Ph.D, Tokyo Institute of Technology

Human motion

dynamics

locomotion

Posture control

Motion control

ヒト

力学

歩行

姿勢制御

運動制御

Informatics, Mechanics and mechatronics

Informatics, Robotics and intelligent systems

01 Jan. 2018
Associate Professor, Associate Professor

01 Jan. 2013 - 31 Dec. 2017
The University of Electro-Communications, Assistant Professor

01 Apr. 2012 - 31 Dec. 2012
Doshisha University, Postdoctoral Researcher

01 Apr. 2008 - 31 Mar. 2012
Kyoto University, Postdoctoral Researcher

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

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

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

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

Interlimb coordination is not strictly controlled during walking
Takahiro Arai; Kaiichiro Ota; Tetsuro Funato; Kazuo Tsuchiya; Toshio Aoyagi; Shinya Aoi
Communications Biology, Springer Science and Business Media LLC, 7, 1, 20 Sep. 2024, Peer-reviwed
Scientific journal, English

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, 12, 12, e0189248, Dec. 2017, Peer-reviwed
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

シナジーの解析とその応用
舩戸徹郎; 青井伸也
計測と制御, The Society of Instrument and Control Engineers, 56, 3, 193-198, Mar. 2017, Peer-reviwed
Scientific journal, Japanese

Quantification of Temporal Parameters for Tripedalism
Arito Yozu; Dai Owaki; Masashi Hamada; Takuya Sasaki; Qi An; Tetsuro Funato; Nobuhiko Haga
INTELLIGENT AUTONOMOUS SYSTEMS 14, 531, 31-37, 2017, Peer-reviwed
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, 6, 30199, Jul. 2016, Peer-reviwed
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, 12, 5, e1004950, May 2016, Peer-reviwed
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, 112, 459-471, 2016, Peer-reviwed
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), TP1-1-1, 2016, Peer-reviwed
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), 245-250, 2016, Peer-reviwed
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, 3, 1, 150570, Jan. 2016, Peer-reviwed
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, 12, 110, 0542, Sep. 2015, Peer-reviwed
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, 233, 5, 1421-1432, May 2015, Peer-reviwed
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), 5885-5890, 2015, Peer-reviwed
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), 5311-5314, 2015, Peer-reviwed
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), 6756-6759, 2015, Peer-reviwed
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
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
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
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
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), 3, 2014, Peer-reviwed
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), 1346, 2014, Peer-reviwed
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), 730-735, 2014, Peer-reviwed
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), 627-631, 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
2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 881-886, 2014, Peer-reviwed
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
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
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, 107, 2, 201-216, Apr. 2013, Peer-reviwed
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
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
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, 60, 5, 685-691, May 2012, Peer-reviwed
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
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
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), 1359-1364, 2012, Peer-reviwed
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), 1046-1051, 2012, Peer-reviwed
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), 378-383, 2012, Peer-reviwed
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, 214, 14, 2426-2434, Jul. 2011, Peer-reviwed
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
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, 35, 1, 15-26, 2011, Peer-reviwed
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, 205, 4, 497-511, Sep. 2010, Peer-reviwed
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, 102, 5, 373-387, May 2010, Peer-reviwed
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, 85-+, 2009, Peer-reviwed
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, 38, 3, 764-770, Jun. 2008, Peer-reviwed
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, 38, 3, 675-681, Jun. 2008, Peer-reviwed
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, 21, 12, 1339-1349, Dec. 2007, Peer-reviwed
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, 1206-+, 2007, Peer-reviwed
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, 605-+, 2006, Peer-reviwed
International conference proceedings, English

Synchronization control by structural modification of nonlinear oscillator network
Tetsuro Funato; Daisuke Kurabayashi; Masahito Nara
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 7, 41-+, 2006, Peer-reviwed
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
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, 186-+, 2006, Peer-reviwed
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, 2247-2250, 2004, Peer-reviwed
International conference proceedings, English

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

身体性システムとリハビリテーションの科学１ 運動制御
Scholarly book, Japanese, Contributor, 3.2 シナジーの数理とその応用, 5.3 歩行の筋シナジーの特徴とサポート, 東京大学出版会, 19 Nov. 2018, 9784130644013

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

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

ISPGR(International Society for Posture and Gait Research)

IEEE(The institute of electrical and electronics engineers, Inc.)

The Robotics Society of Japan

The Society of Instrument and Control Engineers

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