; Dai Yanagihara
2nd International Symposium on Embodied-Brain Systems Science, P54, 05 Dec. 2018, Peer-reviwed
International conference proceedings, English - Adaptive hindlimb split-belt treadmill walking in rats by controlling basic muscle activation patterns via phase resetting
Soichiro Fujiki; Shinya Aoi; Tetsuro Funato; Yota Sato; Kazuo Tsuchiya; Dai Yanagihara
Scientific Reports, Springer Science and Business Media LLC, 8, 1, 17341, 2018, Peer-reviwed
Scientific journal, English - Gait Analysis in Rat with Cerebellar Stroke
Ryutaro Sakai; Tetsuro Funato; Soichiro Fujiki; Meiko Asaka; Shinya Aoi; Dai Yanagihara
IEEE International Symposium on Micro-NanoMechatronics and Human Science, 199-202, 05 Dec. 2017, Peer-reviwed
International conference proceedings, English - Spatial and temporal correlation of muscle synergies in human walk-run transition
Hiromune Takahashi; Hiroko Oshima; Shinya Aoi; Tetsuro Funato; Nobutaka Tsujiuchi; Akihito Ito; Kazuo Tsuchiya
IEEE International Symposium on Micro-NanoMechatronics and Human Science, 195-198, 05 Dec. 2017, Peer-reviwed
International conference proceedings, English - Postural control during quiet bipedal standing in rats
Tetsuro Funato; Yota Sato; Soichiro Fujiki; Yamato Sato; Shinya Aoi; Kazuo Tsuchiya; Dai Yanagihara
PLOS ONE, PUBLIC LIBRARY SCIENCE, 12, 12, e0189248, Dec. 2017, Peer-reviwed, The control of bipedal posture in humans is subject to non- ideal conditions such as delayed sensation and heartbeat noise. However, the controller achieves a high level of functionality by utilizing body dynamics dexterously. In order to elucidate the neural mechanism responsible for postural control, the present study made use of an experimental setup involving rats because they have more accessible neural structures. The experimental design requires rats to stand bipedally in order to obtain a water reward placed in a water supplier above them. Their motions can be measured in detail using a motion capture system and a force plate. Rats have the ability to stand bipedally for long durations (over 200 s), allowing for the construction of an experimental environment in which the steady standing motion of rats could be measured. The characteristics of the measured motion were evaluated based on aspects of the rats' intersegmental coordination and power spectrum density (PSD). These characteristics were compared with those of the human bipedal posture. The intersegmental coordination of the standing rats included two components that were similar to that of standing humans: center of mass and trunk motion. The rats' PSD showed a peak at approximately 1.8 Hz and the pattern of the PSD under the peak frequency was similar to that of the human PSD. However, the frequencies were five times higher in rats than in humans. Based on the analysis of the rats' bipedal standing motion, there were some common characteristics between rat and human standing motions. Thus, using standing rats is expected to be a powerful tool to reveal the neural basis of postural control.
Scientific journal, English - 「身体性システム科学」特集について
舩戸 徹郎
日本ロボット学会誌, The Robotics Society of Japan, 35, 7, 497-497, Sep. 2017
Scientific journal, Japanese - An approach to the mechanism of postural dysfunction of rats with lesion in inferior olivary nuclei
Funato Tetsuro; Sato Yota; Fujiki Soichiro; Sato Yamato; Aoi Shinya; Tsuchiya Kazuo; Yanagihara Dai
The 8th International Symposium on Adaptive Motion of Animals and Machines, SB2, 27 Jun. 2017
International conference proceedings, English - Quantification of Temporal Parameters for Tripedalism
Arito Yozu; Dai Owaki; Masashi Hamada; Takuya Sasaki; Qi An; Tetsuro Funato; Nobuhiko Haga
INTELLIGENT AUTONOMOUS SYSTEMS 14, SPRINGER INTERNATIONAL PUBLISHING AG, 531, 31-37, 2017, Peer-reviwed, Bipedalism is one of the distinctive features of humans. However, humans in certain conditions use tripedalism for their locomotion. Patients who cannot bear their weight on their own legs or patients with balance disorders often use a cane. Temporal parameters have been defined for bipedalism, while they have not been defined for tripedalism. Therefore, in clinical rehabilitation, evaluation of patients' gait using a cane is still very much a qualitative issue. In this study, we propose how we can define the temporal parameters for tripedalism. We calculated six quantitative numbers: (1) gait cycle of leg 1, (2) lag of foot strike between leg 1 and leg 2, (3) lag of foot strike between leg 1 and leg 3, (4) stance phase of leg 1, (5) stance phase of leg 2, and (6) stance phase of leg 3. With a set of these six elements, the foot strike and foot-off pattern of the three legs is uniquely determined. Because these elements are measurable quantitatively, we are able to express the tripedal gait in a quantitative manner with this number set. We call this number set "gait matrix". The application of this gait matrix may be useful for evaluating patients' gait using a cane in rehabilitation.
International conference proceedings, English - Simulation of adaptive interlimb coordination during locomotion on split-belt treadmill using a rat hind-limb neuromusculoskeletal model
Soichiro Fujiki; Shinya Aoi; Tetsuro Funato; Dai Yanagihara; Katsuo Tsuchiya
Neuroscience 2016, II4, 16 Nov. 2016, Peer-reviwed
International conference proceedings, English - Synergy analysis of rat walking for elucidating the dysfunction due to neurological disorder
Ryota Suzuki; Tetsuro Funato; Dai Yanagihara; Soichiro Fujiki; Yota Sato; Shinya Aoi; Kazuo Tsuchiya
Neuroscience 2016, JJ3, 16 Nov. 2016, Peer-reviwed
International conference proceedings, English - Intersegmental coordination of bipedally standing rat
Yota Sato; Tetsuro Funato; Dai Yanagihara; Yamato Sato; Soichiro Fujiki; Shinya Aoi; Kazuo Tsuchiya
Neuroscience 2016, XX11, 14 Nov. 2016, Peer-reviwed
International conference proceedings, English - Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach
Shinya Aoi; Takahiro Tanaka; Soichiro Fujiki; Tetsuro Funato; Kei Senda; Kazuo Tsuchiya
SCIENTIFIC REPORTS, NATURE PUBLISHING GROUP, 6, 30199, Jul. 2016, Peer-reviwed, Multilegged locomotion improves the mobility of terrestrial animals and artifacts. Using many legs has advantages, such as the ability to avoid falling and to tolerate leg malfunction. However, many intrinsic degrees of freedom make the motion planning and control difficult, and many contact legs can impede the maneuverability during locomotion. The underlying mechanism for generating agile locomotion using many legs remains unclear from biological and engineering viewpoints. The present study used a centipede-like multilegged robot composed of six body segments and twelve legs. The body segments are passively connected through yaw joints with torsional springs. The dynamic stability of the robot walking in a straight line changes through a supercritical Hopf bifurcation due to the body axis flexibility. We focused on a quick turning task of the robot and quantitatively investigated the relationship between stability and maneuverability in multilegged locomotion by using a simple control strategy. Our experimental results show that the straight walk instability does help the turning maneuver. We discuss the importance and relevance of our findings for biological systems and propose a design principle for a simple control scheme to create maneuverable locomotion of multilegged robots.
Scientific journal, English - Investigation of the contributions of muscle synergy and posture control in quadruped locomotion using a neuromusculoskeletal model
Misaki Toeda; Shinya Aoi; Soichiro Fujiki; Tetsuro Funato; Kazuo Tsuchiya; Dai Yanagihara
1st International Symposium on Embodied-Brain Systems Science, P25, 08 May 2016, Peer-reviwed
International conference proceedings, English - Evaluation of the intersegmental coordination of standing rat
Tetsuro Funato; Yota Sato; Dai Yanagihara; Yamato Sato; Soichiro Fujiki; Shinya Aoi; Kazuo Tsuchiya
1st International Symposium on Embodied-Brain Systems Science, P28, 08 May 2016, Peer-reviwed
International conference proceedings, English - Modeling of slow dynamics for locomotion: simulation of split-belt treadmill walking of a rat hindlimb neuromusculoskeletal model
Soichiro Fujiki; Shinya Aoi; Tetsuro Funato; Dai Yanagihara; Kazuo Tsuchiya
1st International Symposium on Embodied-Brain Systems Science, P34, 08 May 2016, Peer-reviwed
International conference proceedings, English - Numerical expressions of temporal parameters for hexapedalism
Arito Yozu; Dai Owaki; Tetsuro Funato; Masashi Hamada; Takuya Sasaki; Hiroki Togo; Nobuhiko Haga
1st International Symposium on Embodied-Brain Systems Science, P46, 08 May 2016, Peer-reviwed
International conference proceedings, English - Evaluation of the Phase-Dependent Rhythm Control of Human Walking Using Phase Response Curves
Tetsuro Funato; Yuki Yamamoto; Shinya Aoi; Takashi Imai; Toshio Aoyagi; Nozomi Tomita; Kazuo Tsuchiya
PLOS COMPUTATIONAL BIOLOGY, PUBLIC LIBRARY SCIENCE, 12, 5, e1004950, May 2016, Peer-reviwed, Humans and animals control their walking rhythms to maintain motion in a variable environment. The neural mechanism for controlling rhythm has been investigated in many studies using mechanical and electrical stimulation. However, quantitative evaluation of rhythm variation in response to perturbation at various timings has rarely been investigated. Such a characteristic of rhythm is described by the phase response curve (PRC). Dynamical simulations of human skeletal models with changing walking rhythms (phase reset) described a relation between the effective phase reset on stability and PRC, and phase reset around touch-down was shown to improve stability. A PRC of human walking was estimated by pulling the swing leg, but such perturbations hardly influenced the stance leg, so the relation between the PRC and walking events was difficult to discuss. This research thus examines human response to variations in floor velocity. Such perturbation yields another problem, in that the swing leg is indirectly (and weakly) perturbed, so the precision of PRC decreases. To solve this problem, this research adopts the weighted spike-triggered average (WSTA) method. In the WSTA method, a sequential pulsed perturbation is used for stimulation. This is in contrast with the conventional impulse method, which applies an intermittent impulsive perturbation. The WSTA method can be used to analyze responses to a large number of perturbations for each sequence. In the experiment, perturbations are applied to walking subjects by rapidly accelerating and decelerating a treadmill belt, and measured data are analyzed by the WSTA and impulse methods. The PRC obtained by the WSTA method had clear and stable waveforms with a higher temporal resolution than those obtained by the impulse method. By investigation of the rhythm transition for each phase of walking using the obtained PRC, a rhythm change that extends the touch-down and mid-single support phases is found to occur.
Scientific journal, English - On leader follower formation control of multi-agent systems with obstacle avoidance using complex laplacian
Daiki Yamada; Kazushi Nakano; Tetsuro Funato
AROB21th, OS18-2, 22 Jan. 2016, Peer-reviwed
International conference proceedings, English - PSO-based Adaptive Kalman Filter for Real-time Mobile Robot Localizetion
Shogo Kimura; Kazushi Nakano; Tetsuro Funato
AROB 21th, OS19-1, 22 Jan. 2016, Peer-reviwed
International conference proceedings, English - Muscle Synergy Analysis of Human Standing-up Motion Using Forward Dynamic Simulation with Four Body Segment Model
Qi An; Yuki Ishikawa; Tetsuro Funato; Shinya Aoi; Hiroyuki Oka; Hiroshi Yamakawa; Atsushi Yamashita; Hajime Asama
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS, SPRINGER JAPAN, 112, 459-471, 2016, Peer-reviwed, Human motor behavior can be generated by distributed system. In this study, human standing-up motion is focused as an important daily activity. Especially, 13 muscle activation of lower body and trunk measured during human standing-up motion is decomposed into small numbers of modules of synchronized muscle activation called muscle synergy. Moreover human musculoskeletal model is developed with four rigid body segments based on dynamics and anatomical characteristics of human body. Forward dynamic simulation with the developed model showed that four muscle synergies had their own contribution toward body function: bending forward, moving the center of mass forward, extending whole body, and decelerating the center of mass. Results also indicated that combinations of four modules of synchronized muscle activation could generate human standing-up motion rather than controlling individual muscles.
International conference proceedings, English - Auditory Biofeedback during Walking Reduces Foot Contact Pressure in A Patient with Congenital Insensitivity to Pain
Arito Yozu; Dai Owaki; Tetsuro Funato; Nobuhiko Haga
2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS), IEEE, TP1-1-1, 2016, Peer-reviwed, Hereditary sensory and autonomic neuropathy (HSAN) includes genetic disorders that involve various sensory and autonomic dysfunctions. HSAN types 4 and 5 (HSAN-4 and -5) are characterized by congenital insensitivity to pain and thermal sensation. Orthopedic problems in HSAN-4 and -5 include destructive injuries. Studies on gait have shown greater speed and higher heel contact angular velocity in the patients compared to controls. Such a "banging gait" may be the result of insensitivity to pain, and may be a cause of their injuries. To help prevent injuries, we are exploring the use of our novel auditory feedback device (Auditory Foot) that converts foot contact pressure into sound. In this paper, we report an immediate beneficial effect of auditory feedback in a participant with congenital insensitivity to pain. The participant was a 12-year-old girl with HSAN-4. We mounted the Auditory Foot device on both her feet and measured her foot pressure during gait as she walked on a treadmill. The peak pressure during the participant's gait decreased in both feet when auditory feedback was switched on. Patients with congenital insensitivity to pain tend to walk in a "banging" way; increasing their awareness of their foot contact may improve their gait.
International conference proceedings, English - Source Separation and Localization of Individual Superficial Forearm Extensor Muscles using High-Density Surface Electromyography
Becky Su; Shouhei Shirafuji; Tomomichi Oya; Yousuke Ogata; Tetsuro Funato; Natsue Yoshimura; Luca Pion-Tonachini; Scott Makeig; Kazuhiko Seki; Jun Ota
2016 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS), IEEE, 245-250, 2016, Peer-reviwed, The limitations of conventional surface electromyography (sEMG) cause it to be unsuitable for use with the deep and compact muscles of the forearm. However, while source separation and localization techniques have been extensively explored to identify active sources in the brain using electroencephalography (EEG) signals, these techniques have not been adapted for identifying active sources in muscles using sEMG signals, despite being of a similar premise. Here, we perform an experiment to explore the capabilities of conventional EEG single-dipole localization techniques to localize the extensor digitorum and extensor indicis when selectively activated. The localization methodology consists of separating the raw sEMG signals using independent component analysis (ICA), estimating a physics-based forward model, and then correlating the obtained lead field matrix with the ICA mixing matrix. The results show that single-dipole localization is not suitable for describing the active sources of muscles.
International conference proceedings, English - Leader-following formation navigation with virtual trajectories for dynamic multi-agents
Manabu Suzuki; Ryo Kobayashi; Kazushi Nakano; Tetsuro Funato; Yoshihiro Matsui
Transactions of the Institute of Systems, Control and Information Engineers, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), 29, 8, 382-389, 2016, Peer-reviwed,In recent years, cooperative control of multi-agents, especially formation control, has attracted considerable interest among control engineers. As one of the formation control methods, we deal with the leader-following formation navigation (LFFN). The LFFN is defined such that a human operator or an autonomous leader agent forms a queue of agents to guide multiple followers. The followers pass along the leader's trajectory with the same motion as the leader. When the leader passes along a safe route to avoid obstacles, the followers also pass along a similar safe trajectory. However, when using the LFFN, the followers can shape only a single column formation.
In this study, we first extend the above LFFN's usage to parallel single columns using adjoining virtual leaders. Next, we consider virtual leaders adjoining the leader to design virtual trajectories along which virtual leaders passed and virtual leader's velocities on their path. We design the followers' target points which track the virtual leaders path with designed virtual velocity. Using our proposed method, the followers shape a formation which is not a single column but a multiple column type. Finally, we demonstrate the effectiveness of our newly proposed method through simulation and experimentation.
Scientific journal, English - Smooth enlargement of human standing sway by instability due to weak reaction floor and noise
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
ROYAL SOCIETY OPEN SCIENCE, ROYAL SOC, 3, 1, 150570, Jan. 2016, Peer-reviwed, Human quiet standing is accompanied by body sway. The amplitude of this body sway is known to be larger than would be predicted from simple noise effects, and sway characteristics are changed by neurological disorders. This large sway is thought to arise from nonlinear control with prolonged periods of no control (intermittent control), and a nonlinear control system of this kind has been predicted to exhibit bifurcation. The presence of stability-dependent transition enables dynamic reaction that depends on the stability of the environment, and can explain the change in sway characteristics that accompanies some neurological disorders. This research analyses the characteristics of a system model that induces transition, and discusses whether human standing reflects such a mechanism. In mathematical analysis of system models, (intermittent control-like) nonlinear control with integral control is shown to exhibit Hopf bifurcation. Moreover, from the analytical solution of the system model with noise, noise is shown to work to smooth the enlargement of sway around the bifurcation point. This solution is compared with measured human standing sway on floors with different stabilities. By quantitatively comparing the control parameters between human observation and model prediction, enlargement of sway is shown to appear as predicted by the model analysis.
Scientific journal, English - Development of a measurement and real-time display system for kinematics and muscle synergy of gait
Arito Yozu; Tetsuro Funato; Dai Owaki; Nobuhiko Haga
International Symposium on Micro-NanoMechatronics and Human Science, 38-39, 24 Nov. 2015, Peer-reviwed
International conference proceedings, English - Dynamical model of the Body Sway of Bipedally Standing Rat with Olivo-cerebellar Dysfunction
Sekiya Noro; Tetsuro Funato; Yota Sato; Yamato Sato; Dai Yanagihara; Shinya Aoi; Kazuo Tsuchiya
International Symposium on Micro-NanoMechatronics and Human Science, 285-286, 24 Nov. 2015, Peer-reviwed
International conference proceedings, English - Kinematic Analysis of Low Dimensional Structure in Walking and Running
Shuntaro Ishiduka; Hiroko Oshima; Shinya Aoi; Tetsuro Funato; Nozomi Tomita; Nobutaka Tsujiuchi; Akihito Ito; Kazuo Tsuchiya
International Symposium on Micro-NanoMechatronics and Human Science, 287-291, 24 Nov. 2015, Peer-reviwed
International conference proceedings, English - Adaptation mechanism of interlimb coordination in human split-belt treadmill walking through learning of foot contact timing: a robotics study
Soichiro Fujiki; Shinya Aoi; Tetsuro Funato; Nozomi Tomita; Kei Senda; Kazuo Tsuchiya
JOURNAL OF THE ROYAL SOCIETY INTERFACE, ROYAL SOC, 12, 110, 0542, Sep. 2015, Peer-reviwed, Human walking behaviour adaptation strategies have previously been examined using split-belt treadmills, which have two parallel independently controlled belts. In such human split-belt treadmill walking, two types of adaptations have been identified: early and late. Early-type adaptations appear as rapid changes in interlimb and intralimb coordination activities when the belt speeds of the treadmill change between tied (same speed for both belts) and split-belt (different speeds for each belt) configurations. By contrast, late-type adaptations occur after the early-type adaptations as a gradual change and only involve interlimb coordination. Furthermore, interlimb coordination shows after-effects that are related to these adaptations. It has been suggested that these adaptations are governed primarily by the spinal cord and cerebellum, but the underlying mechanism remains unclear. Because various physiological findings suggest that foot contact timing is crucial to adaptive locomotion, this paper reports on the development of a two-layered control model for walking composed of spinal and cerebellar models, and on its use as the focus of our control model. The spinal model generates rhythmic motor commands using an oscillator network based on a central pattern generator and modulates the commands formulated in immediate response to foot contact, while the cerebellar model modifies motor commands through learning based on error information related to differences between the predicted and actual foot contact timings of each leg. We investigated adaptive behaviour and its mechanism by split-belt treadmill walking experiments using both computer simulations and an experimental bipedal robot. Our results showed that the robot exhibited rapid changes in interlimb and infralimb coordination that were similar to the early-type adaptations observed in humans. In addition, despite the lack of direct interlimb coordination control, gradual changes and after-effects in the interlimb coordination appeared in a manner that was similar to the late-type adaptations and after-effects observed in humans. The adaptation results of the robot were then evaluated in comparison with human split-belt treadmill walking, and the adaptation mechanism was clarified from a dynamic viewpoint.
Scientific journal, English - Evaluation of the Body Sway of Bipedally Standing Rat with Cerebellar Dysfunction
Sekiya Noro; Tetsuro Funato; Yota Sato; Yamato Sato; Dai Yanagihara; Shinya Aoi; Kazuo Tsuchiya
Annual International Conference of the IEEE Engineering in Medicine and Biology Society, SaBPoT5.23, 29 Aug. 2015, Peer-reviwed
International conference proceedings, English - Investigating adaptation in hindlimb split-belt treadmill walking by rats using kinematic measurement and a neuromusculoskeletal model
Soichiro Fujiki; Shinya Aoi; Dai Yanagihara; Tetsuro Funato; Yota Sato; Nozomi Tomita; Naomichi Ogihara; Kei Senda; Kazuo Tsuchiya
2015 ISPGR World Congress, P3-Q-83, Jun. 2015, Peer-reviwed
International conference proceedings, English - Spectrum Analysis of Body Sway in Bipedally Standing Rat
Tetsuro Funato; Dai Yanagihara; Shinya Aoi; Yota Sato; Kazuo Tsuchiya
2015 ISPGR World Congress, P3-D-21, Jun. 2015, Peer-reviwed
International conference proceedings, English - Experimental Observation of Rhythm Control of Human Gait Using Moving Floor
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
SIAM Conference on Applications of Dynamical Systems, 196-196, May 2015, Peer-reviwed
International conference proceedings, English - Validating the feedback control of intersegmental coordination by fluctuation analysis of disturbed walking
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
EXPERIMENTAL BRAIN RESEARCH, SPRINGER, 233, 5, 1421-1432, May 2015, Peer-reviwed, A walking motion is established by feedforward control for rhythmic locomotion and feedback control for adapting to environmental variations. To identify the control variables that underlie feedback control, uncontrolled manifold (UCM) analysis has been proposed and adopted for analyzing various movements. UCM analysis searches the controlled variables by comparing the fluctuation size of segmental groups related and unrelated to the movement of candidate variables, based on the assumption that a small fluctuation size indicates a relationship with the feedback control. The present study was based on UCM analysis and evaluated fluctuation size to determine the control mechanism for walking. While walking, the subjects were subjected to floor disturbances at two different frequencies, and the fluctuation sizes of the segmental groups related to characteristic variables were calculated and compared. The characteristic variables evaluated were the motion of the center of mass, limb axis, and head, and the intersegmental coordination of segmental groups with simultaneous coupled movements. Results showed that the fluctuations in intersegmental coordination were almost equally small for any segment, while fluctuations in the other variables were large in certain segments. Moreover, a comparison of the fluctuation sizes among the evaluated variables showed that the fluctuation size for intersegmental coordination was the smallest. These results indicate a possible relationship between intersegmental coordination and the control of walking.
Scientific journal, English - Formation Control of Multi-agent Systems with Input Constraints and Obstacle Avoidance
Naoaki Niizuma; Kazushi Nakano; Tetsuro Funato
The 1st IEEJ Int. Workshop on Sensing, Actuation, and Motion Control (SAMCON 2015), TT5-1, 09 Mar. 2015, Peer-reviwed
International conference proceedings, English - Analysis of Muscle Synergy Contribution on Human Standing-up Motion Using a Neuro-Musculoskeletal Model
Qi An; Yuki Ishikawa; Shinya Aoi; Tetsuro Funato; Hiroyuki Oka; Hiroshi Yamakawa; Atsushi Yamashita; Hajime Asama
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE COMPUTER SOC, 5885-5890, 2015, Peer-reviwed, It is important to understand the mechanism of human standing-up motion to improve the declined physical ability of the elderly people. This study employs the concept of muscle synergies (modular structure of coordinative muscle activation) to understand how humans coordinate their muscles to achieve the standing-up motion. Neuro-musculoskeletal model was developed to represent human body to generate standing-up motion. Using the developed model, forward dynamic simulation was used to analyze how humans utilized the muscle synergies to realize the motion. Results showed that the developed model could generate the standing-up motion with four muscle synergies rather than controlling individual muscles. Moreover, further analysis showed that three different strategies of the standing-up motion could be generated only by changing the start time of the particular muscle synergy.
International conference proceedings, English - Measuring body sway of bipedally standing rat and quantitative evaluation of its postural control
Yota Sato; Tetsuro Funato; Dai Yanagihara; Yamato Sato; Shinya Aoi; Soichiro Fujiki; Kazushi Nakano; Kazuo Tsuchiya
2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 5311-5314, 2015, Peer-reviwed, Human generates very slow (< 1 Hz) body sway during standing, and the behavior of this sway is known to be changed characteristically depending on the neural ataxia. In order to investigate the sway mechanism and mechanism of neural ataxia through this sway behavior, the present research proposes an experimental environment of rats under bipedal standing. By the experiment, we succeeded the measurement of six intact rats standing for over 200 seconds without postural supports. Moreover, by comparing measured center of pressure (COP) and that of system model with nonlinear PID control model which is proposed as human standing model, control parameters of rats were numerically evaluated. Evaluated control parameters of rats were close to those of human, i.e., control strategy was considered to be comparable between rats and human.
International conference proceedings, English - Investigation of adaptive split-belt treadmill walking by the hindlimbs of rats
Soichiro Fujiki; Shinya Aoi; Dai Yanagihara; Tetsuro Funato; Yota Sato; Kei Senda; Kazuo Tsuchiya
2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 6756-6759, 2015, Peer-reviwed, In this study, we investigated the adaptive behavior during hindlimb locomotion of rats on a split-belt treadmill. We measured and analyzed the movement of intact rats walking by the hindlimbs on the splitbelt treadmill with two conditions: symmetric and asymmetric belt speed. In addition, we conducted the dynamic simulation of a neuromusculoskeletal model of rat's hindlimb walking on a split-belt treadmill. We investigated the immediate modulations of the duty factors and relative phase between the right and left limbs depending on the conditions of the treadmill. The results of the simulation were qualitatively similar to those of the measurement experiment. Furthermore, these results were qualitatively similar to the measurement data of the humans and cats in the previous studies. This suggests that our model have the essential aspects to produce the adaptive split-belt treadmill walking in dynamics viewpoints.
International conference proceedings, English - Group motion control of multi-agent systems with obstacle avoidance: column formation under input constraints
Naoaki Niizuma; Kazushi Nakano; Tetsuro Funato; Kohji Higuchi
Artificial Life and Robotics, Springer-Verlag Tokyo, 20, 1, 70-77, 2015, Peer-reviwed, This paper proposes a formation controller for multi-agent systems focusing on the obstacle avoidance and input constraints. In our proposed method, the limitation of translation and angular velocities is adaptably tuned depending on the existence of obstacles, such that the velocities can increase when the robots potentially hit obstacles. Moreover, a potential function of the input velocities that easily satisfies velocity constraints is designed. We also design a formation controller that realizes obstacle avoidance while satisfying the velocity constraints. Mathematical analysis shows the stability of the formation of robots controlled by the proposed model. Simulation results also demonstrate the effectiveness of the proposed method.
Scientific journal, English - StRRT-based path planning with PSO-tuned parameters for RoboCup soccer
Katsumichi Sameshima; Kazushi Nakano; Tetsuro Funato; Shu Hosokawa
Artificial Life and Robotics, Springer-Verlag Tokyo, 19, 4, 388-393, 10 Dec. 2014, Peer-reviwed, Path planning in various situations is an essential ability for a useful mobile robot in the real world, and technologies facilitating this have been tested in the RoboCup soccer leagues. The main difficulty in path planning lies in the presence of (mobile) obstacles and the kinematic and computational constraints of robots. Rapidly exploring random trees (RRTs) and spatio-temporal RRTs (StRRTs) are popular algorithms for mobile robots in the small size league, one of the RoboCup’s soccer leagues. In these algorithms, paths of finite length are randomly generated in each time interval, and adequate paths among these are selected. Thus, path length and selection probability are important factors. In this paper, we propose a method to determine these parameters using particle swarm optimization. The proposed method is examined using simulations and its real-time tuning ability is verified. The automatically tuned controllers are also capable of real-time path planning through a mobile robot with limited computational ability, such as those used in RoboCup.
Scientific journal, English - Neuromusculoskeletal modelling and the gain transition of a quadruped according to its speed in rats
Misaki Toeda; Shinya Aoi; Tetsuro Funato; Kazuo Tsuchiya; Dai Yanagihara
Neuroscience 2014, 186.09/TT30, 16 Nov. 2014, Peer-reviwed
International conference proceedings, English - Hindlimb splitbelt treadmill walking of a rat based on a neuromusculoskeletal model
Soichiro Fujiki; Shinya Aoi; Dai Yanagihara; Tetsuro Funato; Nozomi Tomita; Naomichi Ogihara; Kei Senda; Kazuo Tsuchiya
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, 881-886, 30 Sep. 2014, In this study, we conducted computer simulation of splitbelt treadmill walking by the hindlimbs of a rat based on a neuromusculoskeletal model. We developed the skeletal model based on anatomical data and constructed the nervous system model for locomotion based on the physiological findings of muscle synergy, central pattern generator, and sensory regulation by phase resetting. Our simulation results show that even in asymmetric environment due to the speed discrepancy between the left and right belts of a splitbelt treadmill, the rat model produced stable walking. The sensory regulation model contributed to generation of adaptive splitbelt treadmill walking while inducing the modulation of locomotion parameters, such as relative phase between the legs and duty factors, as observed in splitbelt treadmill walking of humans and animals. This helps understanding of the adaptation mechanism in locomotion through dynamic interactions among the nervous system, the musculoskeletal system, and the environment.
International conference proceedings, English - Dynamical analysis of human standing model with cyclic motion
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE Computer Society, 627-631, 30 Sep. 2014, Human standing is characterized by large body sway, which cannot be explained by linear control. In past researches, sway has been considered as an uncontrolled biological noise. In contrast, we consider the sway to be a cyclic motion generated by continuous proportional-integral-derivative (PID) control with weak nonlinearlity. Through mathematical analysis of nonliner PID control, cyclic motion is shown to be generated by a stability-gain dependent Hopf bifurcation, and biological noise is shown to help the smooth transition between stationary stable state and cyclic state. The relevance of the proposed sway generation mechanism is verified through human experiment on floors with different stability. As a result, the existence of Hopf bifurcation, i.e., apparent expansion of sway with small decrease of control parameters, realized by the destabilization of floor, is observed.
International conference proceedings, English - 座面高と速度の異なるヒト起立動作における筋シナジー解析
Qi An; 石川雄己; 舩戸徹郎; 青井伸也; 岡敬之; 山川博司; 山下淳; 淺間一
計測自動制御学会誌, The Society of Instrument and Control Engineers, 50, 8, 560-568, Aug. 2014, Peer-reviwed, In order to understand human motor function, it is necessary to clarify how humans achieve adaptive motions regarding to external environment or their own purpose. This study analyzes human standing-up motion in different chair seat heights and motion speeds using muscle synergy analysis to find important modules to achieve the movement. Muscle synergy is determined from measured eight muscle activations (n=10), and relationship between muscle synergy and body kinematics is clarified. As a result, invariant three muscle synergies were found in human standing-up motion regardless of different seat heights and motion speeds. On the other hand, amplitude and duration of time-varying activation of muscle synergies were properly adujusted to enviromental change. Moreover, it was observed that time-varying activations were strongly corresponded to characteristic kinematic event of standing-up motion. This result implies that humans can achieve the adaptive standing-up motion mainly by controlling time-varying activation of three muscle synergies.
Scientific journal, Japanese - Experimental validation of nonlinear PID model for human standing with large body sway
Sekiya Noro; Tetsuro Funato; Shinya Aoi; Kazushi Nakano; Kazuo Tsuchiya
2014 11TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY (ECTI-CON), IEEE, 3, 2014, Peer-reviwed, Human generates very slow (<1[Hz]) and large (>20[mm]) body sway. This sway is considered to reflect the characteristic of human neural control. We propose a human control model with nonlinearlity and the effect of nonlinearlity is considered by mathematical analysis and simulation. As a result, we found that the proposed model has bifurcation structure with the magnitude of control gain. We consider that body sway is caused by this bifurcation structure. In order to verify the existence of such a nonlinear nature in human, we performed human experiment with two floor environments: fix and rotate floors. As a result, we verified the existence of nonlinearlity in human body sway and showed the potential existence of bifurcation structure.
International conference proceedings, English - A Wavelet Approach to Identification of Ventricular Fibrillation Including StateTransition
Eduardo Rivera Jaramillo; Katsuhiro Hirose; Yoshihiro Ogino; Kazushi Nakano; Tetsuro Funato; Hidetoshi Oya
The Nineteenth International Symposium on Artificial Life and Robotics, OS17-5, Jan. 2014, Peer-reviwed
International conference proceedings, English - On group motion control of multi-agent systems with obstacle avoidance
Naoaki Niizuma; Kazushi Nakano; Tetsuro Funato; Kohji Higuchi
The Nineteenth International Symposium on Artificial Life and Robotics, OS16-5, Jan. 2014, Peer-reviwed
International conference proceedings, English - StRRT Based Path Planning with PSO-tuned Parameters for RoboCup Soccer
Katsumichi Sameshima; Kazushi Nakano; Tetsuro Funato; Shu Hosokawa
The Nineteenth International Symposium on Artificial Life and Robotics, OS16-6, Jan. 2014, Peer-reviwed
International conference proceedings, English - Experimental validation of nonlinear PID model for human standing with large body sway
Sekiya Noro; Tetsuro Funato; Shinya Aoi; Kazushi Nakano; Kazuo Tsuchiya
2014 11TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING/ELECTRONICS, COMPUTER, TELECOMMUNICATIONS AND INFORMATION TECHNOLOGY (ECTI-CON), IEEE, 1346, 2014, Peer-reviwed, Human generates very slow (<1[Hz]) and large (>20[mm]) body sway. This sway is considered to reflect the characteristic of human neural control. We propose a human control model with nonlinearlity and the effect of nonlinearlity is considered by mathematical analysis and simulation. As a result, we found that the proposed model has bifurcation structure with the magnitude of control gain. We consider that body sway is caused by this bifurcation structure. In order to verify the existence of such a nonlinear nature in human, we performed human experiment with two floor environments: fix and rotate floors. As a result, we verified the existence of nonlinearlity in human body sway and showed the potential existence of bifurcation structure.
International conference proceedings, English - Generation of Human Standing-up Motion with Muscle Synergies Using Forward Dynamic Simulation
Qi An; Yuki Ishikawa; Tetsuro Funato; Shinya Aoi; Hiroyuki Oka; Hiroshi Yamakawa; Atsushi Yamashita; Hajime Asama
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 730-735, 2014, Peer-reviwed, The standing-up motion is one of the most important activities of daily livings. In order to understand the strategy to achieve the standing-up motion, muscle synergy analysis is applied to the measured data during human standing-up motion. In addition, musculoskeletal model which consists of three body segments and nine muscles in lower limb is developed to ensure that the standing-up motion can be generated by muscle synergies. As a result, three muscle synergies have been extracted from the human standing-up motion, and each synergy strongly corresponded to characteristic kinematic events: momentum flexion, momentum transfer, and posture stabilization. Results of forward dynamic simulation show that the standing-up motion can be achieved by controlling time-varying weighting coefficient of three muscle synergies instead of controlling individual nine muscles.
International conference proceedings, English - Dynamical analysis of human standing model with cyclic motion
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, 627-631, 2014, Peer-reviwed, Human standing is characterized by large body sway, which cannot be explained by linear control. In past researches, sway has been considered as an uncontrolled biological noise. In contrast, we consider the sway to be a cyclic motion generated by continuous proportional-integral-derivative (PID) control with weak nonlinearlity. Through mathematical analysis of nonliner PID control, cyclic motion is shown to be generated by a stability-gain dependent Hopf bifurcation, and biological noise is shown to help the smooth transition between stationary stable state and cyclic state. The relevance of the proposed sway generation mechanism is verified through human experiment on floors with different stability. As a result, the existence of Hopf bifurcation, i.e., apparent expansion of sway with small decrease of control parameters, realized by the destabilization of floor, is observed.
International conference proceedings, English - Hindlimb splitbelt treadmill walking of a rat based on a neuromusculoskeletal model
Soichiro Fujiki; Shinya Aoi; Dai Yanagihara; Tetsuro Funato; Nozomi Tomita; Naomichi Ogihara; Kei Senda; Kazuo Tsuchiya
2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE, 881-886, 2014, Peer-reviwed, In this study, we conducted computer simulation of splitbelt treadmill walking by the hindlimbs of a rat based on a neuromusculoskeletal model. We developed the skeletal model based on anatomical data and constructed the nervous system model for locomotion based on the physiological findings of muscle synergy, central pattern generator, and sensory regulation by phase resetting. Our simulation results show that even in asymmetric environment due to the speed discrepancy between the left and right belts of a splitbelt treadmill, the rat model produced stable walking. The sensory regulation model contributed to generation of adaptive splitbelt treadmill walking while inducing the modulation of locomotion parameters, such as relative phase between the legs and duty factors, as observed in splitbelt treadmill walking of humans and animals. This helps understanding of the adaptation mechanism in locomotion through dynamic interactions among the nervous system, the musculoskeletal system, and the environment.
International conference proceedings, English - Hysteresis in the metachronal-tripod gait transition of insects: A modeling study
Soichiro Fujiki; Shinya Aoi; Tetsuro Funato; Nozomi Tomita; Kei Senda; Kazuo Tsuchiya
Physical Review E - Statistical, Nonlinear, and Soft Matter Physics, 88, 1, 012717, 15 Jul. 2013, Peer-reviwed, Locomotion in biological systems involves various gaits, and hysteresis appears when the gaits change in accordance with the locomotion speed. That is, the gaits vary at different locomotion speeds depending on the direction of speed change. Although hysteresis is a typical characteristic of nonlinear dynamic systems, the underlying mechanism for the hysteresis in gait transitions remains largely unclear. In this study, we construct a neuromechanical model of an insect and investigate the dynamic characteristics of its gait and gait transition. The simulation results show that our insect model produces metachronal and tripod gaits depending on the locomotion speed through dynamic interactions among the body mechanical system, the nervous system, and the environment in a self-organized manner. They also show that it undergoes the metachronal-tripod gait transition with hysteresis by changing the locomotion speed. We examined the hysteresis mechanism in the metachronal-tripod gait transition of insects from a dynamic viewpoint. © 2013 American Physical Society.
Scientific journal, English - Adaptive splitbelt treadmill walking of a biped robot using nonlinear oscillators with phase resetting
S. Fujiki; S. Aoi; T. Yamashita; T. Funato; N. Tomita; K. Senda; K. Tsuchiya
Autonomous Robots, 35, 1, 15-26, Jul. 2013, Peer-reviwed
English - Neuromusculoskeletal model of human running based on muscle synergy
Shinya Aoi; Tetsuro Funato; Nozomi Tomita; Kazuo Tsuchiya
5h International Symposium on Measurement analysis and Modelling of Human Functions, 2, Jun. 2013, Peer-reviwed
International conference proceedings, English - A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion
Shinya Aoi; Daiki Katayama; Soichiro Fujiki; Nozomi Tomita; Tetsuro Funato; Tsuyoshi Yamashita; Kei Senda; Kazuo Tsuchiya
Journal of the Royal Society Interface, Royal Society, 10, 81, 20120908, 06 Apr. 2013, Peer-reviwed, Quadrupeds vary their gaits in accordance with their locomotion speed. Such gait transitions exhibit hysteresis. However, the underlying mechanism for this hysteresis remains largely unclear. It has been suggested that gaits correspond to attractors in their dynamics and that gait transitions are non-equilibrium phase transitions that are accompanied by a loss in stability. In the present study, we used a robotic platform to investigate the dynamic stability of gaits and to clarify the hysteresis mechanism in the walk-trot transition of quadrupeds. Specifically, we used a quadruped robot as the body mechanical model and an oscillator network for the nervous system model to emulate dynamic locomotion of a quadruped. Experiments using this robot revealed that dynamic interactions among the robot mechanical system, the oscillator network, and the environment generate walk and trot gaits depending on the locomotion speed. In addition, a walk-trot transition that exhibited hysteresis was observed when the locomotion speed was changed. We evaluated the gait changes of the robot by measuring the locomotion of dogs. Furthermore, we investigated the stability structure during the gait transition of the robot by constructing a potential function from the return map of the relative phase of the legs and clarified the physical characteristics inherent to the gait transition in terms of the dynamics. © 2013 The Authors.
Scientific journal, English - Contributions of phase resetting and interlimb coordination to the adaptive control of hindlimb obstacle avoidance during locomotion in rats: a simulation study
Shinya Aoi; Takahiro Kondo; Naohiro Hayashi; Dai Yanagihara; Sho Aoki; Hiroshi Yamaura; Naomichi Ogihara; Tetsuro Funato; Nozomi Tomita; Kei Senda; Kazuo Tsuchiya
BIOLOGICAL CYBERNETICS, SPRINGER, 107, 2, 201-216, Apr. 2013, Peer-reviwed, Obstacle avoidance during locomotion is essential for safe, smooth locomotion. Physiological studies regarding muscle synergy have shown that the combination of a small number of basic patterns produces the large part of muscle activities during locomotion and the addition of another pattern explains muscle activities for obstacle avoidance. Furthermore, central pattern generators in the spinal cord are thought to manage the timing to produce such basic patterns. In the present study, we investigated sensory-motor coordination for obstacle avoidance by the hindlimbs of the rat using a neuromusculoskeletal model. We constructed the musculoskeletal part of the model based on empirical anatomical data of the rat and the nervous system model based on the aforementioned physiological findings of central pattern generators and muscle synergy. To verify the dynamic simulation by the constructed model, we compared the simulation results with kinematic and electromyographic data measured during actual locomotion in rats. In addition, we incorporated sensory regulation models based on physiological evidence of phase resetting and interlimb coordination and examined their functional roles in stepping over an obstacle during locomotion. Our results show that the phase regulation based on interlimb coordination contributes to stepping over a higher obstacle and that based on phase resetting contributes to quick recovery after stepping over the obstacle. These results suggest the importance of sensory regulation in generating successful obstacle avoidance during locomotion.
Scientific journal, English - The contribution of kinematic synergy on feedback control of human walking
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
The 6th International Symposium on Adaptive Motion of Animals and Machines, 35-36, Mar. 2013, Peer-reviwed
International conference proceedings, English - Experimental validation of nonlinear PID control model for human sway during standing
Tetsuro Funato; Koji Hashizume; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
5th International Symposium on Measurement, Analysis and Modelling of Human Functions, ISHF 2013, IMEKO-International Measurement Federation Secretariat, 10-13, 2013, Human standing motion shows long-term perturbation. The present research considers this perturbation is a limit-cycle solution of nonlinear PID control including nonlinear proportional control and integral control, and shows the existence of such controls in human experiment.
International conference proceedings, English - Estimating the phase response curve of human walking using WSTA method
Tetsuro Funato; Yuki Yamamoto; Shinya Aoi; Nozomi Tomita; Takashi Imai; Toshio Aoyagi; Kazuo Tsuchiya
Proceedings of the SICE Annual Conference, 1298-1299, 2013, Peer-reviwed, In order to reveal the rhythm control of human locomotion, several researches have attempted to describe the phase response curve (PRC) from human experiment. Indeed, because the traditionally used impulsive perturbation has been associated with difficulty in applying effective perturbation all over the walking cycle, PRC has not been achieved in high precision. The present research, using sequential pulsed perturbation, obtained accurate PRC of human locomotion.
International conference proceedings, English - 運動学シナジーに基づくヒトの歩行制御構造の構成論的理解
舩戸 徹郎; 青井 伸也; 冨田 望; 土屋 和雄
日本ロボット学会誌, The Robotics Society of Japan, 31, 8, 739-746, 2013, Peer-reviwed, Human locomotion is a complex system generated by redundant actuators and its interaction with environment. Human manages the redundant body with dexterity for adapting to various environments. Analytical studies have revealed that multiple joints and muscles move simultaneously as if the motion is constraint in low-dimensional structures. These low-dimensional structures, called synergy, should reflect the human control strategy; however a methodology that can deal with an effect of synergy on neural control has not been well-established. This study, thus, proposes a composite approach of analytical and constructive study: a system model that integrates skeletal system built on dynamical simulation and synergies obtained from walking experiment is proposed and discussed. The constructed system model realized a stable walk on both level and slope conditions, and synergy similar to that obtained in human experiment could be observed. By manipulating the contribution of synergy and posture controls inherent in the system model, the model approach revealed the factors for forming average posture during locomotion and the importance of synergy tuning for adapting to slope conditions.
Scientific journal, Japanese - Sensory regulation of stance-to-swing transition in generation of adaptive human walking: A simulation study
Shinya Aoi; Naomichi Ogihara; Tetsuro Funato; Kazuo Tsuchiya
ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE BV, 60, 5, 685-691, May 2012, Peer-reviwed, In this paper, we investigated sensory mechanisms to regulate the transition from the stance to swing phases in the generation of adaptive human bipedal walking based on a neuromusculoskeletal model. We examined the contributions of the sensory information from the force-sensitive afferents in the ankle extensor muscle and from the position-sensitive afferents from the hip, inspired by a neuro-mechanical simulation for the stepping of the hind legs of cats. Our simulation results showed that the sensory signals related to the force in the ankle extensor muscle make a larger contribution than sensory signals related to the joint angle at the hip to produce robust walking against disturbances, as observed in the simulation results of cat locomotion. This suggests that such a sensorimotor mechanism is a general property and is also embedded in the neuro-control system of human bipedal walking. (C) 2011 Elsevier B.V. All rights reserved.
Scientific journal, English - Hindlimb obstacle avoidance during rat locomotion based on a neuromusculoskeletal model
Shinya Aoi; Naohiro Hayashi; Takahiro Kondo; Dai Yanagihara; Sho Aoki; Hiroshi Yamaura; Naomichi Ogihara; Tetsuro Funato; Nozomi Tomita; Kei Senda; Kazuo Tsuchiya
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 1046-1051, 2012, Peer-reviwed, We investigated the obstacle avoidance in locomotion of the rat using a neuromusculoskeletal model. We constructed a musculoskeletal model of the hindlimbs based on the measured anatomical data and constructed a nervous system model based on the central pattern generator and muscle synergy. We incorporated sensory regulation models based on interlimb coordination and phase resetting and investigated their functional roles during obstacle avoidance in locomotion. Our simulation results show that the phase regulation based on interlimb coordination contributes to stepping over a high obstacle and show that the phase regulation based on phase resetting contributes to quick recovery after obstacle avoidance. These results suggest the importance of sensory regulation in generation of successful obstacle avoidance in locomotion. © 2012 IEEE.
International conference proceedings, English - Analysis of rhythm adjustment mechanism of human locomotion against horizontal perturbation
Tetsuro Funato; Yuki Yamamoto; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 1359-1364, 2012, Peer-reviwed, Human locomotion is considered to be realized using rhythmic signal generated in central pattern generator (CPG). When perturbation is applied during locomotion, a mechanism that adjust the rhythm of CPG based on the timing of foot-contact or foot-lift, called phase reset has been proposed and the contribution of such a mechanism on the stabilization has been indicated. In order to verify the existence of phase resetting mechanism, this research measured the human locomotion with perturbation and investigated the transition of rhythm after the perturbation. As a result, adjustment of motion rhythm terminated after foot-contact even the phase difference between after the termination and before perturbation remained. This result indicates the existence of CPG tuning i.e., phase reset. Present research further analyzed the rhythm adjustment of synergies by extracting synergy using singular value decomposition, and found no difference in phase characteristic among synergies. This result indicates the rhythm tuning does not work for each synergy but works on the rhythm generator. © 2012 IEEE.
International conference proceedings, English - Analysis of Rhythm Adjustment Mechanism of Human Locomotion against Horizontal Perturbation
Tetsuro Funato; Yuki Yamamoto; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), IEEE, 1359-1364, 2012, Peer-reviwed, Human locomotion is considered to be realized using rhythmic signal generated in central pattern generator (CPG). When perturbation is applied during locomotion, a mechanism that adjust the rhythm of CPG based on the timing of foot-contact or foot-lift, called 'phase reset' has been proposed and the contribution of such a mechanism on the stabilization has been indicated. In order to verify the existence of phase resetting mechanism, this research measured the human locomotion with perturbation and investigated the transition of rhythm after the perturbation. As a result, adjustment of motion rhythm terminated after foot-contact even the phase difference between after the termination and before perturbation remained. This result indicates the existence of CPG tuning i.e., phase reset. Present research further analyzed the rhythm adjustment of synergies by extracting synergy using singular value decomposition, and found no difference in phase characteristic among synergies. This result indicates the rhythm tuning does not work for each synergy but works on the rhythm generator.
International conference proceedings, English - Hindlimb obstacle avoidance during rat locomotion based on a neuromusculoskeletal model
Shinya Aoi; Naohiro Hayashi; Takahiro Kondo; Dai Yanagihara; Sho Aoki; Hiroshi Yamaura; Naomichi Ogihara; Tetsuro Funato; Nozomi Tomita; Kei Senda; Kazuo Tsuchiya
2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB), IEEE, 1046-1051, 2012, Peer-reviwed, We investigated the obstacle avoidance in locomotion of the rat using a neuromusculoskeletal model. We constructed a musculoskeletal model of the hindlimbs based on the measured anatomical data and constructed a nervous system model based on the central pattern generator and muscle synergy. We incorporated sensory regulation models based on interlimb coordination and phase resetting and investigated their functional roles during obstacle avoidance in locomotion. Our simulation results show that the phase regulation based on interlimb coordination contributes to stepping over a high obstacle and show that the phase regulation based on phase resetting contributes to quick recovery after obstacle avoidance. These results suggest the importance of sensory regulation in generation of successful obstacle avoidance in locomotion.
International conference proceedings, English - A system model that focuses on kinematic synergy for understanding human control structure
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), IEEE, 378-383, 2012, Peer-reviwed, Human locomotion is a complex system generated by redundant actuators and its interaction with environment. Human manages the redundant body with dexterity for adapting to various environments. Analytical studies have revealed that multiple joints and muscles move simultaneously as if the motion is constraint in low-dimensional structures. These low-dimensional structures, called synergy, should reflect the human control strategy. Neural mechanism that probably contributes on the formation of synergy has been indicated and behavioral evidence that shows the contribution of synergy on neural control has been shown. However, behavioral approaches could not distinguish the active ( neural) control and reaction from environment, thus it was difficult to discuss the control characteristic of synergy. The present research proposed a system model based on physiological knowledge about kinematic synergy, and performed a dynamical simulation on flat and slope floors. Based on the resultant motion on different environment, the effect of reaction from environment on walking posture, and the contribution of three kinematic synergies on walking control were revealed.
International conference proceedings, English - Isochron of human walking derived from the perturbation of floor
Tetsuro Funato; Tetsuro Hosokawa; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
The 5th International Symposium on Adaptive Motion of Animals and Machines, 35-36, Oct. 2011, Peer-reviwed
International conference proceedings, English - A model for group-size-dependent behaviour decisions in insects using an oscillator network
Tetsuro Funato; Masahito Nara; Daisuke Kurabayashi; Masatoshi Ashikaga; Hitoshi Aonuma
JOURNAL OF EXPERIMENTAL BIOLOGY, COMPANY OF BIOLOGISTS LTD, 214, 14, 2426-2434, Jul. 2011, Peer-reviwed, Aggressive behaviour within pairs of male crickets leads to the establishment of a dominance hierarchy. Defeated males avoid their victorious adversaries for several hours before regaining aggressiveness. However, the defeated male does not regain aggressiveness if repeated fighting occurs. Loss of individual aggressiveness is limited by group size, which constrains the number of crickets fighting at any given time. Thus, group aggressive behaviour is modulated by an environmental factor, group size, which is ultimately determined by individual actions, i.e. fighting between two individuals. We developed a robot model to elucidate the mechanism of group-size-dependent behaviour alternation in crickets. The behaviour of individual robots was evaluated experimentally with mobile robots and the group behaviour of the robots was evaluated by computer simulation. We demonstrated that the group-size-dependent strategy in crickets could be generated by local interactions between robots, where the behaviour was governed by an oscillator and memory of the outcome of previous fights.
Scientific journal, English - Human gait control suggested by the evaluation of the fluctuation of synergy
Tetsuro Funato; Shinya Aoi; Nozomi Tomita; Kazuo Tsuchiya
2011 IEEE/SICE International Symposium on System Integration, SII 2011, 267-272, 2011, Peer-reviwed, A high correlation among the motion of joints and muscles is observed when human walking. A group of the correlated motion is called synergy and the contribution of synergy on the locomotion control has been discussed. This research consider the motion pattern obtained by the singular value decomposition of joint motion as synergy, and consider the mode control using synergy for human locomotion. Several current researches evaluate the fluctuation of motion and search the variable with low fluctuation as control variable (UCM analysis), thus the evaluation of fluctuation will reveal whether synergy is control variable or not. Then we calculate the fluctuation of the whole motion and several principal motion such as COM, head and hip, and compare them with the fluctuation of synergy. As the result, the fluctuation of the synergy is shown to be relatively small, thus human locomotion is possible to be controlled using synergy. © 2011 IEEE.
International conference proceedings, English - Generation of adaptive splitbelt treadmill walking by a biped robot using nonlinear oscillators with phase resetting
Shinya Aoi; Soichiro Fujiki; Tsuyoshi Yamashita; Takehisa Kohda; Kei Senda; Kazuo Tsuchiya
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 35, 1, 15-26, 2011, Peer-reviwed, In this paper, we investigate the locomotor behaviors of a biped robot on a splitbelt treadmill using a locomotion-control system composed of nonlinear oscillators with phase resetting. Our results show that the robot establishes stable walking on the treadmill at various speeds of the belts due to modulation of the rhythm and phase by phase resetting. In addition, the phase differences between the leg movements shifted from out of phase, and duty factors were autonomously modulated depending on the speed discrepancy between the belts occurring through dynamic interactions among the robot's mechanical system, the oscillator control system, and the environment. Such shifts of phase differences between the leg movements and modulations of duty factors are observed during human splitbelt treadmill walking, and our results suggest that our dynamic model using the robot and oscillator control system reflects a certain essence of the ability to produce adaptive locomotor behaviors.
International conference proceedings, English - Variant and invariant patterns embedded in human locomotion through whole body kinematic coordination
Tetsuro Funato; Shinya Aoi; Hiroko Oshima; Kazuo Tsuchiya
EXPERIMENTAL BRAIN RESEARCH, SPRINGER, 205, 4, 497-511, Sep. 2010, Peer-reviwed, Step length, cadence and joint flexion all increase in response to increases in gradient and walking speed. However, the tuning strategy leading to these changes has not been elucidated. One characteristic of joint variation that occurs during walking is the close relationship among the joints. This property reduces the number of degrees of freedom and seems to be a key issue in discussing the tuning strategy. This correlation has been analyzed for the lower limbs, but the relation between the trunk and lower body is generally ignored. Two questions about posture during walking are discussed in this paper: (1) whether there is a low-dimensional restriction that determines walking posture, which depends not just on the lower limbs but on the whole body, including the trunk and (2) whether some simple rules appear in different walking conditions. To investigate the correlation, singular value decomposition was applied to a measured walking pattern. This showed that the whole movement can be described by a closed loop on a two-dimensional plane in joint space. Furthermore, by investigating the effect of the walking condition on the decomposed patterns, the position and the tilt of the constraint plane was found to change significantly, while the loop pattern on the constraint plane was shown to be robust. This result indicates that humans select only certain kinematic characteristics for adapting to various walking conditions.
Scientific journal, English - Robust patterns embedded in the kinematics of human locomotion under various environments
Tetsuro Funato; Shinya Aoi; Kazuo Tsuchiya
4th International Symposium on Measurement analysis and Modelling of Human Functions, 68-71, Jun. 2010, Peer-reviwed
International conference proceedings, English - Evaluation of functional roles of phase resetting in generation of adaptive human bipedal locomotion based on a neuromusculoskeletal model
Shinya Aoi; Naomichi Ogihara; Tetsuro Funato; Yasuhiro Sugimoto; Kazuo Tsuchiya
4th International Symposium on Measurement analysis and Modelling of Human Functions, 64-67, Jun. 2010, Peer-reviwed
International conference proceedings, English - Evaluating functional roles of phase resetting in generation of adaptive human bipedal walking with a physiologically based model of the spinal pattern generator
Shinya Aoi; Naomichi Ogihara; Tetsuro Funato; Yasuhiro Sugimoto; Kazuo Tsuchiya
BIOLOGICAL CYBERNETICS, SPRINGER, 102, 5, 373-387, May 2010, Peer-reviwed, The central pattern generators (CPGs) in the spinal cord strongly contribute to locomotor behavior. To achieve adaptive locomotion, locomotor rhythm generated by the CPGs is suggested to be functionally modulated by phase resetting based on sensory afferent or perturbations. Although phase resetting has been investigated during fictive locomotion in cats, its functional roles in actual locomotion have not been clarified. Recently, simulation studies have been conducted to examine the roles of phase resetting during human bipedal walking, assuming that locomotion is generated based on prescribed kinematics and feedback control. However, such kinematically based modeling cannot be used to fully elucidate the mechanisms of adaptation. In this article we proposed a more physiologically based mathematical model of the neural system for locomotion and investigated the functional roles of phase resetting. We constructed a locomotor CPG model based on a two-layered hierarchical network model of the rhythm generator (RG) and pattern formation (PF) networks. The RG model produces rhythm information using phase oscillators and regulates it by phase resetting based on foot-contact information. The PF model creates feedforward command signals based on rhythm information, which consists of the combination of five rectangular pulses based on previous analyses of muscle synergy. Simulation results showed that our model establishes adaptive walking against perturbing forces and variations in the environment, with phase resetting playing important roles in increasing the robustness of responses, suggesting that this mechanism of regulation may contribute to the generation of adaptive human bipedal locomotion.
Scientific journal, English - ヒトの歩行における全身の関節間協調動作の定量的評価
舩戸徹郎; 青井伸也; 土屋和雄
日本ロボット学会誌, The Robotics Society of Japan, 28, 8, 996-1003, 2010, Peer-reviwed, Human keeps high correlation among his joint motions during locomotion, and this correlation is considered to take an important role on the control of the joints and muscles, which is characterized as a redundant system. The analysis of the correlation of the recorded joint movement extracts a few simultaneously activating segmental coordination patterns, and the structure of the intersegmental coordination is attracting attention expecting its relationship with control strategy. This research proposes a method to quantitatively evaluate the intersegmental coordination as a combination of the jacobian of a few characteristic points. By applying the proposed method to the motion of 7 joints, including both limbs and trunk, this research showed that the transition of COM and rotation of ankles can represent the whole body movement.
Scientific journal, Japanese - Adaptive formation transition of a swarm of mobile robots based on phase gradient
Daisuke Kurabayashi; Tatsuki Choh; Jia Cheng; Tetsuro Funato
Journal of Robotics and Mechatronics, 22, 4, 467-474, 2010, Peer-reviwed
Scientific journal, English - An Analysis of the Kinematic Indices of Human Walking
Tetsuro Funato; Shinya Aoi; Kazuo Tsuchiya
The 3rd International Symposium on Mobiligence, 224-229, Nov. 2009, Peer-reviwed
International conference proceedings, English - Generation of Adaptive Human Bipedal Locomotion Based on a Neuromusculoskeletal Model
Shinya Aoi; Naomichi Ogihara; Tetsuro Funato; Yasuhiro Sugimoto; Kazuo Tsuchiya
The 3rd International Symposium on Mobiligence, 250-254, Nov. 2009, Peer-reviwed
International conference proceedings, English - Motion Control of Dense Robot Colony Using Thermodynamics
Antonio D'Angelo; Tetsuro Funato; Enrico Pagello
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 8, SPRINGER-VERLAG BERLIN, 85-+, 2009, Peer-reviwed, In the last decades the theory of the complex dynamical systems has come to maturation providing a lot of important results in the field of many applied sciences. Also robotics has taken advantages from this new approach in what the behavior-based paradigm is particularly suitable to devise specific sensing activity since sensors usually provide information about the environment in a form which depends on the physics of the interaction. It is not required to be immediately converted into some symbolic representation but, on the contrary, it can be maintained at some physical level as a metaphor of the events observed in the environment. The close connection between the motor schema with its companion perceptual schema seems suggesting the presence of a substratum which underlies both perception and action activities, driving the flow of information accordingly. In the paper we consider a colony of robots immersed in a well-specified thermodinamical substratum where enthalpy and heat flux are devised to go vern the diffusion/merging behavior of a swarm.
International conference proceedings, English - Modeling a Behavior Selection Mechanism of Insects via Structural Transition of Oscillator Networks
Tetsuro Funato; Masahito Nara; Daisuke Kurabayashi; Hitoshi Aonuma; Masatoshi Ashikaga
Mobiligence workship in IROS2008, 11, Sep. 2008, Peer-reviwed
International conference proceedings, English - Switching mechanism of sensor-motor coordination through an oscillator network model
Tetsuro Funato; Daisuke Kurabayashi; Masahito Nara; Hitoshi Aonuma
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 38, 3, 764-770, Jun. 2008, Peer-reviwed, Insects have small brains, but their behavior is highly adaptive; this leads us to conclude that their brains possess a simple adaptation mechanism. This paper focuses on the pheromone processing of crickets, varying their aggression depending on their global neural connection, and proposes a behavior selection mechanism that can be controlled by network transformation. The controller is composed of an oscillator network, and its behavior is decided by the synchrony of organic oscillations. Furthermore, every network component corresponds to a certain brain module. A model is realized by using an analog circuit, and it is applied to a simple robot that displays the behavior of a real insect.
Scientific journal, English - Network structure for control of coupled multiple nonlinear oscillators
Tetsuro Funato; Daisuke Kurabayashi
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 38, 3, 675-681, Jun. 2008, Peer-reviwed, In recent research, the morphological effect is widely discussed from walking to the Internet, and its mechanism for generating the functionality has been discovered. In this paper, a module that employs the structural effect for controlling behavior is constructed using coupled nonuniform van der Pol oscillators. We first examine the synchrony of two types of oscillators focusing on number; then, an oscillator module that changes its synchrony from structural disposition is constructed. Oscillators are mutually arranged on a ring-shaped network, and an additional connection is used for transformation. The stability of this system is also discussed, and finally, the procedure for designing this structure-sensitive module using more than three types of oscillators is described.
Scientific journal, English - Implementation of formation transition system using synchronization in a mobile robot group
Shimone Takaaki; Kurabayashi Daisuke; Okita Kunio; Funato Tetsuro
FIELD AND SERVICE ROBOTICS: RESULTS OF THE 6TH INTERNATIONAL CONFERENCE, 42, 423-432, 2008, Peer-reviwed - Emergent transportation networks by considering interactions between agents and their environment
Daisuke Kurabayashi; Katsunori Urano; Tetsuro Funato
ADVANCED ROBOTICS, VSP BV, 21, 12, 1339-1349, Dec. 2007, Peer-reviwed, We have formulated and examined an autonomous organization system for a transportation network system. In this paper, we have considered costs not only for traversing the network, but also for maintaining some routes on it. We assume that a working agent utilizes pheromone-like items for navigation. We have formulated a traversing cost of a route by considering the density of the items, which reflects the density of agents using the route. An agent arranges its route iteratively, then a whole network converges a state. As the cost function becomes a nonlinear equation, the topology of the emerged network depends on the resource of the system, i.e., the population of the agents. The results show that the proposed algorithm can change a transportation network into a feasible topology with a minimum traversing cost and the properties of a small world network.
Scientific journal, English - Development of structure-mediated behaviour selector using oscillator network
Tetsuro Funato; Daisuke Kurabayashi; Masahito Nara; Hitoshi Aonuma
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, IEEE, 1206-+, 2007, Peer-reviwed, Insects have only a small brain but their behaviour is highly adaptive; this adaptive feature leads us to expect their brain to possess a simple adaptation mechanism. This research focuses attention on the phenomenon of crickets varying their aggression depending on their global neural connection, and proposes a behaviour selection mechanism controlled by network transformation. The controller is composed of an oscillator network and its behaviour is decided by synchrony based on organic oscillation. Furthermore, every network component corresponds to a certain brain module. A model is realised using an analog circuit and it is applied to a simple robot model that displays the behaviour of a real insect.
International conference proceedings, English - Emergence of a Small-World Like Communication Network Through Local Ad Hoc Negotiation
Daisuke Kurabayashi; Tomohiro Inoue; Akira Yajima; Tetsuro Funato
Journal of Robotics and Mechatronics, 19, 4, 459-465, 2007, Peer-reviwed
Scientific journal, English - Development of oscillator network model for behavioral processing.
Tetsuro Funato; Hitoshi Aonuma; Daisuke Kurabayashi; Masahito Nara
2nd International Workshop of Research Group of Invertebrate Nervous System, 8, Aug. 2006, Peer-reviwed
International conference proceedings, English - Emergence of small-world in Ad-hoc communication network among individual agents
Daisuke Kurabayashi; Tomohiro Inoue; Akira Yajima; Tetsuro Funato
INTELLIGENT AUTONOMOUS SYSTEMS 9, IOS PRESS, 605-+, 2006, Peer-reviwed, This paper describes an algorithm to realize a small-world type ad-hoc communication network among autonomous mobile agents. An ad-hoc network means a network emerged by local negotiations without central manager. We have shown procedures so that an emerged network equips small-world property, which results effective communication with low cost. We have formulated expected number of communication links and degrees of agents. By simulations we verified the proposed method.
International conference proceedings, English - Synchronization control by structural modification of nonlinear oscillator network
Tetsuro Funato; Daisuke Kurabayashi; Masahito Nara
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 7, SPRINGER-VERLAG TOKYO, 41-+, 2006, Peer-reviwed, The structural features of a system significantly affect the attributes and functions of the system. The effect of this phenomenon can be widely observed, from areas such as the WWW to the brains of animals. In the present paper, a method for controlling the behavior of a system by manipulating the structure is examined using a coupled nonlinear oscillator model. We first describe a property of the eigen frequencies of coupled oscillators and show that convergent transition is possible by connecting oscillators with significantly different eigen frequencies. Moreover, using the eigenvalues of a graph matrix, we reveal that a combination of distant oscillators can shift the converged state independent of the eigen-frequencies.
International conference proceedings, English - Functional structure of autonomically emerged network in an environment
Tetsuro Funato; Daisuke Kurabayashi
2006 IEEE International Conference on Computational Cybernetics, ICCC, 315-320, 2006, Peer-reviwed, The structure, function and environment of a system are deeply connected: the topological features of a network affect the function of a system, and the structure is affected by the environment. This paper deals with the network that emerges as a consequence of agent motion. We assume that the agents are moving in a field and develop a task to eliminate obstacles, and we consider the relationship among interacting agents as a network. We consider the structural properties of this network from the viewpoint of functionality-the number of tasks executed. By simulation, we show the emerged structure exhibits small world (SW) characteristics, and the characteristics help in the effective execution of the tasks.
International conference proceedings, English - Obstacle avoidance of a mobile robot group using a nonlinear oscillator network
Daisuke Kurabayashi; Kunio Okita; Tetsuro Funato; Ryota Sakaematsu
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, IEEE, 186-+, 2006, Peer-reviwed, In this paper, we propose and implement a formation control algorithm for a mobile robot group. Although obstacle avoidance is a highly essential function, it is not compatible with maintaining a formation. In previous studies, robots often switched their motion algorithms. However, there no concrete criteria exists for such decisions. In this paper, we employ the synchronization of nonlinear oscillators that communicate with each other. By using sensor signals, we vary the phase gaps among the oscillators. According to these phase gaps, we change gains to form a group in order to avoid obstacles. We have implemented the proposed system using actual robotic systems and have demonstrated its feasiblity.
International conference proceedings, English - 複数の固有振動を持つ振動子網の構造遷移による挙動制御.
舩戸徹郎; 倉林大輔
計測自動制御学会論文集, The Society of Instrument and Control Engineers, 42, 8, 934-940, 2006, Peer-reviwed, The structural features of a system deeply affect on the attribute of the system and the function. The effect of this phenomenon can be found in wide area, such as WWW and animal brains. In this paper, a method for controlling the behavior of system by manipulation on the structure is dealt using coupled non-uniform van der Pol (VDP) oscillators. At first, we describe a simple characteristic between the a of oscillators and the convergent states by two kind of oscillators. Secondly, controlling method is built with this disposition. Then, the process of changing the states is mathematically analyzed. Finally, several characteristics for more oscillators are described.
Scientific journal, Japanese - 解析に基づく設計・維持管理のための 画像解析による溶接変形 ・ 残留応力評価手法の概念提案 (第2報,画像処理アルゴリズムの開発）
舩戸徹郎; 中村春夫
日本機械学会論文集 A編, The Japan Society of Mechanical Engineers, 72, 723, 1623-1630, 2006, Peer-reviwed, Concept of the structural design has been shifted from the design-by-rule to the design-by-analysis in recent years. However, its shift is restricted within non-welded structure fields. A main reason may be due to lack of applicability for conventional stress measuring method to the finite element analysis (FEM) which is widely used in structural design. To solve this problem, the following new concept has been proposed. Displacements are measured through digital image pictures of a weldment before and after weld and eigen-stains are evaluated by the inverse analysis. Then displacements and residual stresses are estimated by the forward analysis. In this study, development of an image processing algorithm is attempted.
Scientific journal, Japanese - Emergence of adaptive behaviors through topological structures of networks
Kurabayashi Daisuke; Funato Tetsuro
ZOOLOGICAL SCIENCE, 22, 12, 1414-1415, Dec. 2005, Peer-reviwed - Autonomous transportation network organization by interactions between agents and an environment
D Kurabayashi; K Urano; T Matsuoka
SICE 2004 ANNUAL CONFERENCE, VOLS 1-3, SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 2247-2250, 2004, Peer-reviwed, We have formulated and examined an autonomous organization system for transportation network system. In this paper, we have considered costs not only to traverse but also to maintain some routes on a transportation network. The results say that the proposed algorithm changes a transportation algorithm into a feasible topology that has the smallest cost to traverse and the property of the small-world network.
International conference proceedings, English
MISC
- Unraveling Neural Mechanisms of Upper Limb Motor Dysfunction after Stroke and Novel Evaluation Methods for Functional Recovery
小杉 亮人; 舩戸 徹郎; 関 和彦
Japanese Association of Rehabilitation Medicine, 18 Sep. 2023, The Japanese Journal of Rehabilitation Medicine, 60, 9, 754-761, Invited, Report scientific journal, 1881-3526, 1881-8560 - シナジー解析と関節間協調性
舩戸 徹郎
Lead, May 2023, 理学療法ジャーナル, 57, 5, 526-530, Japanese, Invited, Introduction commerce magazine - ラットの直立姿勢制御の構成原理
舩戸徹郎; 鴻巣暁; 柳原大
Lead, 25 May 2021, Medical Science Digest, 47, 5, 52-55, Japanese, Invited, Introduction commerce magazine - Hereditary sensory and autonomic neuropathy types 4 and 5: Review and proposal of a new rehabilitation method
Arito Yozu; Nobuhiko Haga; Tetsuro Funato; Dai Owaki; Ryosuke Chiba; Jun Ota
2015, Neuroscience Research, 104, 105-111, English, Peer-reviwed, Introduction scientific journal - Neuromusculoskeletal models based on the muscle synergy hypothesis for the investigation of adaptive motor control in locomotion via sensory-motor coordination
Shinya Aoi; Tetsuro Funato
2015, Neuroscience Research, 104, 88-95, English, Peer-reviwed, Introduction scientific journal - 環境適応機能を有する歩行ロボットの構成論
土屋和雄; 青井伸也; 舩戸徹郎
2010, システム/制御/情報, 54, 11, 418-424, Japanese, Peer-reviwed, Introduction other - Development of Behavioral Transition Model by using Oscillator Network
Funato T; Kurabayashi D; Nara M; Aonuma H
Insects have only a little brain but the behavior is highly adaptive. We consider that physical structure of the neural network works on the creation of the brain function and model the behavioral processor that controlled by its structural disposition. Nonlinear oscillator changes the behavior depends on the connection relationship, and the existence of oscillator and the function have been shown in antennal lobe(AL) of locust. Moreover, the structure of cricket AL changes by battle experience. Therefore, we model the function of AL using an oscillator network. Then, we realized the model ..., 物性研究刊行会, 20 Jan. 2007, Bussei Kenkyu, 87, 4, 579-582, Japanese, 0525-2997, 110006207263
Books and other publications
Lectures, oral presentations, etc.
- 動作及び筋活動解析によるマカクサルの筋再配置後の超適応過程の解明
太田直仁; Roland Philipp; 原 友紀; 舩戸 徹郎; 関 和彦
Oral presentation, 第37回自律分散システム・シンポジウム
16 Jan. 2025 - 筋骨格シミュレーションによるマカクサルの筋再配置後の適応メカニズムの解明
中島 直志; 荻原 直道; 王 森彤; 大屋 知徹; 関 和彦; 舩戸 徹郎
Oral presentation, 第37回自律分散システム・シンポジウム
16 Jan. 2025 - ラットの前外側運動皮質の機能評価と強化学習モデルによる予測的姿勢制御メカニズムの解明
福原 魁人; 鴻巣 暁; 舩戸 徹郎; 柳原 大
Oral presentation, 第37回自律分散システム・シンポジウム
16 Jan. 2025 - ヒトの直立予測制御における脳活動の計測および そのメカニズムの解明
樫 祐人; 織江 真帆; 舩戸 徹郎
Oral presentation, 第37回自律分散システム・シンポジウム
16 Jan. 2025 - 筋再配置による身体変化に対する超適応現象
舩戸 徹郎
Public discourse, Japanese, 超適応 一般公開講座, Invited
15 Sep. 2024 - 腱再配置後の手指の機能回復に伴う患者の筋シナジー変化
白壁 卓実; 舩戸 徹郎; 関 和彦; 原 友紀
第18回Motor Control研究会
23 Aug. 2024 - 脊髄神経細胞群の多チャンネル同時記録による後肢の姿勢の表現様式の解明
曽我祐太; 前田和孝; 江川史朗; 福山秀青; 高橋未来; 舩戸 徹郎; 高草木薫; 関 和彦
Poster presentation, 第18回Motor Control研究会
23 Aug. 2024 - Revealing forelimb pose representations in the cervical spinal cord of decerebrate cats through high-density linear electrode recordings
Yuta Soga; Kazutaka Maeda; Shiro Egawa; Shusei Fukuyama; Mirai Takahashi; Tetsuro Funato; Kaoru Tkakusaki; Kazuhiko Seki
Poster presentation, Neural Control of Movement 2024
18 Apr. 2024
15 Apr. 2024- 19 Apr. 2024 - 筋再配置後の運動回復におけるサルの脳活動変化の解析
姫路康太郎; 舩戸徹郎; Roland Philipp; 太田直仁; 原友紀; 関和彦
Oral presentation, Japanese, 第36回自律分散システム・シンポジウム
16 Feb. 2024 - Effect of Pharmacological Inactivation of the Cerebellum on Learning Function for Predictive Postural Control in Rat
Kaito Fukuhara; Akira Konosu; Tetsuro Funato; Dai Yanagihara
Oral presentation, English, MHS2023, Peer-reviewed
20 Nov. 2023
20 Nov. 2023- 22 Nov. 2023 - Upper Limb Musculoskeletal Model of Macaque Monkey for Approaching Adaptation Mechanism to Tendon Transfer
Naoyuki Nakajima; Sentong Wang; Naomichi Ogihara; Tomomichi Oya; Kazuhiko Seki; Tetsuro Funato
Poster presentation, English, Society for Neuroscience 2023, Peer-reviewed
13 Nov. 2023
11 Nov. 2023- 15 Nov. 2023 - Predictive postural controls in bipedal rats: roles of cerebellar vermis and mathematical simulation
Akira Konosu; Kaito Fukuhara; Tetsuro Funato; Dai Yanagihara
Poster presentation, English, HypAd2023
28 Oct. 2023
28 Oct. 2023- 29 Oct. 2023 - Neural Adaptation in Response to Tendon Transfer in the Primate Forearm Part II : Adaptive changes in movement kinematics and their relationship to forearm EMG
Yuki Hara; Roland Philipp; Naoki Uchida; Naohito Ohta; Tomomichi Oya; Tetsuro Funato; Kazuhiko Seki
Poster presentation, English, HypAd2023
29 Oct. 2023 - 歩行データの脚間協調に関する予備的解析
古川温馬; 荒井貴光; 青井伸也; 舩戸徹郎; 土屋和雄; 青柳富誌生
17 Sep. 2023 - 脊髄細胞群による四肢の固有感覚の表現様式解析
曽我 祐太; 江川 史郎; 前田 和孝; 小杉 亮人; 舩戸 徹郎; 関 和彦
第17回Motor Conrtrol研究会
Aug. 2023 - Muscle synergy analysis for musclo-skeletal-joint model
Sentong wang; Tetsuro Funato
Poster presentation, English, 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Jul. 2023 - 脳卒中回復評価における筋シナジー解析の応用可能性
舩戸 徹郎
Invited oral presentation, 第60回日本リハビリテーション医学会学術集会, Invited
30 Jun. 2023 - Analysis of muscle activity related to long-term adaptation after tendon transfer in a macaque monkey
Naohito Ohta; Roland Philipp; Yuki Hara; Tetsuro Funato; Kazuhiko Seki
Poster presentation, English, Neural Control of Movement
Apr. 2023 - 反射系に基づくヒト歩行の筋骨格シミュレーションの構築
杉岡 潤; 王 森彤; 舩戸 徹郎
Oral presentation, 第35回自律分散システム・シンポジウム
23 Jan. 2023 - 脊髄小脳変性症の筋シナジーに注目した運動制御法
西田 大輔; 宮崎 裕大; 板東 杏太; 辻本 憲吾; 原 貴敏; 舩戸 徹郎; 関 和彦; 水野 勝広
Oral presentation, Japanese, 第52回日本臨床神経生理学会学術大会, Domestic conference
25 Nov. 2022 - Neural adaptation in response to tendon cross-union of an antagonistic muscle pair in the primate forearm
Roland Philipp; Naoki Uchida; Yuki HARA; Tetsuro Funato; Kazuhiko Seki
Poster presentation, English, Society for Neuroscience 2022, Peer-reviewed
12 Nov. 2022 - 患者別の膝関節の接触・変形を考慮した筋骨格モデルによる歩行分析
王森彤; 長谷和徳; 舩戸徹郎
第49回日本臨床バイオメカニクス学会
Nov. 2022 - 脳卒中回復評価動作の筋シナジー解析
舩戸 徹郎
Invited oral presentation, Japanese, 第20回日本神経理学療法学会学術大会, 大阪国際会議場, Domestic conference
16 Oct. 2022 - 床傾斜に対する直立姿勢系の予測動作の解析
小川 翠帆; 王 森彤; 舩戸 徹郎
Oral presentation, Japanese, 第40回 日本ロボット学会学術講演会, Domestic conference
06 Sep. 2022 - 予測的姿勢制御における小脳虫部の役割
鴻巣暁; 舩戸徹郎; 松木勇磨; 酒井隆太郎; 柳原大
Oral presentation, Japanese, 日本小脳学会 第12回学術集会・総会, オンライン, Domestic conference
11 Mar. 2022 - ラットの歩行運動制御系の解明のための筋骨格モデルの構築
遠藤 啓輔; 酒井 隆太郎; 柳原 大; 舩戸 徹郎
Oral presentation, Japanese, 第34回自律分散システム・シンポジウム, オンライン, Domestic conference
22 Jan. 2022 - 腱再配置に対する適応機能解明のための筋骨格モデルの構築
内田 菜津美; 関 和彦; 荻原 直道; 大屋 知徹; 舩戸 徹郎
Oral presentation, Japanese, 第34回自律分散システム・シンポジウム, Domestic conference
22 Jan. 2022 - ヒトの直立予測姿勢系の構築による予測的姿勢調節(APA)の解明
小川 翠帆; 舩戸 徹郎
Oral presentation, Japanese, 第34回自律分散システム・シンポジウム, Domestic conference
22 Jan. 2022 - Synergy Analysis of Musculoskeletal Model for Adaptation Mechanism of Monkey with Tendon Transfer
Natsumi Uchida; Kazuhiko Seki; Naomichi Ogihara; Tomomichi Oya; Tetsuro Funato
English, IEEE International Symposium on Micro-NanoMechatronics and Human Science, Peer-reviewed
06 Dec. 2021 - Modelling Posture Control to Predictable Perturbation in Rats
Yuma Matsuki; Akira Konosu; Akihiro Fujita; Tetsuro Funato; Dai Yanagihara
Poster presentation, English, HypAd2021
26 May 2021 - モデル予測制御を用いたシンプル二足歩行モデルの構築
伊藤 耕介; 舩戸 徹郎
Oral presentation, Japanese, 第33回自律分散システムシンポジウム, Domestic conference
15 Mar. 2021 - 筋シナジー解析による身体改変に対する神経適応機能の解明
内田 直輝; Roland Philipp; 大屋 知徹; 原 友紀; 舩戸 徹郎; 関 和彦
Oral presentation, Japanese, 計測自動制御学会 システム・情報部門 学術講演会2020
17 Nov. 2020 - ラットの予測制御系のシステムモデル
藤田 章寛; 鴻巣 暁; 舩戸 徹郎; 松木 勇磨; 小松 拓実; 柳原 大
Oral presentation, Japanese, 計測自動制御学会 システム・情報部門 学術講演会2020
17 Nov. 2020 - 下オリーブ核障害ラットの直立姿勢制御系の定量評価
舩戸 徹郎
Oral presentation, Japanese, 歩行姿勢研究シンポジウム
26 Sep. 2020 - Approaching neural control structure through experiment and modeling of animal movement
Tetsuro Funato
Oral presentation, English, The 6th Symposium on Theoretical and Applied Mechanics
03 Sep. 2020 - Approaching neural control structure through experiment and modeling of animal movement
Tetsuro Funato
Nominated symposium, English, 第６回理論応用力学シンポジウム, Domestic conference
03 Sep. 2020 - 予測可能な傾斜外乱に対するラットの姿勢動作学習の解析
藤田章寛; 鴻巣暁; 舩戸徹郎; 柳原大
Oral presentation, Japanese, 第32回自律分散システムシンポジウム, Domestic conference
26 Jan. 2020 - 歩行の予期的動作の解明のためのラットのVR実験環境の構築
三ツ木 知愛; 舩戸 徹郎; 小松 拓実; 酒井 隆太郎; 鴻巣 暁; 柳原 大
Oral presentation, Japanese, 第32回自律分散システムシンポジウム, Domestic conference
25 Jan. 2020 - 微少な傾斜外乱に対する脊髄小脳変性症患者の姿勢応答
堀内 雄暉; 舩戸 徹郎; 板東 杏太; 東口 大樹; 花川 隆; 柳原 大; 青井 伸也; 土屋 和雄
Oral presentation, Japanese, 計測自動制御学会システム・情報部門学術講演会2019, Domestic conference
23 Nov. 2019 - Muscle synergy analysis of forearm muscles in macaque monkey after cross-tendon transfer surgery
Naoki Uchida; Roland Philipp; Tomomichi Oya; Tetsuro Funato; Kazuhiko Seki
Poster presentation, English, Neural Control of Movement Conference
24 Apr. 2019 - 小脳梗塞に伴う歩行失調機序の解明のためのラットのシナジー解析
酒井 隆太郎; 舩戸 徹郎; 鴻巣 暁; 藤木 聡一郎; 青井 伸也; 柳原 大
Oral presentation, Japanese, 第３１回自律分散システム・シンポジウム, Domestic conference
25 Jan. 2019 - 多脚ロボットのピッチフォーク分岐を利用した旋回機動性の実験的考察
東松 龍英; 青井 伸也; 藤木 聡一朗; 舩戸 徹郎; 泉田 啓; 土屋 和雄
Oral presentation, Japanese, 第３１回自律分散システム・シンポジウム, Domestic conference
24 Jan. 2019 - 小脳梗塞に伴う歩行失調機序の解明のためのシナジー解析
酒井隆太郎; 舩戸徹郎; 鴻巣暁; 藤木聡一朗; 青井伸也; 柳原大
Poster presentation, Japanese, 第23回創発システム・シンポジウム, Domestic conference
09 Sep. 2018 - ラットの左右分離型トレッドミル歩行計測に基づく神経制御モデルの構築
藤木 聡一朗; 青井 伸也; 舩戸 徹郎; 土屋 和雄; 柳
Oral presentation, Japanese, 第１７回姿勢と歩行研究会, 東京, Domestic conference
16 Mar. 2018 - ラットにおける新たな姿勢制御課題の構築と小脳虫部の脳梗塞の影響
松本 知晃; 鴻巣 暁; 淺香 明子; 山田 桃子; 舩戸 徹郎; 青井 伸也; 深代 千之; 柳原 大
Oral presentation, Japanese, 第１７回姿勢と歩行研究会, 東京, Domestic conference
16 Mar. 2018 - ラットの二足直立実験環境の構築と下オリーブ核障害の影響評価
舩戸 徹郎; 佐藤 陽太; 藤木 聡一朗; 佐藤 和; 青井 伸也; 土屋 和雄; 柳原 大
Oral presentation, Japanese, 第１７回姿勢と歩行研究会, 東京, Domestic conference
16 Mar. 2018 - 筋シナジー仮説に基づくヒトの神経筋骨格モデルを用いた走行−歩行遷移シミュレーション
馬場 量子; 青井 伸也; 藤木 聡一朗; 舩戸 徹郎; 泉田 啓; 土屋 和雄
Oral presentation, Japanese, 第３０回自律分散システム・シンポジウム, Domestic conference
29 Jan. 2018 - ニホンザルの二足・四足歩行時の筋活動に見られる上肢・体幹・下肢の協調
大島 裕子; 青井 伸也; 中陦 克己; 日暮 泰男; 舩戸 徹郎; 辻内 伸好; 伊藤 彰人; 土屋 和雄
Oral presentation, Japanese, 第３０回自律分散システム・シンポジウム, Domestic conference
29 Jan. 2018 - 歩行のslow dynamicsのモデル化
藤木聡一朗; 青井伸也; 舩戸徹郎; 柳原大; 土屋和雄
Poster presentation, Japanese, 第23回創発システム・シンポジウム
08 Sep. 2017 - ヒトの歩行・走行遷移時の筋シナジー解析
八切宗矩; 高橋弘宗; 辻内伸好; 伊藤彰人; 大島裕子; 青井伸也; 舩戸徹郎; 土屋和雄
Poster presentation, Japanese, 第23回創発システム・シンポジウム, 長野
08 Sep. 2017 - 小脳梗塞ラットの歩行解析
酒井隆太郎; 舩戸徹郎; 藤木聡一朗; 淺香明子; 青井伸也; 柳原大
Poster presentation, Japanese, 第23回創発システム・シンポジウム, 長野, Domestic conference
08 Sep. 2017 - 筋電信号解析のための非負値行列因子分解
大島 裕子; 辻内 伸好; 伊藤 彰人; 中陦 克己; 日暮 泰男; 青井 伸也; 舩戸 徹郎; 土屋 和雄
Oral presentation, Japanese, 2017年度機械学会年次大会, Domestic conference
04 Sep. 2017 - 筋シナジー仮説に基づくニホンザルの神経筋骨格モデルを用いた四足・二足歩行生成と歩容遷移
大橋 朋広; 青井 伸也; 中陦 克己; 日暮 泰男; 大島 裕子; 藤木 聡一朗; 舩戸 徹郎; 荻原 直道; 泉田 啓; 土屋 和雄
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム, Domestic conference
31 Jan. 2017 - ニホンザル二足／四足歩行時の筋シナジー解析
大島 裕子; 中陦 克己; 日暮 泰男; 青井 伸也; 舩戸 徹郎; 辻内 伸好; 伊藤 彰人; 土屋 和雄
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム
31 Jan. 2017 - ラット後肢左右分離型トレッドミル歩行の運動学シナジー解析
藤木 聡一朗; 佐藤 陽太; 舩戸 徹郎; 青井 伸也; 土屋 和雄; 柳原 大
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム, Domestic conference
31 Jan. 2017 - ヒトの歩行・走行遷移時の筋シナジー解析
高橋 弘宗; 大島 裕子; 青井 伸也; 舩戸 徹郎; 辻内 伸好; 伊藤 彰人; 土屋 和雄
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム, Domestic conference
30 Jan. 2017 - Modeling of fast, slow dynamics for locomotion based on muscle synergy
Shinya Aoi; Soichiro Fujiki; Tetsuro Funato; Dai Yanagihara; Kazuo Tsuchiya
Oral presentation, English, SICE-LE2016, Domestic conference
05 Nov. 2016 - Elucidation of human rhythm control mechanism through evaluation of perturbed walking
Tetsuro Funato; Shinya Aoi; Yuki Yamamoto; Takashi Imai; Toshio Aoyagi; Nozomi Tomita; Kazuo Tsuchiya
Oral presentation, English, SICE-LE2016, Domestic conference
05 Nov. 2016 - Measurement and simulation of rat split-belt treadmill walking.
Soichiro Fujiki; Shinya Aoi; Tetsuro Funato; Dai Yanagihara; Kazuo Tsuchiya
Oral presentation, English, SICE-LE2016, Domestic conference
03 Nov. 2016 - 四脚ロボットの左右分離型トレッドミルにおける適応的な歩行生成
天野孝志; 青井伸也; 藤木聡一朗; 舩戸徹郎; 泉田啓; 土屋和雄
Oral presentation, Japanese, 第28回自律分散システム・シンポジウム, 広島, Domestic conference
21 Jan. 2016 - ラットの神経筋骨格モデルに基づく左右分離型トレッドミル歩行における長期適応の生成
藤木聡一朗; 青井伸也; 舩戸徹郎; 柳原大; 土屋和雄
Oral presentation, Japanese, 第28回自律分散システム・シンポジウム, 広島, Domestic conference
21 Jan. 2016 - ラットの二足直立運動の関節間協調の解析
佐藤陽太; 舩戸徹郎; 柳原大; 佐藤和; 藤木聡一朗; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第28回自律分散システム・シンポジウム, 広島, Domestic conference
21 Jan. 2016 - 筋シナジーの時間パターンがヒト起立動作に与える影響の神経筋骨格モデルを用いた解明
安琪; 石川雄己; 青井伸也; 舩戸徹郎; 岡敬之; 山川博司; 山下淳; 淺間一
Oral presentation, Japanese, 計測自動制御学会システム・情報部門学術講演会2015, 函館, Domestic conference
19 Nov. 2015 - 筋シナジー制御を用いた四肢神経筋骨格モデルの歩容生成とエネルギー効率の考察
戸枝美咲; 青井伸也; 舩戸徹郎; 土屋和雄; 柳原大
Oral presentation, Japanese, 第70回日本体力医学会大会, 和歌山, Domestic conference
19 Sep. 2015 - スペクトルの特徴量を用いた電気的除細動の効果の予測
荻野義大; 中野和司; 舩戸徹郎; 大屋英稔; 大西慶秀; 西田祐気
Oral presentation, Japanese, 電気学会全国大会, 東京
Mar. 2015 - 筋シナジーの時間パターンがヒト起立動作に与える影響の神経筋骨格モデルを用いた解明
Qi An; 石川雄己; 青井伸也; 舩戸徹郎; 岡敬之; 山川博司; 山下淳; 淺間一
Oral presentation, Japanese, 第20回ロボティクスシンポジア, Domestic conference
Mar. 2015 - 歩行・走行の関節運動に内在する低次元構造の解析
石塚駿太朗; 大島裕子; 青井伸也; 舩戸徹郎; 冨田望; 辻内伸好; 伊藤彰人; 土屋和雄
Oral presentation, Japanese, 第27回自律分散システム・シンポジウム, 東京
23 Jan. 2015 - 筋シナジーの制御によるラット四脚神経筋骨格モデルの歩容生成とエネルギー効率の考察
戸枝美咲; 青井伸也; 舩戸徹郎; 土屋和雄; 柳原大
Oral presentation, Japanese, 第27回自律分散システム・シンポジウム, 東京
23 Jan. 2015 - ラット後肢スプリットベルト・トレッドミル歩行の計測と解析
藤木聡一朗; 青井伸也; 柳原大; 舩戸徹郎; 佐藤陽太; 泉田啓; 土屋和雄
Oral presentation, Japanese, 第27回自律分散システム・シンポジウム, 東京
23 Jan. 2015 - 神経疾患に伴う姿勢制御系の変容解明のためのラットの直立実験環境の構築
佐藤陽太; 舩戸徹郎; 柳原大; 佐藤和; 青井伸也; 藤木聡一朗; 中野和司; 土屋和雄
Oral presentation, Japanese, 第27回自律分散システム・シンポジウム, 東京
23 Jan. 2015 - 多脚ロボットの直線歩行不安定性と旋回機動性の関係の実験的考察
田中隆浩; 青井伸也; 藤木聡一朗; 舩戸徹郎; 泉田啓; 土屋和雄
Oral presentation, Japanese, 第27回自律分散システム・シンポジウム, 東京
22 Jan. 2015 - 異なる環境における起立動作からの筋シナジー抽出と神経筋骨格モデルを用いた起立動作生成
Qi An; 石川雄己; 青井伸也; 舩戸徹郎; 岡敬之; 山川博司; 山下淳; 浅間一
Oral presentation, Japanese, 第８回モーターコントロール研究会, 筑波
08 Aug. 2014 - ラットの神経筋骨格モデルの構築と四足歩行の動力学シミュレーション
戸枝美咲; 青井伸也; 舩戸徹郎; 土屋和雄; 柳原大
Oral presentation, Japanese, 第８回モーターコントロール研究会, 筑波
08 Aug. 2014 - ラット後肢左右分離型トレッドミル歩行の計測と神経筋骨格モデル
藤木聡一朗; 青井伸也; 柳原大; 舩戸徹郎; 冨田望; 荻原直道; 泉田啓; 土屋和雄
Oral presentation, Japanese, 第８回モーターコントロール研究会, 筑波
08 Aug. 2014 - ラットの神経筋骨格モデルに基づく後肢スプリットベルト・トレッドミル歩行
藤木聡一朗; 青井伸也; 柳原大; 舩戸徹郎; 冨田望; 荻原直道; 泉田啓; 土屋和雄
Oral presentation, Japanese, 第26回自律分散システム・シンポジウム, 東京
Jan. 2014 - 数理モデルと運動計測データに基づくヒトの走行における脚剛性の推定
藤原直; 石塚駿太朗; 青井伸也; 舩戸徹郎; 大島裕子; 冨田望; 辻内伸好; 小泉孝之; 土屋和雄
Oral presentation, Japanese, 第26回自律分散システム・シンポジウム, 東京
Jan. 2014 - ヒトの自然歩容遷移時における筋電位解析
冨田望; 勝部晃將; 舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第26回自律分散システム・シンポジウム, 東京
Jan. 2014 - 神経筋骨格モデルを用いた筋シナジーに基づくヒトの歩行制御
青井伸也; 舩戸徹郎; 冨田望; 土屋和雄
Oral presentation, Japanese, システム・情報部門学術講演会, 滋賀
Nov. 2013 - 順動力学計算を用いた筋シナジーによるヒトの起立動作の生成
Qi An; 石川雄己; 舩戸徹郎; 青井伸也; 岡敬之; 山川博司; 山下淳; 淺間一
Oral presentation, Japanese, 第30回日本ロボット学会学術講演会
Sep. 2013 - WSTA法によるヒト歩行リズムの位相応答曲線の推定
舩戸徹郎; 山本雄基; 青井伸也; 冨田望; 今井貴史; 青柳富誌生; 土屋和雄
Oral presentation, Japanese, 第30回日本ロボット学会学術講演会
Sep. 2013 - 神経筋骨格モデルを用いた筋シナジーに基づくヒトの歩行・走行制御
青井伸也; 冨田望; 舩戸徹郎; 土屋和雄
Oral presentation, Japanese, 第7回Motor Control研究会, 東京
Sep. 2013 - ヒト歩行走行遷移時の筋電位解析
冨田望; 勝部晃將; 舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第7回Motor Control研究会, 東京
Sep. 2013 - Evaluation of physiological hypothesis of motor control in human walking and running using a neuromusculoskeletal model
S. Aoi; N. Tomita; T. Funato; K. Tsuchiya
Oral presentation, Japanese, ライフエンジニアリング部門シンポジウム, 神奈川
Sep. 2013 - マルチロボット協調制御におけるNash均衡解の探索法
犬嶋亙; 中野和司; 舩戸徹郎
Oral presentation, Japanese, 第19回創発システム・シンポジウム
Aug. 2013 - RoboCupロボットの経路生成のためのRRTの自動調整
鮫島功路; 中野和司; 舩戸徹郎
Oral presentation, Japanese, 第19回創発システム・シンポジウム
Aug. 2013 - 非線形PID制御によるヒト直立姿勢動揺モデルの解析
橋詰幸治; 舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 第25回自律分散システム・シンポジウム
Jan. 2013 - WSTA 法を用いたヒトの歩行運動の位相応答曲線の導出
山本雄基; 舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 第13回計測自動制御学会 システムインテグレーション部門講演会
Dec. 2012 - バネ付き床を用いたヒトの走行運動の調整機構の解析
藤原直; 舩戸徹郎; 冨田望; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第13回計測自動制御学会 システムインテグレーション部門講演会
Dec. 2012 - ヒト歩容遷移時におけるEMG 解析
勝部晃將; 冨田望; 舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第13回計測自動制御学会 システムインテグレーション部門講演会
Dec. 2012 - ヒトの直立姿勢動揺の非線形PID制御モデルの提案
橋詰幸治; 舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 計測自動制御学会システム・情報部門学術講演会 2012
Nov. 2012 - 運動学シナジーに基づくヒト歩行制御系の力学解析
舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 第30回日本ロボット学会学術講演会
Sep. 2012 - 運動学シナジーに基づくヒトの歩行制御構造の力学解析
舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 生理学研究所第６回Motor Control 研究会
Jun. 2012 - ヒト歩容遷移運動時のキネマティクスデータ解析
冨田望; 上江洲佑典; 勝部晃將; 舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 生理学研究所第６回Motor Control 研究会
Jun. 2012 - ヒトの直立姿勢時の積分補償付き間欠制御モデルの提案
橋詰幸治; 舩戸徹郎; 冨田望; 土屋和雄
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2012
May 2012 - ニホンザル歩行時の筋電と運動の解析
大島裕子; 中陦克己; 青井伸也; 舩戸徹郎; 冨田望; 土屋和雄
Oral presentation, Japanese, 第24 回自律分散システム・シンポジウム
Jan. 2012 - ヒト歩行・走行運動の歩容遷移速度近傍におけるEMG 解析
勝部晃將; 上江洲佑典; 冨田望; 舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第24 回自律分散システム・シンポジウム
Jan. 2012 - ヒトの歩行運動の関節間協調における位相応答の解析
山本雄基; 舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 第24 回自律分散システム・シンポジウム
Jan. 2012 - 4 足動物の共振特性に基づく歩容遷移モデル
森畠智史; 青井伸也; 舩戸徹郎; 冨田望; 土屋和雄
Oral presentation, Japanese, 第24 回自律分散システム・シンポジウム
Jan. 2012 - ラットの神経筋骨格モデルに基づく後肢障害物回避歩行
林直宏; 青井伸也; 近藤学宏; 柳原大; 青木祥; 山浦洋; 荻原直道; 舩戸徹郎; 冨田望; 泉田啓; 土屋和雄
Oral presentation, Japanese, 第24 回自律分散システム・シンポジウム
Jan. 2012 - ヒト歩行運動に内在する低次元構造とそのシステムモデル
青井伸也; 舩戸徹郎; 冨田望; 土屋和雄
Oral presentation, Japanese, 第12 回システムインテグレーション部門講演会(SI2011)
Dec. 2011 - 運動学シナジーを介した歩行制御モデルの力学シミュレーション
舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 第１７回創発システム・シンポジウム
Sep. 2011 - 歩行周期間の運動ゆらぎに基づく関節間協調を介した歩行制御機構の検討
舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 生理学研究所第５回Motor Control 研究会
Jun. 2011 - 関節拘束の影響によるヒトの歩行運動の変化
小西智也; 舩戸徹郎; 土屋和雄
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2011
Mar. 2011 - 運動ゆらぎに基づくヒトの歩行のモード制御モデルの検討
舩戸徹郎; 青井伸也; 冨田望; 土屋和雄
Oral presentation, Japanese, 第２３回自律分散システム・シンポジウム
Jan. 2011 - 4 足動物の数理モデルに基づくウォーク歩容の動力学解析：脚間位相差と重心上下動・脚負荷荷重の関係
森畠智史; 青井伸也; 舩戸徹郎; 土屋和雄
Oral presentation, Japanese, 第２３回自律分散システム・シンポジウム
Jan. 2011 - 特異値分解によるヒト歩行・走行運動の時空間パターン解析
増田弘樹; 冨田望; 舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第２３回自律分散システム・シンポジウム
Jan. 2011 - 直立と繰り返しおじぎ運動の運動学シナジーの共通性の評価
三谷大輔; 舩戸徹郎; 冨田望; 青井伸也; 土屋和雄
Oral presentation, Japanese, システム・情報部門学術講演会(SSI2010)
Nov. 2010 - 動作計測に基づくヒトの歩行運動時の位相反応曲線の推定
細川哲朗; 舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第１６回創発システム・シンポジウム
Aug. 2010 - ヒトの全身運動に対する外乱付加装置の開発
細川哲朗; 舩戸徹郎; 土屋和雄
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2010
Jun. 2010 - 歩行時の特徴的動作に基づく関節間協調の構成要因の評価
舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 生理学研究所第４回Motor Control 研究会
May 2010 - 特異値分解によるニホンザルの二足及び四足歩行の筋電解析
森畠智史; 大島裕子; 舩戸徹郎; 中陦克己; 土屋和雄; 青井伸也
Oral presentation, Japanese, 第54 回システム制御情報学会研究発表講演会
May 2010 - 変動に基づくヒトの歩行運動の制御指標の探索
舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第22 回自律分散システム・シンポジウム
Jan. 2010 - ヒトの姿勢運動の特異値分解による解析
繰生紘史; 舩戸徹郎; 土屋和雄
Oral presentation, Japanese, 第22 回自律分散システム・シンポジウム
Jan. 2010 - ヒトの神経筋骨格モデルに基づく適応的歩行生成における位相リセットの役割の考察
青井伸也; 荻原直道; 舩戸徹郎; 杉本靖博; 土屋和雄
Oral presentation, Japanese, 第22 回自律分散システム・シンポジウム
Jan. 2010 - 動作計測に基づく異なる歩行環境間での運動パターンの解析
舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第10 回計測自動制御学会 システムインテグレーション部門講演会
Dec. 2009 - 回転床面上におけるヒトのおじぎ動作の解析
足立渡; 舩戸徹郎; 土屋和雄
Oral presentation, Japanese, 第10 回計測自動制御学会 システムインテグレーション部門講演会
Dec. 2009 - ヒトの歩行における主運動の解析
舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第27 回日本ロボット学会学術講演会
Nov. 2009 - ヒトの歩行における主要な制御タスクの検討
舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 第１５回創発システム・シンポジウム
Aug. 2009 - 特異値分解による歩行運動の制御パラメータの検討
舩戸徹郎; 青井伸也; 土屋和雄
Oral presentation, Japanese, 生理学研究所第３回Motor Control 研究会
May 2009 - 振動子網を用いた昆虫規範ロボット群の挙動分化
舩戸徹郎; 奈良維仁; 倉林大輔; 青沼仁志; 足利昌俊
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会2008
Jun. 2008 - 振動子網を用いた行動切替えによるロボット群の挙動分化
奈良維仁; 舩戸徹郎; 倉林大輔; 足利昌俊; 青沼仁志; 森山拓郎
Oral presentation, Japanese, 第13 回ロボティクスシンポジア
Mar. 2008 - 結合振動子による行動選択回路の実装と行動評価
舩戸徹郎; 奈良維仁; A.D’Angelo; E.Pagello; 倉林大輔; 青沼仁志
Oral presentation, Japanese, 第25 回ロボット学会学術講演会
Nov. 2007 - 振動子網を用いた行動切替メカニズムの実現
倉林大輔; 舩戸徹郎; 奈良維仁; 青沼仁志
Oral presentation, Japanese, 計測自動制御学会制御部門大会
Mar. 2007 - 振動子網を用いた行動遷移メカニズムの考察
舩戸徹郎; 倉林大輔; 奈良維仁; 青沼仁志
Oral presentation, Japanese, 生命リズムと振動子ネットワーク
Oct. 2006 - 振動子網を用いた行動制御モデルの考察
舩戸徹郎; 倉林大輔; 奈良維仁; 青沼仁志
Oral presentation, Japanese, 第24 回日本ロボット学会学術講演会
Sep. 2006 - 構造操作による振動子網のパターン遷移とその実験的考察
奈良維仁; 舩戸徹郎; 倉林大輔
Oral presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会
May 2006 - 振動子網制御のための構造的性質に基づく振動子網の挙動
舩戸徹郎; 倉林大輔; 奈良維仁
Oral presentation, Japanese, 第18 回自律分散システム・シンポジウム
Jan. 2006 - 解析に基づく設計・維持管理のための画像解析による溶接変形・残留応力評価手法の概念提案(第２報シミュレーションによる実証)
舩戸徹郎; 中村春夫
Oral presentation, Japanese, 日本機械学会M&M 材料力学カンファレンス
Nov. 2005 - ネットワーク機能構造から考える適応的行動の発現
倉林大輔; 舩戸徹郎
Oral presentation, Japanese, 日本動物学会第76回大会
Oct. 2005 - 構造的性質に基づく振動子網の挙動制御
舩戸徹郎; 奈良維仁; 栄松良太; 倉林大輔
Oral presentation, Japanese, 第23 回ロボット学会学術講演会
Sep. 2005 - 非線形振動子網の構造的性質に基づく挙動の考察
舩戸徹郎; 倉林大輔; 栄松良太; 奈良維仁; 下根孝章
Oral presentation, Japanese, 第11 回創発システム・シンポジウム
Aug. 2005 - Continuous Hopping Motion Experimentof One Linear Actuator Robot with Adaptive Fuzzy Control
Tetsuro Funato; Shigeki Nakaura; Mitsuji Sampei
Oral presentation, Japanese, SICE Annual Conference 2003 in Fukui(SICE 2003)
Aug. 2003
Courses
- 数値解析およびプログラミング演習
Apr. 2024 - Present
電気通信大学 - 数値解析
Apr. 2024 - Present
電気通信大学 - Advanced Information Engineering for Robotics
Oct. 2019 - Present
The University of Electro-Communications - Mechatronics
Oct. 2019 - Present
The University of Electro-Communications - Physics Laboratory
Oct. 2019 - Mar. 2024
The University of Electro-Communications - Graduate Technical English
Oct. 2018 - Mar. 2019
The University of Electro-Communications - Basic Experiments of Mechatronics B
Apr. 2018 - Mar. 2019
The University of Electro-Communications - Basic Experiments of Mechatronics A
Apr. 2018 - Mar. 2019
The University of Electro-Communications - Internship (overseas）
Apr. 2018 - Aug. 2018
The University of Electro-Communications - Internship
Apr. 2018 - Aug. 2018
The University of Electro-Communications - 専門実験B
Oct. 2015 - Mar. 2018 - Mechanical Engineering and Intelligent Systems Laboratory,Advanced Ⅰ
Apr. 2013 - Mar. 2018
The University of Electro-Communications - Mechanical Engineering and Intelligent Systems Laboratory,Advanced Ⅱ
Apr. 2013 - Mar. 2018
The University of Electro-Communications
Affiliated academic society
Research Themes
- Neuronal mechanism of skillful hand movement of non-human primates
関 和彦; 舩戸 徹郎; 高草木 薫; 井上 謙一
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, National Center of Neurology and Psychiatry, Grant-in-Aid for Scientific Research (S), 23H05488
12 Apr. 2023 - 31 Mar. 2028 - Elucidation of motor control methods by external stimuli in neuromuscular diseases - Focusing on brain activity and muscle synergy -
西田 大輔; 舩戸 徹郎; 宮崎 裕大
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Tokai University, Grant-in-Aid for Scientific Research (C), 24K14309
01 Apr. 2024 - 31 Mar. 2027 - 運動の学習に伴う脳内誤差信号の情報表現の変容とそれを基盤とした学習指導方法の開発
柳原 大
01 Apr. 2021 - 31 Mar. 2025 - 直立・歩行の予測制御を構成する神経基盤の構成論的理解
01 Apr. 2021 - 31 Mar. 2024 - 身体-脳の機能不全を克服する潜在的適応力のシステム論的理解の総括研究
太田 順
28 Jun. 2019 - 31 Mar. 2024 - 身体変容への超適応のモデル化
小池 康晴
28 Jun. 2019 - 31 Mar. 2024 - 手指を用いた巧緻運動の神経基盤とその機能再建
関 和彦
01 Apr. 2019 - 31 Mar. 2023 - Learning and recovery mechanism of posture control in the cerebellum
Funato Tetsuro
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Electro-Communications, Grant-in-Aid for Scientific Research (B), The principle of postural control with learning in the cerebellum was approached through measurements of standing motion in rats and patients with cerebellar disorders, disturbance learning experiments in standing rats, and mathematical modeling. The nonlinear control system in rats with lesion in the inferior olivary nuclei and the integral control function in patients with cerebellar ataxia were impaired, both suggesting a decrease in predictive control function due to impaired internal model learning. A posture control model based on the internal model was constructed and evaluated by comparison with the results of disturbance learning of standing rats. The results showed that the postural control with learning in the cerebellum can be explained by the predictive control based on the internal model., 18H01393
01 Apr. 2018 - 31 Mar. 2021 - 神経疾患と運動機能回復に関わる筋シナジーの構成機序の解明
01 Apr. 2017 - 31 Mar. 2019 - シナジーとリズムに基づく歩行の数理
青井 伸也
30 Jul. 2015 - 31 Mar. 2019 - 運動スキルの発現と獲得における脊髄小脳ループの役割の解明
柳原 大
01 Apr. 2015 - 31 Mar. 2018 - 疾患動物の運動機能回復の計測・解析に基づくシナジーの構成機序の解明
舩戸 徹郎
Principal investigator
01 Apr. 2015 - 31 Mar. 2017 - 小脳疾患患者・マウスの運動力学解析に基づく姿勢機能障害の構成論的解明
01 Apr. 2014 - 31 Mar. 2017 - 歩行における高度踏破性及び頑健性を実現するための筋骨格・神経機構の構成論的解明
2012 - 2013 - 制御された不安定床面上での歩行の分析によるヒトの姿勢制御機構の解明
2011 - 2013
