Hiroshi YOKOI
| The Joint Doctoral Program for Sustainability Research | Professor |
| Cluster II (Emerging Multi-interdisciplinary Engineering) | Professor |
| Center for Neuroscience and Biomedical Engineering | Professor |
| UEC China Research and Education Center | Professor |
| Department of Mechanical and Intelligent Systems Engineering | Professor |
- Profile:
1988.4-1993.3 波動場を用いた生命体モデルの構築に関する研究
1993.4-1995.3 直交座標系型力覚フィードバックデバイスの制御に関する研究
1995.4-1998.3 波動場を用いた情報処理に関する研究
1996.4- 筋電義手の設計と制御，電気的機能刺激装置の制御
1996.4-2000.3アメーバ状ロボットの開発研究，自律ロボット制御
1999.4- 装着型パワーアシストスーツの開発研究
2001.4- 哺乳類型自律ロボットの設計と制御
Researcher Information
Field Of Study
Career
- Apr. 2024 - Present
The University of Electro-Communications, Graduate School of Informatics and Engineering, School of Informatics and Engineering Joint Doctoral Program for Sustainability Research, 教授 - Apr. 2024 - Present
The University of Electro-Communications, Center For Neuroscience And Biomedical Engineering, 教授 - Jun. 2009
THE UNIVERSITY OF ELECTRO-COMMUNICATIONS, Graduate School of Informatics and Engineering, School of Informatics and Engineering, Professor - Mar. 2004 - 31 May 2009
東京大学大学院工学系研究科精密機械工学専攻, 准教授 - Apr. 1995 - Feb. 2004
北海道大学大学院工学研究科複雑系工学講座, 助教授 - Apr. 2003
University of West England, IAS-Lab, Fellow Researcher - Apr. 2002
University of Zurich, AI-Lab, Senior Researcher - Apr. 1993 - Apr. 1995
通商産業省工業技術院生命研究所人間環境システム部, 通産技官研究職 - Apr. 1986 - Aug. 1987
トヨタ自動車株式会社本社生産技術開発部
Educational Background
Research Activity Information
Award
- Feb. 2024
第36回自律分散システム・シンポジウム
靱帯及び腱で拘束した人体模倣肩関節機構に関する研究
優秀研究奨励賞, 梅澤 亮;姜 銀来;横井 浩史;東郷 俊太 - Oct. 2023
第39回日本義肢装具学会学術大会
手掌部手首分離機能を備えた筋電義手の開発
Best Student Investigator Award, Yuki Inoue;Yuki Kuroda;YoshikoYabuki;YusukeYamanoi;Hiroshi Yokoi
Japan society, Japan - Mar. 2023
IEEE International Conference on Cyborg and Bionic Systems
Development of Separate Exoskeleton Socket of Wrist Joint on Myoelectric Prosthetic Hand for Congenital Defects with Symbrachydactyly
Best Paper Finalist Award, Yuki Inoue;Yuki Kuroda;Yusuke Yamanoi;Yoshiko Yabuki;Hiroshi Yokoi
International society, China - Mar. 2022
IEEE LifeTech 2022 Outstanding Student Paper Awards for Oral Presentation, Yuki Kuroda;Tatsuki Tsujimoto;Takayoshi Shimada;Yoshiko Yabuki;Dianchun Bai;Yusuke Yamanoi;Yinlai Jiang;Hiroshi Yokoi
International society, Japan - Jul. 2021
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)
Best Paper in Control Finalist, Zhenyu Sun;Wenyang Li;Xiaobei Jing;Xu Yong;Yinlai Jiang;Hiroshi Yokoi
International society, China - Mar. 2021
The 2021 IEEE 3rd Global Conference on Life Science and Technologies（LifeTech 2021）
IEEE LifeTech 2021 Outstanding Paper Awards for Demo! Presentation, Jiazhen Guo;Peng Chen;Yinlai Jiang;Hiroshi Yokoi;Shunta Togo - Oct. 2017
2017 IEEE International Conference on Cyborg and Bionic Systems
China
Best Student Paper Award, Yuta Murai;Yoshiko Yabuki;Masahiro Ishihara;Takehiko Takagi;Shinichiro Takayama;Shunta Togo;Jiang Yinlai;Hiroshi Yokoi
International society, China - Nov. 2016
2016 International Conference on Biomedical Signal and Bioinformatics (ICBSB 2016)
NewZealand
Excellent Paper Award, Rintaro Kamihira;Misato Kasuya;Yinlai Jiang;Shunta Togo;Masao Sugi;Hiroshi Yokoi
International society - Jul. 2016
The 14th International Conference on Intelligent Autonomous Systems, Best Conference Paper Award Finalist, Yoshiko Yabuki;Kazumasa Tanahashi;Suguru Hoshikawa;Tatsuhiro;Nakamura;Ryu Kato;Yinlai Jiang;Hiroshi Yokoi
International society - Sep. 2012
日本ロボット学会第26回論文賞 - 2008
The Tech Museum Awards (Nominated in the Hearth category) - Dec. 2000
Artificial Neural Networks in Engineering
Novel Smart Engineering System Design Award from ANNIE’00 (Artificial Neural Networks in Engineering) - Oct. 1999
IEEE International Conference
Best Student Paper Competition Finalist Award from 1999 IEEE International Conference on Systems, Man and Cybernetics - Dec. 1998
Artificial Neural Networks in Engineering
Novel Smart Engineering System Design Application Award from ANNIE’98 - Nov. 1995
Artificial Neural Networks in Engineering
Best Paper (Theoretical Development Award) from ANNIE’95 (Artificial Neural Networks in Engineering) - Aug. 1995
計測と自動制御学会
計測と自動制御学会奨励賞 - Feb. 1995
日本機械学会ロボメックベストポスター賞 - Mar. 1986
北海道大学工学部
北海道大学吉町太郎一先生記念賞
Paper
- Intra- and inter-channel deep convolutional neural network with dynamic label smoothing for multichannel biosignal analysis
Peiji Chen; Wenyang Li; Yifan Tang; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Neural Networks, Elsevier BV, 183, 106960-106960, Mar. 2025
Scientific journal - Development of Wrist Separated Exoskeleton Socket of Myoelectric Prosthesis Hand for Symbrachydactyly
Yuki Inoue; Yuki Kuroda; Yusuke Yamanoi; Yoshiko Yabuki; Hiroshi Yokoi
Last, Cyborg and Bionic Systems, American Association for the Advancement of Science (AAAS), 5, art.0141, 15 Jul. 2024, Peer-reviwed, Invited, In recent years, the functionality of myoelectric prosthetic hands has improved as motors have become smaller and controls have become more advanced. Attempts have been made to reproduce the rotation and flexion of the wrist by adding degrees of freedom to the wrist joint. However, it is still difficult to fully reproduce the functionality of the wrist joint owing to the weight of the prosthesis and size limitations. In this study, we developed a new socket and prosthetic hand control system that does not interfere with the wrist joint motion. This allows individuals with hand defects who previously used prosthetic hands with fixed wrist joints to freely use their remaining wrist functionality. In the pick-and-place experiment, where blocks were moved from higher to lower locations, we confirmed that the proposed system resulted in a lower elbow position compared with the traditional prosthesis, and the number of blocks transported increased. This significantly reduced the compensatory motion of the elbow and improved the user’s performance compared with the use of a conventional prosthetic hand. This study demonstrates the usefulness of a new myoelectric prosthetic hand that utilizes the residual functions of people with hand deficiencies, which have not been utilized in the past, and the direction of its development.
Scientific journal, English - Development and results of body-powered upper-limb prosthesis for children using rotational opposition mechanisms of 2 degrees of freedom
Yoshiko YABUKI; Yuki INOUE; Yuki KURODA; Tsuneo MIZOGUCHI; Takehiko TAKAGI; Shinichiro TAKAYAMA; Hiroshi YOKOI
Last, Transactions of the JSME (in Japanese), Japan Society of Mechanical Engineers, 90, 934, 24-00006, 30 May 2024, Peer-reviwed
Scientific journal, Japanese - Dynamic Label Smoothing Strategy for Biosignal Classification
Peiji Chen; Dian Li; Yifan Tang; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
ICASSP 2024 - 2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), IEEE, 1556-1560, 14 Apr. 2024
International conference proceedings - A Robot Hand for Versatile Grasping With Tendon-Driven Telescopic Fingers
Yiwei Wang; Kazuma Kakino; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 9, 3, 2957-2964, 06 Feb. 2024, Peer-reviwed
Scientific journal - A Hand Gesture Recognition Strategy Based on Virtual-Dimension Increase of EMG
Yuxuan Wang; Ye Tian; Jinying Zhu; Haotian She; Yinlai Jiang; Zhihong Jiang; Hiroshi Yokoi
Cyborg and Bionic Systems, American Association for the Advancement of Science (AAAS), 5, 29 Jan. 2024, The electromyography(EMG) signal is the biocurrent associated with muscle contraction and can be used as the input signal to a myoelectric intelligent bionic hand to control different gestures of the hand. Increasing the number of myoelectric-signal channels can yield richer information of motion intention and improve the accuracy of gesture recognition. However, as the number of acquisition channels increases, its effect on the improvement of the accuracy of gesture recognition gradually diminishes, resulting in the improvement of the control effect reaching a plateau. To address these problems, this paper presents a proposed method to improve gesture recognition accuracy by virtually increasing the number of EMG signal channels. This method is able to improve the recognition accuracy of various gestures by virtually increasing the number of EMG signal channels and enriching the motion intention information extracted from data collected from a certain number of physical channels, ultimately providing a solution to the issue of the recognition accuracy plateau caused by saturation of information from physical recordings. Meanwhile, based on the idea of the filtered feature selection method, a quantitative measure of sample sets (separability of feature vectors [SFV]) derived from the divergence and correlation of the extracted features is introduced. The SFV value can predict the classification effect before performing the classification, and the effectiveness of the virtual-dimension increase strategy is verified from the perspective of feature set differentiability change. Compared to the statistical motion intention recognition success rate, SFV is a more representative and faster measure of classification effectiveness and is also suitable for small sample sets.
Scientific journal - 物体形状の変化に適合するためのCM関節部を有する多指ハンドに関する研究
中村 裕哉; 井上 祐希; 矢吹 佳子; 横井 浩史
Last, 日本ロボット学会誌, 10月採録決定, 2024, Peer-reviwed
Japanese - Highly Anthropomorphic Finger Design With a Novel Friction Clutch for Achieving Human-Like Reach-and-Grasp Movements
Xu Yong; Shanshan Zhu; Zhenyu Sun; Shixiong Chen; Shunta Togo; Hiroshi Yokoi; Xiaobei Jing; Guanglin Li
IEEE Transactions on Neural Systems and Rehabilitation Engineering, Institute of Electrical and Electronics Engineers (IEEE), 31, 4942-4953, 18 Dec. 2023, Peer-reviwed
Scientific journal, English - 3M3Dワイヤ干渉駆動に基づくヒューマノイド腰関節の開発
Wang Yiwei; 李 文揚; 東郷 俊太; 横井 浩史; 姜 銀来
日本ロボット学会誌, Dec. 2023, Peer-reviwed
Scientific journal - Research status of elderly-care robots and safe human-robot interaction methods
Donghui Zhao; Xingwang Sun; Bo Shan; Zihao Yang; Junyou Yang; Houde Liu; Yinlai Jiang; Yokoi Hiroshi
Frontiers in Neuroscience, Frontiers Media SA, 17, 30 Nov. 2023, Faced with the increasingly severe global aging population with fewer children, the research, development, and application of elderly-care robots are expected to provide some technical means to solve the problems of elderly care, disability and semi-disability nursing, and rehabilitation. Elderly-care robots involve biomechanics, computer science, automatic control, ethics, and other fields of knowledge, which is one of the most challenging and most concerned research fields of robotics. Unlike other robots, elderly-care robots work for the frail elderly. There is information exchange and energy exchange between people and robots, and the safe human-robot interaction methods are the research core and key technology. The states of the art of elderly-care robots and their various nursing modes and safe interaction methods are introduced and discussed in this paper. To conclude, considering the disparity between current elderly care robots and their anticipated objectives, we offer a comprehensive overview of the critical technologies and research trends that impact and enhance the feasibility and acceptance of elderly care robots. These areas encompass the collaborative assistance of diverse assistive robots, the establishment of a novel smart home care model for elderly individuals using sensor networks, the optimization of robot design for improved flexibility, and the enhancement of robot acceptability.
Scientific journal - Development of a Hybrid Actuation Hand Exoskeleton with Redundant Compliant Mechanisms
Bairui Shu; Zhenyu Sun; Xinyu Zhang; Hiroshi Yokoi; Xiaobei Jing; Guanglin Li; Xu Yong
2023 16th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI), IEEE, 1-6, 28 Oct. 2023, Peer-reviwed
International conference proceedings, English - Estimation of Wrist Chattering Angle Based on Disturbance Observer
Xinyu Zhang; Zhenyu Sun; Bairui Shu; Hiroshi Yokoi; Xu Yong; Guanglin Li; Xiaobei Jing
2023 16th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI), IEEE, 1-5, 28 Oct. 2023, Peer-reviwed
International conference proceedings, English - A Strain Gauge Based FMG Sensor for sEMG-FMG Dual Modal Measurement of Muscle Activity Associated with Hand Gestures
Yifan Tang; Jiayi Wang; Peiji Chen; Wenyang Li; Haokang Xu; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Intelligent Robotics and Applications, Springer Nature Singapore, 185-194, 10 Oct. 2023
In book - Novel prosthesis with proximity sensor for upper-extremity phocomelia
Yamanoi Y; Takagi T; Yokoi H
J Hand Surg Eur (in press), Oct. 2023, Peer-reviwed
Scientific journal, English - A Layered sEMG–FMG Hybrid Sensor for Hand Motion Recognition From Forearm Muscle Activities
Peiji Chen; Ziye Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
IEEE Transactions on Human-Machine Systems, Institute of Electrical and Electronics Engineers (IEEE), 53, 5, 935-944, Oct. 2023, Peer-reviwed
Scientific journal - Comparison of Bipolar and Monopolar Electrode Configurations for FES on Biceps Brachii.
Kiyoka Arai; Masao Sugi; Hiroshi Yokoi; Lin Wang; Yinlai Jiang
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference, 2023, 1-4, Jul. 2023, True, Function electrical stimulation (FES) is recommended as one of the effective methods for rehabilitation of motor function after stroke. There are two forms to deliver electrical stimulation to induce muscle contraction: Bipolar electrode configuration with two electrodes of the same size, and monopolar electrode configuration with a bigger electrode as an indifferent electrode and a smaller one as an active electrode. The purpose of this study is to compare the two kinds of configuration on biceps brachii in terms of induced muscle contraction force and muscle fatigue. In the experiment, electrical stimulation was applied on biceps brachii muscles of the right arm. Isometric contraction was induced by fixing the elbow joint during the stimulation. The experimental results showed that the induced contraction force was bigger using monopolar electrode configuration with the indifferent electrode on the antagonist muscle, and there was no significant difference in muscle fatigue between the configurations. Monopolar electrode configuration with the indifferent electrode on the antagonist muscle was suggested as the most effective method for FES on biceps brachii.Clinical Relevance- This study establishes an effective electrode configuration for FES on biceps brachii.
Scientific journal, English - A Novel Metric based on Bootstrapping Approach for sEMG Signal Quality Assessment Towards Robust Decoding of Lower Limb Locomotion
Fangning Tan; Wenhao Wei; Yuanzhe Dong; Zhenyu Sun; Xu Yong; Oluwarotimi Williams Samuel; Guanglin Li
2022 IEEE International Conference on Cyborg and Bionic Systems (CBS), IEEE, 159-163, 24 Mar. 2023, Peer-reviwed
International conference proceedings, English - Development of Separate Exoskeleton Socket of Wrist Joint on Myoelectric Prosthetic Hand for Congenital Defects with Symbrachydactyly
Y. Inoue; Y. Kuroda; Y. Yamanoi; Y. Yabuki; H. Yokoi
2022 IEEE International Conference on Cyborg and Bionic Systems (CBS), IEEE, 24 Mar. 2023, Peer-reviwed, True
International conference proceedings - Conditional Generative Adversarial Network-based Finger Position Estimation for Controlling Multi-Degrees-of-Freedom Myoelectric Prosthetic Hands
Hai Jiang; Yusuke Yamanoi; Yuki Kuroda; Peiji Chen; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2022 IEEE International Conference on Cyborg and Bionic Systems (CBS), IEEE, 24 Mar. 2023, Peer-reviwed
International conference proceedings - Development and evaluation of a hand exoskeleton for finger rehabilitation
Haiyi Luo; Zhenyu Sun; Xiaobei Jing; Bairui Shu; Shixiong Chen; Xu Yong; Hiroshi Yokoi
2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 1673-1678, 05 Dec. 2022, Peer-reviwed
International conference proceedings, English - Development of Robotic Hand for Prosthetic Limb using a Gear Mechanism for Infants with Congenital Upper Limb Defects
Soichiro Nakao; Taichi Hirai; Yuma Ono; Yusuke Yamanoi; Yuki Kuroda; Yoshiko Yabuki; Shunta Togo; Yinlai Jiang; Ryu Kato; Takehiko Takagi; Masahiro Ishihara; Hiroshi Yokoi
Last, Journal of the Robotics Society of Japan, The Robotics Society of Japan, 40, 10, 903-914, Oct. 2022, Peer-reviwed
Scientific journal, Japanese - Development of a 7-DOF Electric Shoulder Prosthesis Using a Return-routing Coupled Tendondriven Mechanism
Yuko Nakamura; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech), IEEE, 07 Mar. 2022, Peer-reviwed
International conference proceedings, English - Development and Evaluation of a Lightweight Two-Degree-of-Freedom Electric Prosthetic Hand for Toddlers
Yuki Kuroda; Taichi Hirai; Yoshiko Yabuki; Yusuke Yamanoi; Yinlai Jiang; Hiroshi Yokoi
Last, 2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech), IEEE, 07 Mar. 2022, Peer-reviwed
International conference proceedings - Development and Clinical Evaluation of a Five-Fingered Myoelectric Prosthetic Hand with Pattern Recognition
Yuki Kuroda; Tatsuki Tsujimoto; Takayoshi Shimada; Yoshiko Yabuki; Dianchun Bai; Yusuke Yamanoi; Yinlai Jiang; Jinying Zhu; Hiroshi Yokoi
2022 IEEE 4th Global Conference on Life Sciences and Technologies (LifeTech), IEEE, 07 Mar. 2022, Peer-reviwed
International conference proceedings - Inverse kinematics for a 7-DOF humanoid robotic arm with joint limit and end pose coupling
Rutong Dou; Shenbo Yu; Wenyang Li; Peng Chen; Pengpeng Xia; Fengchen Zhai; Hiroshi Yokoi; Yinlai Jiang
Mechanism and Machine Theory, Elsevier BV, 169, 104637-104637, Mar. 2022, Peer-reviwed
Scientific journal, English - Coevolution of Myoelectric Hand Control under the Tactile Interaction among Fingers and Objects
Yuki Kuroda; Yusuke Yamanoi; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Last, Cyborg and Bionic Systems, American Association for the Advancement of Science (AAAS), 2022, Article ID: 9861875, 16 Jan. 2022, Peer-reviwed, The usability of a prosthetic hand differs significantly from that of a real hand. Moreover, the complexity of manipulation increases as the number of degrees of freedom to be controlled increases, making manipulation with biological signals extremely difficult. To overcome this problem, users need to select a grasping posture that is adaptive to the object and a stable grasping method that prevents the object from falling. In previous studies, these have been left to the operating skills of the user, which is extremely difficult to achieve. In this study, we demonstrate how stable and adaptive grasping can be achieved according to the object regardless of the user’s operation technique. The required grasping technique is achieved by determining the correlation between the motor output and each sensor through the interaction between the prosthetic hand and the surrounding stimuli, such as myoelectricity, sense of touch, and grasping objects. The agents of the 16-DOF robot hand were trained with the myoelectric signals of six participants, including one child with a congenital forearm deficiency. Consequently, each agent could open and close the hand in response to the myoelectric stimuli and could accomplish the object pickup task. For the tasks, the agents successfully identified grasping patterns suitable for practical and stable positioning of the objects. In addition, the agents were able to pick up the object in a similar posture regardless of the participant, suggesting that the hand was optimized by evolutionary computation to a posture that prevents the object from being dropped.
Scientific journal, English - Estimation of Hand Posture from Stimulus Position in FES: An Attempt using Machine Learning
In Morimoto; Yusuke Yamanoi; Masao Sugi; Yinlai Jiang; Hiroshi Yokoi
Last, Journal of the Robotics Society of Japan, The Robotics Society of Japan, 40, 6, 546-549, 2022, Peer-reviwed
Scientific journal - "Design and Fabrication of a Bionic Prosthetic Hand with Multi-Motions and Light Wight"
YONG X; JING XB; YABUKI Y; TOGO Shunta; YOKOI Hiroshi; LI Guanglin
Journal of Integration Technology, 11(4); 31-43, 2022 (In Chinese), 11, 4, 31-43, 2022, Peer-reviwed
Scientific journal, English - Development of a motorized prosthetic hand for infants with phocomelia
TAKAYOSHI SHIMADA; Yusuke Yamanoi; Yoshiko Yabuki; Shunta Togo; Yinlai Jiang; Ryu Kato; Takehiko Takagi; Yuki Kuroda; Hiroshi Yokoi
18th World Congress of the International Society for Prosthetics and Orthotics (ISPO2021), *, *, *-*, 02 Nov. 2021, Peer-reviwed
International conference proceedings, English - A 3-DOF Bionic Waist Joint for Humanoid Robot
Yiwei Wang; Wenyang Li; Tongyang Cao; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), IEEE, 01 Nov. 2021, Peer-reviwed
International conference proceedings, English - Investigation of Motor Point Shift and Contraction Force of Triceps Brachii for Functional Electrical Stimulation
Takashi Hirai; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), IEEE, 01 Nov. 2021, Peer-reviwed
International conference proceedings - Research on the Dissemination Process of Hot Words — Focus on the Connection between Netizens’ Emotions and the Search Volume of Hot Words
Fei Wang; Hiroshi Yokoi
Academic Journal of Humanities & Social Sciences, Academic Journal of Humanities & Social Sciences, 4, 7, 19 Sep. 2021, Peer-reviwed
Scientific journal, English - A Study on the Classification Effect of sEMG Signals in Different Vibration Environments Based on the LDA Algorithm
Yanchao Wang; Ye Tian; Jinying Zhu; Haotian She; Hiroshi Yokoi; Yinlai Jiang; Qiang Huang
Sensors, MDPI AG, 21, 18, 6234-6234, 17 Sep. 2021, Peer-reviwed, Myoelectric prosthesis has become an important aid to disabled people. Although it can help people to recover to a nearly normal life, whether they can adapt to severe working conditions is a subject that is yet to be studied. Generally speaking, the working environment is dominated by vibration. This paper takes the gripping action as its research object, and focuses on the identification of grasping intentions under different vibration frequencies in different working conditions. In this way, the possibility of the disabled people who wear myoelectric prosthesis to work in various vibration environment is studied. In this paper, an experimental test platform capable of simulating 0–50 Hz vibration was established, and the Surface Electromyography (sEMG) signals of the human arm in the open and grasping states were obtained through the MP160 physiological record analysis system. Considering the reliability of human intention recognition and the rapidity of algorithm processing, six different time-domain features and the Linear Discriminant Analysis (LDA) classifier were selected as the sEMG signal feature extraction and recognition algorithms in this paper. When two kinds of features, Zero Crossing (ZC) and Root Mean Square (RMS), were used as input, the accuracy of LDA algorithm can reach 96.9%. When three features, RMS, Minimum Value (MIN), and Variance (VAR), were used as inputs, the accuracy of the LDA algorithm can reach 98.0%. When the six features were used as inputs, the accuracy of the LDA algorithm reached 98.4%. In the analysis of different vibration frequencies, it was found that when the vibration frequency reached 20 Hz, the average accuracy of the LDA algorithm in recognizing actions was low, while at 0 Hz, 40 Hz and 50 Hz, the average accuracy was relatively high. This is of great significance in guiding disabled people to work in a vibration environment in the future.
Scientific journal, English - Inverse Kinematics and Master-Slave Control for a 7-DoF Tendon-Driven Humanoid Robot Arm
Zhenyu Sun; Wenyang Li; Xiaobei Jing; Xu Yong; Yinlai Jiang; Hiroshi Yokoi
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), *, *, *-*, 15 Jul. 2021, Peer-reviwed
International conference proceedings, English - Design of a 3-dof coupled tendon-driven waist joint
Yiwei Wang; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
2021 IEEE International Conference on Robotics and Automation (ICRA2021), *, *, *-*, 30 May 2021, Peer-reviwed
International conference proceedings, English - Asymmetric shape of distal phalanx of human finger improves precision grasping
Ayane Kumagai; Yoshinobu Obata; Yoshiko Yabuki; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Scientific Reports, 10402 (2021), 17 May 2021, Peer-reviwed
Scientific journal, English - Development of a Humanoid Shoulder Based on 3-Motor 3 Degrees-of-Freedom Coupled Tendon-Driven Joint Module
Wenyang Li; Yiwei Wang; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE), 6, 2, 1105-1111, Apr. 2021, Peer-reviwed
Scientific journal, English - Real-time Object Detection with Deep Learning for Robot Vision on Mixed Reality Device
Jiazhen Guo; Peng Chen; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
2021 IEEE 3rd Global Conference on Life Sciences and Technologies (LifeTech), IEEE, 09 Mar. 2021, Peer-reviwed
International conference proceedings - Multi-channel sEMG signal gesture recognition based on improved CNN-LSTM hybrid models
Dianchun Bai; Tie Liu; Xinghua Han; Guo Chen; Yinlai Jiang; Yokoi Hiroshi
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics, Institute of Electrical and Electronics Engineers Inc., 111-116, 04 Mar. 2021, Deep learning gesture recognition based on surface electromyography (sEMG) is playing an increasingly important role in prosthetic hand control. In order to improve the recognition rate of multi-modal EMG signals, this paper proposes a feature model construction and optimization method based on multi-channel EMG signal amplification unit. And through CNN and LSTM (CNN+LSTM) deep learning model, the recognition rate and acquisition window are trained. Use the established time series surface EMG image to construct a feature model to solve the recognition problem of multi-modal surface EMG signal. The experimental results show that under the same network structure, the EMG signal processed by Fast Fourier Transform (FFT) as the characteristic value has better performance.
International conference proceedings, English - Research on the dynamic model of human lower limbs based on 3D vision
Dianchun Bai; Hongyu Yi; Guo Chen; Xinghua Han; Yinlai Jiang; Yokoi Hiroshi
ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics, Institute of Electrical and Electronics Engineers Inc., 229-232, 04 Mar. 2021, In order to improve the perception ability of the walking-aid robot and make it more accurately understand the user's training status, propose an analytical method of human lower limbs dynamic model based on 3D vision for the walking-aid robot. First., we create a point cloud set of the field of view, use the advantages of 3D vision to quickly segment the leg and background point cloud data, and optimize the lower limb point cloud data through down-sampling and statistical filtering algorithms to provide accuracy and real-time guarantee for analyzing the lower limbs posture. The oriented bounding box of the local point cloud based on principal component analysis(PCA) is used to analyze the posture of the lower limbs, which is used as the angle feature of the lower limbs dynamic model. Combine the angle feature with the design constraints to obtain the dynamic model of walking lower limbs. Finally, the effectiveness of the algorithm is verified by design experiments.
International conference proceedings, English - Real-time 3D control of a robot arm based on a brain-machine interface using intracranial EEG
Kuratomi Takeru; Palmer Jason; Chen Peng; Jiang Yinlai; Yokoi Hiroshi; Hirata Masayuki
Transactions of Japanese Society for Medical and Biological Engineering, Japanese Society for Medical and Biological Engineering, Annual59, Abstract, 329-329, 2021, Peer-reviwed, Objective: We aimed to estimate the velocity vector of the wrist based on the human intracranial electroencephalography (iEEG) and to control a robot arm three-dimensionally.
Methods: An epilepsy patient with implanted intracranial electrodes participated in this study. IEEGs were recorded while the patient imitated simulated movement of a robot arm. Independent component analysis (ICA) and partial least squares regression (PLS) were used to extract components specifically distributed over the sensorimotor areas. These components were used to estimate the wrist velocity vector using support vector regression (SVR). The robot arm was three-dimensionally controlled based on the estimated velocity using ROS where inverse kinematics were implemented.
Results: We developed the system for real-time three-dimensional control of a robot arm by estimating the wrist velocity based on iEEG using ICA, PLS and SVR.
Conclusion: Three-dimensional velocity control based on iEEG, ICA, PLS and SVR is feasible for real-time control of a robot arm.
Japanese - Learning Data Correction for Myoelectric Hand based on "Survival of the Fittest"
Yusuke Yamanoi; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Cyborg and Bionic Systems, 2021, article ID 9875814, 2021, Peer-reviwed
Scientific journal, English - Semi-automated control system for reaching movements in EMG shoulder disarticulation prosthesis based on mixed reality device
Shunta Togo; Kazuaki Matsumoto; Susumu Kimizuka; Yinlai Jiang; Hiroshi Yokoi
IEEE Open Journal of Engineering in Medicine and Biology, Institute of Electrical and Electronics Engineers (IEEE), 2, 55-64, 2021, Peer-reviwed
Scientific journal, English - Joint angle based motor point tracking stimulation for surface FES: a study on biceps brachii
Kento Ichikawa; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
Medical Engineering and Physics, Elsevier BV, 88, 2, 9-18, 2021, Peer-reviwed
Scientific journal, English - Research on the Connection Between Emotional Factors and the Dissemination Process of Hot Words
Fei WANG; Wen-yang LI; Hiroshi YOKOI
2020 2nd International Conference on Arts, Humanity and Economics, Management (AHEM 2020), 2020 2nd International Conference on Arts, Humanity and Economics, Management (AHEM 2020), 518-524, 20 Dec. 2020, Peer-reviwed
International conference proceedings, English - An Online sEMG Motion Classification Framework for Tele-operating the Robotic Hand
Haosi Zheng; Hiroshi Yokoi; Yinlai Jiang; Feng Duan
Chinese Control Conference, CCC, IEEE Computer Society, 2020-, 6491-6496, 01 Jul. 2020, Seamless communication between human intended motions and robot actions is essential for Human-Robot Interaction (HRI). When tele-operating a robotic hand, it is a natural and effective way via surface electromyography (sEMG) signals. This paper proposes an online sEMG motion classification framework for tele-operating the robotic hand. The whole framework consists of offline training and online recognition phases. In the offline training phase, three features were selected from four candidates and Artificial Neural Network (ANN) won the election among three classifiers. Inthe online recognition phase, two-thresholds data segmentation and majority voting techniques were designed, and three subjects participated in online experiment to verify the feasibility of this framework. The online experimental results show that the average total accuracy is 73.56% and the average vote accuracy is 91.67%. The outcomes of this study have shown the promising potential of sEMG-based HRI.
International conference proceedings, English - Quantitative estimation of differentiated mental fatigue between self-rising transfer and multiple welfare robots-assisted rising transfer
Donghui Zhao; Junyou Yang; Dianchun Bai; Martin Onyeka Okoye; Yokoi Hiroshi
Electronics (Switzerland), MDPI AG, 9, 4, 01 Apr. 2020, The multi-robot system (MRS) and relevant control strategy are a potential and effective approach to assist people with weak motion capability for various forms of assisted living. However, the rising transfer, a frequent and strenuous behavior, and its human-robot interaction (HRI) process with MRS, especially mental state, has never been researched, although it directly determines the user experience and security. In this paper, Functional Near-InfraRed Spectroscopy (fNIRS), a brain imaging technique to perform a continuous measure of the mental state, is introduced to monitor the user’s mental fatigue when implementing a behavior transfer in two difficulty levels assisted by multiple welfare-robots. Twenty-five subjects performed self-rising transfer and multiple welfare robots-assisted rising transfer. After removing physiological noises, six features of oxygenated and deoxygenated hemoglobin (HbO and HbR, respectively) features, which included the mean, slope, variance, peak, skewness, and kurtosis, were calculated. To maximize the distinction of fNIRS between self-rising transfer and assisted-rising transfer (multiple welfare robots assisted rising transfer), the optimal statistical feature combination for linear discriminant analysis (LDA) classification was proposed. In addition, the classification accuracy is regarded as a standard to quantify the difference of mental states between two contrasting behaviors. By fitting the index, we established the mental fatigue model that grows exponentially as the workload increases. Finally, the mental fatigue model is applied to guide the nursing mode of caregivers and the control strategy of the MRS. Our findings disclose that the combinations containing mean and peak values significantly yielded higher classification accuracies for both HbO and HbR than the entire other combinations did, across all the subjects. They effectively quantify mental fatigue to provide an evaluation with a theoretical foundation for enhancing the user experience and optimizing the control strategy of MRS.
Scientific journal, English - Analysis of two-layer artificial soft fingertip for dynamic stable grasping（ポスター）
Yoshinobu Obata; Ayane Kumagai; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2020 IEEE 2nd Global Conference on Life Science and Technologies (LifeTech 2020), 362-363, 10 Mar. 2020, Peer-reviwed
International conference proceedings, English - 多点機能的電気刺激による前腕部運動再建のための筒状一体型シリコーン電極
畠沢 祐輝; 黒木 光; 田澤 龍之介; 永渕 将; 毛 程宇; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2020S, 333-334, 01 Mar. 2020, 筆者らは，麻痺者を対象とした手指の多点機能的電気刺激リハビリシステムの開発を行ってきた．これまでに双極性の電気刺激を用いた装置により様々な姿勢の発現を確認した．しかし従来電極では電極の貼付位置を一定化することが難しい．そこで本報では，電極の位置ズレが生じづらいように全ての電極が単一のシリコーンに埋め込まれた一体型電極を用いて複数日にわたって探索を行い，装着容易性や手指姿勢の再現性などで評価を行う．
Japanese - 表面電極式機能的電気刺激における上腕二頭筋の収縮に適した刺激波形の検討
黒木 光; 田澤 龍之介; 畠沢 祐輝; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2020S, 335-336, 01 Mar. 2020, 麻痺患者に対するリハビリテーションの一つとして機能的電気刺激を用いる手法が普及している．しかし，刺激部位や刺激波形によって筋収縮の結果が異なり，実際に使用されている刺激波形は様々である．筆者らはこれまで，双極式表面電極とバースト変調矩形波とを用いた機能的電気刺激システムを開発してきた．本発表では，上腕二頭筋の収縮を誘発するための刺激波形として，バースト変調矩形波とバースト変調正弦波の比較を行う．
Japanese - Evaluation of the precision grasping ability by artificial finger based on the morphology of distal phalanx
Ayane Kumagai; Yoshinobu Obata; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech), IEEE, Mar. 2020, Peer-reviwed
International conference proceedings, English - Working memory accuracy micro-controlled through a tablet pen
Masatoshi Takita; Ryu Kato; Hiroshi Yokoi
IEEJ Transactions on Electronics, Information and Systems, Institute of Electrical Engineers of Japan, 140, 5, 502-507, 2020, In this study, visual working memory was assessed using nonverbal "accuracy," in contrast to typical memory research, which is usually based on "right/wrong" answers. We analyzed the relationship between dynamic control of pen-use and pointing accuracy using a tablet liquid crystal device (LCD). Healthy participants held a pen equipped with a triaxial accelerometer in each hand. Using the dominant hand, they targeted a point at the center of a "diamond" formed by the intersection of two 4 × 1 cm rectangles tilted 45° to the left and right, respectively. The rectangles were quasi-randomly displayed at various locations on the LCD with time lags. The working memory accuracy was defined as the standard deviation of the distance between the absolute and surmised centers. The evident result indicated that the pen-dynamics (4-100 Hz) of the dominant hand started to increase for action readiness then decayed for the last 3 s during a 4-s interval (waiting period). Furthermore, the ability to sustain power for 100-200 Hz correlated with decrease of pointing deviation (i.e., increased working memory accuracy). We also discuss the relationship between our results and other memory theories, including those derived from rodent studies.
Scientific journal, Japanese - Modularization of 2- and 3-DoF coupled tendon-driven joints
Wenyang Li; Peng Chen; Dianchun Bai; Xiaoxiao Zhu; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE), 37, 3, **-**, 2020, Peer-reviwed
Scientific journal, English - モジュール化したワイヤ干渉駆動型ヒューマノイド・ロボットアーム
姜 銀来; 李 文揚; 陳 鵬; 東郷 俊太; 横井 浩史
日本ロボット学会誌, 38, 7, 657-666, 2020, Peer-reviwed
Scientific journal, Japanese - Design of A Prosthetic Hand for Multiple hand Motions
Xiaobei Jing; Xu Yong; Guanglin Li; Yinlai Jiang; Hiroshi Yokoi
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2813-2818, 06 Dec. 2019, Peer-reviwed
International conference proceedings, English - Development of an Adaptive Prosthetic Hand
Xu Yong; Xiaobei Jing; Xinyu Wu; Hiroshi Yokoi; Yinlai Jiang
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2799-2804, 06 Dec. 2019, Peer-reviwed
International conference proceedings, English - EEG measurement using dry electrodes comprising two-layered conductive silicone with different carbon concentrations
Yuma Ono; Yuta Murai; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), *, 06 Dec. 2019, Peer-reviwed
International conference proceedings, English - Motion control of a walking support robot based on gait analysis
Naoya Matsumoto; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), *, 06 Dec. 2019, Peer-reviwed
International conference proceedings, English - A 10-DOF lightweight robotic hand with built-in wire-driven mechanism
Takaki Shimura; Yuta Murai; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2019 IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), *, 06 Dec. 2019, Peer-reviwed
International conference proceedings, English - A Gear-Driven Prosthetic Hand with Major Grasp Functions for Toddlers
Xiaobei Jing; Xu Yong; Yuankang Shi; Yoshiko Yabuki; Yinlai Jiang; Hiroshi Yokoi; Guanglin Li
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), *, 04 Nov. 2019, Peer-reviwed
International conference proceedings, English - Development of EMG prosthetic hand for infant with lightness and high pinch force
Taichi Hirai; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
15th IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2019), SaCT1.5, 02 Nov. 2019, Peer-reviwed
International conference proceedings, English - Stimulation Wave Profiles for Elbow Flexion in Surface Electrical Stimulation Based on Burst-Modulated Symmetric Biphasic Rectangular Waves
Ryunosuke Tazawa; Daisuke Okano; Yuki Hatazawa; Masao Sugi; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Proceedings of the 2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), 381-386, 31 Oct. 2019, Peer-reviwed
International conference proceedings, English - Development and evaluation of a myoelectric prosthetic hand adaptable to individuality for Children
Yoshiko Yabuki; Yuta Murai; Yusuke Yamanoi; Xiaobei Jing; Xu Yong; Yuankang Shi; Shunta Togo; Yinlai Jiang; Takehiko Takagi; Shinichiro Takayama; Hiroshi Yokoi
International Society for Prosthetics and Orthotics (ISPO) 17th World Congress, *, 08 Oct. 2019, Peer-reviwed
International conference proceedings, English - Development and evaluation of a myoelectric prosthetic hand adaptable to individuality for Children
Yoshiko Yabuki; Yuta Murai; Yusuke Yamanoi; Xiaobei Jing; Xu Yong; Yuankang Shi; Shunta Togo; Yinlai Jiang; Takehiko Takagi; Shinichiro Takayama; Hiroshi Yokoi
International Society for Prosthetics and Orthotics (ISPO) 17th World Congress, 4.1.6.f., 08 Oct. 2019, Peer-reviwed
International conference proceedings, English - SEMG feature extraction based on stockwell transform improves hand movement recognition accuracy
Haotian She; Jinying Zhu; Ye Tian; Yanchao Wang; Hiroshi Yokoi; Qiang Huang
Sensors (Switzerland), MDPI AG, 19, 20, 02 Oct. 2019, Feature extraction, as an important method for extracting useful information from surface electromyography (SEMG), can significantly improve pattern recognition accuracy. Time and frequency analysis methods have been widely used for feature extraction, but these methods analyze SEMG signals only from the time or frequency domain. Recent studies have shown that feature extraction based on time-frequency analysis methods can extract more useful information from SEMG signals. This paper proposes a novel time-frequency analysis method based on the Stockwell transform (S-transform) to improve hand movement recognition accuracy from forearm SEMG signals. First, the time-frequency analysis method, S-transform, is used for extracting a feature vector from forearm SEMG signals. Second, to reduce the amount of calculations and improve the running speed of the classifier, principal component analysis (PCA) is used for dimensionality reduction of the feature vector. Finally, an artificial neural network (ANN)-based multilayer perceptron (MLP) is used for recognizing hand movements. Experimental results show that the proposed feature extraction based on the S-transform analysis method can improve the class separability and hand movement recognition accuracy compared with wavelet transform and power spectral density methods.
Scientific journal, English - The Development of an Underwater sEMG Signal Recognition System Based on Conductive Silicon
Jianing Xue; Yikang Yang; Jiawei Chen; Yinlai Jiang; Chi Zhu; Hiroshi Yokoi; Feng Duan
Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, IEEE Computer Society, 2019-, 387-392, 01 Oct. 2019, Stroke patients need rehabilitation to recover their abilities of moving, and the underwater rehabilitation can reduce the possibility of secondary injury during the rehabilitation process. Collecting surface electromyography (sEMG) signals underwater can provide better rehabilitation guidance to the medical doctors. However, the current sEMG electrodes cannot be applied to collect sEMG signals underwater. To solve this problem, we propose a soft sEMG electrode based on conductive silicon. The time domain and frequency domain features of sEMG signals are extracted. The sEMG signals are identified by Back Propagation Neural Network (BPNN) under the dry, simulated sweating and water environments respectively. Under the dry environment, there is no significant difference in the recognition accuracy of sEMG signals between the conductive silicon electrode and the Ag/AgCl electrode. Under the water environment, the recognition accuracy of sEMG signals acquired by the conductive silicon electrode is 95.47% by employing time domain features.
International conference proceedings, English - Motor point tracking stimulation of biceps brachii using multi electrodes based on functional electrical stimulation
Kento Ichikawa; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
2019 IEEE International Conference on Cyborg and Bionic Systems, No.4, 18 Sep. 2019, Peer-reviwed
International conference proceedings, English - 残存指を利用できる手部筋電義手システムの開発 －設計手法の提案と試作 －
村井雄太; 矢吹佳子; 石原正博; 高木岳彦; 髙山真一郎; 東郷俊太; 加藤龍; 姜銀来; 横井浩史
バイオメカニズム学会誌, バイオメカニズム学会, 43, 2, 124-133, May 2019, Peer-reviwed, 本稿は、手部欠損者の欠損指の運動機能を補綴し、残存指の運動機能を活用可能な手部筋電義手の設計手法を提案している。手部筋電義手の設計における課題は機械系と制御系に存在する。機械系設計の課題にはデジタルエンジニアリングの考え方に基づき被験者の手部の3Dデータから断端形状に適合するソケットと手の外観を損なわずに電動部品を収納できる把持機構を設計し、残存指を活用可能な手先具を実現した。制御系設計の課題には、ニューラルネットワークによって、計測した筋電から手部の把持操作に必要となる離断部位の筋電を分離し、電動ハンドの制御に応用することに成功した。また、被験者を対象に手部筋電義手を試作した。試作した手部筋電義手の把持・操り動作について、ピックアンドプレース実験を実施し、手部筋電義手の有効性を確認した。(著者抄録)
Scientific journal, Japanese - 多点型機能的電気刺激リハビリテーションシステムにおける刺激位置再現性を用いた高速な刺激パターン探索
岡野 大輔; 田澤 龍之介; 畠沢 祐輝; 粕谷 美里; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2019S, 380-381, 01 Mar. 2019, 筆者らは，脳卒中における麻痺患者を対象とした，多点電極を用いた手指機能的電気刺激リハビリシステムの開発を行っている．これまでに，多点電極と双極性の刺激波形とを用いた装置によって様々な姿勢の発現を確認した．この装置は刺激の自由度が高く刺激可能な数が膨大になるため，刺激位置探索の高速化が必要である．本報では，同相な電極群の配置を限定して探索を行う．刺激パターンの再現性を考慮して異なる日の探索結果を参考にすることで，短時間で目的姿勢に適した刺激パターンを取得する．
Japanese - 機能的電気刺激における肘関節屈曲運動を誘発するための刺激波形探索
田澤 龍之介; 畠沢 祐輝; 岡野 大輔; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2019S, 378-379, 01 Mar. 2019, 表面貼付型の電極を利用した機能的電気刺激は，拘束性の低さと着脱の容易性から運動訓練やリハビリテーションの補助手法の一つとして注目されている．刺激部位や刺激波形によって筋収縮の挙動が異なるが，利用される刺激波形は様々である．本研究では高周波の刺激波形をBurst変調した刺激を矩形波を用いて筋発揮力と主観的な痛みの評価の2つの観点から評価する．
Japanese - 握力把握・精密把握における安定把持のための筋電義手用関節屈伸機構の開発
谷 直行; 姜 銀来; 東郷 俊太; 横井 浩史
日本ロボット学会誌, 37, 2, 168-178, Mar. 2019, Peer-reviwed
Scientific journal, Japanese - Clinical Application of Implantable Brain Machine Interfaces
Masayuki Hirata; Seiji Kameda; Jason Palmer; Hiroshi Ando; Takafumi Suzuki; Yinlai Jiang; Hiroshi Yokoi; Yasuharu Koike
Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, Institute of Electrical and Electronics Engineers Inc., 119-122, 16 Jan. 2019, Implantable brain machine interfaces (BMI) enable severely disabled people high-performance real-time robot control and communication, utilizing high-quality intracranial neural signals. Electrocorticograms (ECoG) are useful for implantable BMIs because of not only their zero time-lag property but their high spatiotemporal resolution with long term stability also. Fully implantable devices for ECoG recording offer long-term home-use with 24/7 supports. This will help not only patients with restoring motor and communication control but also help their caregivers with reducing burdens of caregiving day and night. Until now, we established ECoG-based robot control and communication. High gamma activity (80-150 Hz) was a good decoding feature for ECoG-based real time decoding and control. Independent component analyses effectively extract neural information with dimensional reduction and contribute to improving decoding accuracy. Also, we are developing a 128-channel fully-implantable BMI device (WHERBS) for long-term home-use with 24/7 supports. We completed GLP tests and non-clinical long-term implantation. The next step is a clinical trial to confirm safety and efficacy of the implantable BMI.
International conference proceedings, English - Anthropomorphic Prosthetic Hand with Combination of Light Weight and Diversiform Motions
Xiaobei Jing; Xu Yong; Yinlai Jiang; Guanglin Li; Hiroshi Yokoi
Applied Sciences, 9, 20, 4203, 2019, Peer-reviwed
Scientific journal, English - Using a BCI Prosthetic Hand to Control Phantom Limb Pain.
Takufumi Yanagisawa; Ryohei Fukuma; Ben Seymour; Koichi Hosomi; Haruhiko Kishima; Takeshi Shimizu; Hiroshi Yokoi; Masayuki Hirata; Toshiki Yoshimine; Yukiyasu Kamitani; Youichi Saitoh
Brain-Computer Interface Research - A State-of-the-Art Summary 7, Springer, 43-52, 2019, Peer-reviwed - Development of new cosmetic gloves for myoelectric prosthetic hand using superelastic rubber
Yoshiko Yabuki; Kazumasa Tanahashi; Yasuhiro Mouri; Yuta Murai; Shunta Togo; Ryu Kato; Yinlai Jiang; Hiroshi Yokoi
Robotics and Autonomous Systems, 111, 31-43, Jan. 2019, Peer-reviwed
Scientific journal, English - Design and Implementation of Arch Function for Adaptive Multi-Finger Prosthetic Hand
Xu Yong; Xiaobei Jing; Xinyu Wu; Yinlai Jiang; Hiroshi Yokoi
Sensors, 19, 16, 35-39, 2019, Peer-reviwed
Scientific journal, English - 体幹部の表面筋電位を用いた直感操作型肩義手システムの開発
君塚進; 日吉祐太郎; 叶鶴松; 田中洋平; 東郷俊太; 姜銀来; 横井浩史
バイオメカニズム学会誌, Society of Biomechanisms, 43, 4, 248-255, 2019, Peer-reviwed, To realize an electric shoulder prosthesis arm system that can be used without long-term training, we developed an intuitive shoulder disarticulation prosthesis system. The developed system consisted of four degrees of freedom joints and control system adapting a user through machine learning technique and surface myoelectric potential of the trunk. We measured the surface myoelectric potential of the trunk of healthy subjects at multiple points and analyzed by using a principal component analysis to identify the proper myoelectric potential measurement part of the trunk. As a result, it was revealed that the proper EMG measurement site of the trunk is distributed in the chest and back. In addition, as a result of the experiment of verifying the grasping / moving motion of the object by the shoulder artificial arm using the surface myoelectric potential of the chest and the back for controlling the motion of the arm, all the subjects successfully grasped and moved the object within a certain period of time.
Scientific journal, Japanese - Development of an sEMG sensor composed of two-layered conductive silicone with different carbon concentrations
Shunta Togo; Yuta Murai; Yinlai Jiang; Hiroshi Yokoi
Scientific Reports, Open Access, 2019, Peer-reviwed
Scientific journal, English - 上肢欠損，切断患者における筋電義手を用いた治療の実際 -Targeted muscle reinnervationにおける今後の展望-
高木 岳彦; 高山 真一郎; 矢吹 佳子; 加藤 龍; 横井 浩史
運動器リハビリテーション, 29, 3, 287-291, 06 Dec. 2018, Invited
Scientific journal, Japanese - Development of Compliance Actuation Mechanism for Wire-driven Robotic Hand using Pressure Force
Yoshinobu Obata; Yuta Murai; Takaki Shimura; Xu Yong; Xiaobei Jing; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Robotics and Biomimetics, 748-751, 06 Dec. 2018, Peer-reviwed
International conference proceedings, English - Development of an intuitive operation type shoulder prosthesis hand system using the surface myoelectric potential of trunk
Susumu Kimizuka; Yutaro Hiyoshi; Hesong Ye; Shunta Togo; Youhei Tanaka; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Cyborg and Bionic Systems, 597-602, 25 Oct. 2018, Peer-reviwed
International conference proceedings, English - Development of Tendon Driven Under-Actuated Mechanism Applied in an EMG Prosthetic Hand with Three Major Grasps for Daily Life
Xiaobei Jing; Xu Yong; Tian Lan; Guanglin Li; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2774-2779, 03 Oct. 2018, Peer-reviwed
International conference proceedings, English - Design of a 2 Motor 2 Degrees-of-Freedom Coupled Tendon-driven Joint Module
Wenyang Li; Peng Chen; Dianchun Bai; Xiaoxiao Zhu; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 943-948, 02 Oct. 2018, Peer-reviwed
International conference proceedings, English - Development of Myoelectric Prosthetic Hand Control System Using Mobile Terminal
Takuma Harada; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Intelligence and Safety for Robotics, 551-556, 24 Aug. 2018, Peer-reviwed
International conference proceedings, English - Toward Automatic Tuning of Tendon-driven Mechanisms: Vibration based Detection of Tendon Tension
Tomohiro Shimizu; Wenyang Li; Peng Chen; Yinlai Jiang; Shunta Togo; Hiroshi Yokoi
2018 IEEE International Conference on Intelligence and Safety for Robotics, 389-394, 24 Aug. 2018, Peer-reviwed
International conference proceedings, English - Structure Design of a Tendon-driven Robotic Arm Considering Safety and Durability
Wenyang Li; Peng Chen; Yinlai Jiang; Dianchun Bai; Shunta Togo; Hiroshi Yokoi
2018 IEEE International Conference on Intelligence and Safety for Robotics, 71-76, 24 Aug. 2018, Peer-reviwed
International conference proceedings, English - Gait Analysis based Speed Control of Walking Assistive Robot
Akane Fujimoto; Naoya Matsumoto; Yinlai Jiang; Shunta Togo; Seiichi Teshigawara; Hiroshi Yokoi
2018 IEEE International Conference on Intelligence and Safety for Robotics, 88-92, 24 Aug. 2018, Peer-reviwed
International conference proceedings, English - Safety Control for Robotic Arm in Narrow Space Based on Distance Sensor
Peng Chen; Wenyang Li; Yinlai Jiang; Dianchun Bai; Xiaoxiao Zhu; Shunta Togo; Hiroshi Yokoi
2018 IEEE International Conference on Intelligence and Safety for Robotics, 66-70, 24 Aug. 2018, Peer-reviwed
International conference proceedings, English - Development of an upper-limb neuroprosthesis to voluntarily control elbow and hand
Yosuke Ogiri; Yusuke Yamanoi; Wataru Nishino; Ryu Kato; Takehiko Takagi; Hiroshi Yokoi
Advanced Robotics, Robotics Society of Japan, 32, 16, 879-886, 18 Aug. 2018, This work reports on the research and development of a lightweight neuroprosthesis that can control impaired motion using voluntary biological signals. The total weight of the developed neuroprosthesis is 900 g, which is the weight of 40% of the defective limb. Further, it is lighter than commercially available models. For a transhumeral amputee who had targeted muscle reinnervation (TMR) surgery, we attempted pattern classification using an artificial neural network (ANN) of a surface electromyogram (s-EMG) extracted from an innervated muscle. The result shows that classification of only five motions was possible using an s-EMG extracted from four dry electrodes. However, seven motion classifications were possible using eight wet-gel electrodes. The transhumeral amputee who had TMR surgery could thus successfully perform pick-and-place tasks using the neuroprosthesis.
Scientific journal, English - MEG-BMI to Control Phantom Limb Pain.
Yanagisawa T; Fukuma R; Seymour B; Hosomi K; Kishima H; Shimizu T; Yokoi H; Hirata M; Yoshimine T; Kamitani Y; Saitoh Y
Neurologia medico-chirurgica, 58, 8, 327-333, Aug. 2018, Peer-reviwed - EMG Classification by Using Swarm Intelligence for Myoelectric Prosthetic Hand
Yuki Kuroda; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Intelligence and Safety for Robotics, 112, 452-457, Aug. 2018, Peer-reviwed
International conference proceedings, English - One-channel surface electromyography decomposition for muscle force estimation
Wentao Sun; Jinying Zhu; Yinlai Jiang; Hiroshi Yokoi; Qiang Huang
Frontiers in Neurorobotics, Frontiers Media S.A., 12, MAY, 04 May 2018, Peer-reviwed, Estimating muscle force by surface electromyography (sEMG) is a non-invasive and flexible way to diagnose biomechanical diseases and control assistive devices such as prosthetic hands. To estimate muscle force using sEMG, a supervised method is commonly adopted. This requires simultaneous recording of sEMG signals and muscle force measured by additional devices to tune the variables involved. However, recording the muscle force of the lost limb of an amputee is challenging, and the supervised method has limitations in this regard. Although the unsupervised method does not require muscle force recording, it suffers from low accuracy due to a lack of reference data. To achieve accurate and easy estimation of muscle force by the unsupervised method, we propose a decomposition of one-channel sEMG signals into constituent motor unit action potentials (MUAPs) in two steps: (1) learning an orthogonal basis of sEMG signals through reconstruction independent component analysis
(2) extracting spike-likeMUAPs fromthe basis vectors. Nine healthy subjects were recruited to evaluate the accuracy of the proposed approach in estimating muscle force of the biceps brachii. The results demonstrated that the proposed approach based on decomposed MUAPs explains more than 80% of the muscle force variability recorded at an arbitrary force level, while the conventional amplitude-based approach explains only 62.3% of this variability. With the proposed approach, we were also able to achieve grip force control of a prosthetic hand, which is one of the most important clinical applications of the unsupervised method. Experiments on two trans-radial amputees indicated that the proposed approach improves the performance of the prosthetic hand in grasping everyday objects.
Scientific journal, English - One-channel surface electromyography decomposition for muscle force estimation
Wentao Sun; Jinying Zhu; Yinlai Jiang; Hiroshi Yokoi; Qiang Huang
Frontiers in Neurorobotics, Frontiers Media S.A., 12, MAY, 04 May 2018, Peer-reviwed, Estimating muscle force by surface electromyography (sEMG) is a non-invasive and flexible way to diagnose biomechanical diseases and control assistive devices such as prosthetic hands. To estimate muscle force using sEMG, a supervised method is commonly adopted. This requires simultaneous recording of sEMG signals and muscle force measured by additional devices to tune the variables involved. However, recording the muscle force of the lost limb of an amputee is challenging, and the supervised method has limitations in this regard. Although the unsupervised method does not require muscle force recording, it suffers from low accuracy due to a lack of reference data. To achieve accurate and easy estimation of muscle force by the unsupervised method, we propose a decomposition of one-channel sEMG signals into constituent motor unit action potentials (MUAPs) in two steps: (1) learning an orthogonal basis of sEMG signals through reconstruction independent component analysis
(2) extracting spike-likeMUAPs fromthe basis vectors. Nine healthy subjects were recruited to evaluate the accuracy of the proposed approach in estimating muscle force of the biceps brachii. The results demonstrated that the proposed approach based on decomposed MUAPs explains more than 80% of the muscle force variability recorded at an arbitrary force level, while the conventional amplitude-based approach explains only 62.3% of this variability. With the proposed approach, we were also able to achieve grip force control of a prosthetic hand, which is one of the most important clinical applications of the unsupervised method. Experiments on two trans-radial amputees indicated that the proposed approach improves the performance of the prosthetic hand in grasping everyday objects.
Scientific journal, English - Control of a Two-DOF Prosthetic Hand by Upper Limb Joint Angles and EMG Signal
Wen-Tao Sun; Hao-Tian She; Xin Li; Jin-Ying Zhu; Yin-Lai Jiang; Yokoi Hiroshi; Qiang Huang
Zidonghua Xuebao/Acta Automatica Sinica, Science Press, 44, 4, 667-675, 01 Apr. 2018, The EMG signal is affected by air humidity, sweat, and many other factors, therefore, it is not stable for long time usage. To cope with this shortage, EMG based prosthetic hands available in the market are usually controlled by the on/off strategy. However, this strategy is not sophisticated for controlling prosthetic hands with multi-DOFs. Kinematics information is frequently used in controlling lower limb prostheses instead of upper limb ones because of the object-oriented feature of the motion of the upper limb. In this paper, we propose a control strategy which identifies the fetching motion of the user from his/her shoulder joint. An experiment is conducted to show the stability and easy-use of the proposed strategy in comparison with the on/off strategy.
Scientific journal, Chinese - 肘関節屈曲運動を補助するための機能的電気刺激における刺激波形パラメータ
桑原 昂士; 岡野 大輔; 畠沢 祐輝; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2018S, 857-858, 01 Mar. 2018, 表面貼付型の電極を利用した機能的電気刺激は，拘束性の低さと着脱の容易性から運動トレーニングやリハビリテーションの補助手法の一つとして注目されている．刺激部位や刺激波形によって筋収縮の挙動が異なるが，利用される刺激波形は様々である．本研究では上腕の屈曲運動を補助する場合に発揮力の大きい刺激波形の探索を行う．本発表では，バースト変調矩形波をベースに，高周波域の波数に着目して実施した調査結果を報告する．
Japanese - 機能的電気刺激を用いた下肢の血流改善システムの構築
畠沢 祐輝; 岡野 大輔; 桑原 昂士; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2018S, 855-856, 01 Mar. 2018, 深部静脈血栓症は，長時間のデスクワークや寝たきり状態など下肢の活動不足で血流が鬱滞することで発症し，重篤な場合は肺塞栓症を引き起こすことがある．予防策の一例として，足首関節の底背屈運動による血流量増加が挙げられる．本発表では，当該動作を非随意に実現可能な手法として機能的電気刺激を利用し，これによる血流改善効果を検証する．短時間の被験者実験を行い，下肢血流量の変化を調査する．
Japanese - Estimating wrist joint angle with limited skin deformation information
Akira KATO; Yuya MATSUMOTO; Ryu KATO; Yo KOBAYASHI; Hiroshi YOKOI; Masakatsu G. FUJIE; Shigeki SUGANO
Journal of Biomechanical Science and Engineering, 2018, Peer-reviwed
Scientific journal, English - Training in Use of Brain-Machine Interface-Controlled Robotic Hand Improves Accuracy Decoding Two Types of Hand Movements.
Fukuma R; Yanagisawa T; Yokoi H; Hirata M; Yoshimine T; Saitoh Y; Kamitani Y; Kishima H
Frontiers in neuroscience, 12, 478, 2018, Peer-reviwed - 麻痺者上肢運動再建のための多点表面電極システムを用いた電気刺激における電極パターン探索手法の開発
粕谷美里; 森下壮一郎; 姜銀来; 杉正夫; 横井浩史
生体医工学, 55, 5, 193-204, 2018, Peer-reviwed
Scientific journal, Japanese - 適応学習機能を備えたオーダーメイド筋電義手による脳機能の評価
水落千彰; 矢吹佳子; 毛利保寛; 東郷俊太; 姜銀来; 加藤龍; 横井浩史
バイオメカニズム学会誌, Vol.42, No.2, 2018, Invited
Scientific journal, Japanese - Development of a parent wireless assistive interface for myoelectric prosthetic hands for children
Yutaro Hiyoshi; Yuta Murai; Yoshiko Yabuki; Kenichi Takahana; Soichiro Morishita; Yinlai Jiang; Shunta Togo; Shinichiro Takayama; Hiroshi Yokoi
Frontiers in Neurorobotics, 12-48, 2018, Peer-reviwed
Scientific journal, English - Development of new flexible dry electrode for myoelectric sensor using conductive silicone
Yasuhiro Mouri; Yuta Murai; Yoshiko Yabuki; Takumi Kato; Hideki Ohmae; Yoshihiro Tomita; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Cyborg and Bionic Systems, 478-482, 478-482, 2018, Peer-reviwed
International conference proceedings, English - Reduction of malfunction of myoelectric shoulder prosthesis by removing ECG noise
Kazuaki Matsumoto; Susumu Kimizuka; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2018 IEEE International Conference on Cyborg and Bionic Systems, 489-493, 2018, Peer-reviwed
International conference proceedings, English - Real-time cortical adaptation monitoring system for prosthetic rehabilitation based on functional near-infrared spectroscopy
Chiaki Mizuochi; Yoshiko Yabuki; Yasuhiro Mouri; Shunta Togo; Soichiro Morishita; Yinlai Jiang; Ryu Kato; Hiroshi Yokoi
2017 IEEE International Conference on Cyborg and Bionic Systems, 130-135, 17 Oct. 2017, Peer-reviwed
International conference proceedings, English - Designs of Tailor-Made Myoelectric Prosthetic Hand for Trans-MetacarpalAmputations with Remaining Fingers and Joint Moving Functions
Yuta Murai; Yoshiko Yabuki; Masahiro Ishihara; Takehiko Takagi; Shinichiro Takayama; Shunta Togo; Jiang Yinlai; Hiroshi Yokoi
2017 IEEE International Conference on Cyborg and Bionic Systems, 2017 IEEE International Conference on Cyborg and Bionic Systems, 119-124, 17 Oct. 2017, Peer-reviwed
International conference proceedings, English - Intelligent Prosthetic Arm Force Control Based on sEMG Analysis and BPNN Classifier
Dianchun Bai; Shutian Chen; Junyou Yang; Chunyu Xia; Baiqing Sun; Yinlai Jiang; Hiroshi Yokoi
2017 IEEE International Conference on Cyborg and Bionic Systems, 2017 IEEE International Conference on Cyborg and Bionic Systems, 108-113, 17 Oct. 2017, Peer-reviwed
International conference proceedings, English - Development of an upper limb neuroprosthesis to voluntarily control elbow and hand
Yosuke Ogiri; Yusuke Yamanoi; Wataru Nishino; Ryu Kato; Takehiko Takagi; Hiroshi Yokoi
Robot and Human Interactive Communication (RO-MAN), 2017 26th IEEE International Symposium on, IEEE, Sep. 2017, Peer-reviwed
International conference proceedings, English - Development of myoelectric hand that determines hand posture and estimates grip force simultaneously
Yusuke Yamanoi; SOichiro Morishita; Ryu Kato; Hiroshi Yokoi
BIOMEDICAL SIGNAL PROCESSING AND CONTROL, ELSEVIER SCI LTD, 38, 312-321, Sep. 2017, Peer-reviwed, The purpose of this study is to develop a myoelectric hand that determines hand posture and estimates grip force simultaneously like human hands. Methods for simultaneous hand posture determination and grip force estimation typically yield unsatisfying results because of the complex characteristics of electromyogram (EMG) signals. In this study, the authors developed a myoelectric hand that is able to control both force and posture using a method proposed in our previous study. Tests of the grasp ability of the myoelectric hand conducted with healthy men and an amputee showed that the proposed method can be used to control both grip force and hand posture simultaneously with sufficiently accuracy in a real environment. In conclusion, it was suggested that the hand that control posture and force simultaneously improve the dexterity of amputees. (C) 2017 Elsevier Ltd. All rights reserved.
Scientific journal, English - Conductive Silicon Based sEMG Sensor for Myoelectric Control of Prosthetic Hands: Structure Design and Evaluation
Yinlai Jiang; Yuta Murai; Taihei Kuwahara; Shunta Togo; Yoshiko Yabuki; Hiroshi Yokoi
The 2017 IEEE International Conference on Real-time Computing and Robotics (IEEE RCAR 2017), **, 14 Jul. 2017, Peer-reviwed
International conference proceedings, English - sEMG Sensor Using Polypyrrole-Coated Nonwoven Fabric Sheet for Practical Control of Prosthetic Hand
Yinlai Jiang; Masami Togane; Baoliang Lu; Hiroshi Yokoi
FRONTIERS IN NEUROSCIENCE, FRONTIERS MEDIA SA, 11, No.33, Feb. 2017, Peer-reviwed, One of the greatest challenges of using a myoelectric prosthetic hand in daily life is to conveniently measure stable myoelectric signals. This study proposes a novel surface electromyography (sEMG) sensor using polypyrrole-coated nonwoven fabric sheet as electrodes (PPy electrodes) to allow people with disabilities to control prosthetic limbs. The PPy electrodes are sewn on an elastic band to guarantee close contact with the skin and thus reduce the contact electrical impedance between the electrodes and the skin. The sensor is highly customizable to fit the size and the shape of the stump so that people with disabilities can attach the sensor by themselves. The performance of the proposed sensor was investigated experimentally by comparing measurements of Ag/AgCl electrodes with electrolytic gel and the sEMG from the same muscle fibers. The high correlation coefficient (0.87) between the two types of sensors suggests the effectiveness of the proposed sensor. Another experiment of sEMG pattern recognition to control myoelectric prosthetic hands showed that the PPy electrodes are as effective as Ag/AgCl electrodes for measuring sEMG signals for practical myoelectric control. We also investigated the relation between the myoelectric signals' signal-to-noise ratio and the source impedances by simultaneously measuring the source impedances and the myoelectric signals with a switching circuit. The results showed that differences in both the norm and the phase of the source impedance greatly affect the common mode noise in the signal.
Scientific journal, English - 多点電極を用いた機能的電気刺激における目的手指姿勢を実現するための高速な刺激パターン探索
岡野 大輔; 桑原 昂士; 杉 正夫; 姜 銀来; 東郷 俊太; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2017, 221-222, 2017, 筆者らは，脳卒中における手指麻痺患者を対象として，多点電極を用いた機能的電気刺激によるリハビリテーションシステムの開発を行っている．これまでに多点電極と双極性の刺激波形とを用いた刺激装置を開発し，手指姿勢を変化させうることを確認した．多点電極刺激装置は自由度が高く，可能な刺激パターンの数が極めて多いため，目的の姿勢を得るための刺激位置探索には高速化が必要である．そこで本研究では，同相な電極群の配置を限定した形で粗探索を行い，次に詳細な近傍探索を行うという探索手法を提案する．
Japanese - Development of a search method of electrode patterns for use in electrical stimulation using multichannel surface electrodes for upper limb motor function recovery in patients with paralysis
Misato Kasuya; Soichiro Morishita; Yinlai Jiang; Masao Sugi; Hiroshi Yokoi
Transactions of Japanese Society for Medical and Biological Engineering, Japan Soc. of Med. Electronics and Biol. Engineering, 55, 5, 193-204, 2017, Peer-reviwed, The incidence of limb paralysis due to cerebrovascular disorders is increasing. In the affected patients, returning to normal life is a concern that needs to be addressed. Therefore an effective treatment for recovery of motor function is required. Rehabilitation to encourage patients to perform a variety of exercises is required. One of the effective methods for recovery of motor function is repetitive facilitation of exercises. This method requires that a therapist assists a patient on a one-to-one basis. The lack of qualified personnel to assist individuals and the increased burden on the medical personnel in recent years have made rehabilitation using repetitive facilitation of exercise difficult. Therefore, it is important that we use repetitive facilitation exercises and training equipment in combination to facilitate high-quality rehabilitation for a large number of patients with paralysis. Such training equipment should allow stable performance of a variety of exercises. The purpose of this study was to develop an arm exercise function recovery system based on surface electrical stimulation using multi-channel electrodes for a patient to undergo rehabilitation without assistance at home. As the training equipment, we used functional electrical stimulation (FES) with surface electrodes, which is a non-invasive method. Stimulating a specific muscle is difficult using FES with surface electrodes. Therefore, we traced an electrode pattern including many electrode points to achieve appropriate stimulation. In the case of multichannel surface electrodes, we considered that there should be as many electrode patterns as possible. In this report, we describe an example of the method to determine the electrode pattern that can evoke finger and hand positioning using a multi-channel electrode selector “FES selector device”, by which the electrode pattern can be changed freely. We used the electrode pattern that had the highest estimated joint precision obtained by estimating joint angles using an artificial neural network. We then performed clustering of finger and hand positions based on the electrode pattern. This cluster was then used as the cluster that correlates the actual finger and hand positions with the electrode pattern. We performed clustering of the electrode pattern based on this cluster of finger and hand positions. In addition, we demonstrate in this report an example of searching the electrode pattern by clustering using the FES selector device and an artificial neural network. From this search, we identified the electrode patterns that evoked exercise, and found around 16 to 24 clusters of finger and hand positions. These findings suggest that a variety of exercises can be evoked without assistance. Based on the clustering result, we made a table of the required positions and the corresponding electrode patterns. Using this table, a patient can easily find the pattern appropriate to the desired position.
Scientific journal, Japanese - Exploration of a hybrid design based on EEG and eye movement
Junyou Yang; Yuan Hao; Dianchun Bai; Yinlai Jiang; Hiroshi Yokoi
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Springer Verlag, 10462, 206-216, 2017, Peer-reviwed, This study presents a novel hybrid interface based on both electroencephalography (EEG) and eye movement. The detection of combination EEG with eye movement provides a new means of communication for patients whose muscular damage are unable to communicate. And this method can translate some brain responses into actions. In this paper, based on the motor imagery, event related synchronization/desychronization (ERS/ERD) were tested by using time-frequency spectrum and brain topographic mapping. A features extraction algorithm is proposed based on common spatial pattern (CSP), then the support vector machine (SVM) were carried out to classificate data. An EEG recording device integrated with an eye tracker can be complementary to attain improved performance and a better efficiency. The eye movement signals (via eye tracker of Tobbi) and EEG signals of ERS/ERD are as the input of hybrid BCI system simultaneously while subjects follow movement of the arrows in each direction. The recognition accuracy of the entire system reaches to 86.1%. The results showed that the proposed method was efficient in the classification accuracy.
International conference proceedings, English - Quantification of muscle fatigue using surface electromyography for isometric handgrip task
Soo,Yewguan; Sugi,Masao; Yokoi,Hiroshi; Arai,Tamio Kato,Ryu; Ota,Jun
Journal of Telecommunication Electronic and Computer Engineering, 9, 3, 205-209, 2017, Peer-reviwed
Scientific journal, English - One-Handed Wearable sEMG Sensor for Myoelectric Control of Prosthetic Hands
Yin-lai Jiang; Shintaro Sakoda; Masami Togane; Soichiro Morishita; Hiroshi Yokoi
WEARABLE SENSORS AND ROBOTS, SPRINGER-VERLAG SINGAPORE PTE LTD, 399, No.56, 105-109, 2017, Peer-reviwed, A novel sEMG (surface electromyography) sensor using polypyrrole-coated nonwoven fabric sheet as electrodes (PPy-electrode) is proposed for the disabled to control prosthetic limbs in daily life. The PPy-electrodes are sewed on an elastic band to guarantee closely contact to the skin thus to enable stable sEMG measurement with high signal-to-noise ratio. Furthermore, the sensor is highly customizable to fit for the size and the shape of the stump so that the disabled can wear the sensor by themselves. The performance of the proposed sensor is investigated by comparing with Ag/AgCl electrodes with electrolytic gel in an experiment to measure the sEMG from the same muscle fibers. The high correlation coefficient (0.87) between the sEMG measured by the two types of sensors suggests the effectiveness of the proposed sensor. The experiment to control myoelectric prosthetic hands showed that the disabled can use it with one hand to obtain sEMG signals for myoelectric control.
International conference proceedings, English - Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand by Using Thermoplastic Styrene Elastomer
Yoshiko Yabuki; Kazumasa Tanahashi; Suguru Hoshikawa; Tatsuhiro Nakamura; Ryu Kato; Yinlai Jiang; Hiroshi Yokoi
INTELLIGENT AUTONOMOUS SYSTEMS 14, SPRINGER INTERNATIONAL PUBLISHING AG, 531, 269-282, 2017, Peer-reviwed, This paper reports on design and development of new cosmetic gloves for Myoelectric Prosthetic Hand which provides a realistic appearance and flexible motion of robot hands. The main design issues are divided into five as followings; appearance, gripping performance, durability, texture, flexibility. The appearance includes the shape, wrinkles, finger mark, nail, and color of the hand; the aim is to make these properties of the prosthetic hand as similar to those of the human hand as possible. The durability is evaluated by adaptabilities for daily living, and flexible materials without prevention from finger motion. Furthermore, the gripping performance is improved by the thickness map of palm which is well fit to the gripping object. The experiment shows the results of the performance test applied to the pick-and-place task by using powered prosthetic hand in order to evaluate total properties of the developed cosmetic gloves.
International conference proceedings, English - Development of a Myoelectric Hand Incorporating a Residual Thumb for Transmetacarpal Amputees
Yuta Murai; Suguru Hoshikawa; Shintaro Sakoda; Yoshiko Yabuki; Masahiro Ishihara; Tatsuhiro Nakamura; Takehiko Takagi; Shinichiro Takayama; Yinlai Jiang; Hiroshi Yokoi
INTELLIGENT AUTONOMOUS SYSTEMS 14, SPRINGER INTERNATIONAL PUBLISHING AG, 531, 977-990, 2017, Peer-reviwed, Restoring the hand functionality of partial amputees requires a myoelectric prosthetic hand, which is a robotic hand controlled by myoelectric signals from the skin surface and has the potential to restore human hand functionality. Most myoelectric hands have been developed for forearm amputees, while those for partial-hand amputees are few in number despite the higher numbers of the latter. Partial-hand amputees have limited hand functionality and cannot grasp andmanipulate various objects in a manner comparable to individuals with a healthy hand; thus, they require a myoelectric hand. In this study, design issues were identified, and three-dimensional computer-aided design was used to propose an integrated skeleton and housing with a supporting socket. A passive thumb mechanism with motion in the remaining part of the hand was developed where the motion control system is based on the amputee's muscles. An amputation system is proposed comprising mixed metacarpal and center-part cuts. A prototype was constructed, and its gripping functionality was evaluated. The results demonstrated an enhanced gripping performance compared to the non-use of prosthetics, which attests to the viability and effectiveness of the system.
International conference proceedings, English - Maintenance of Muscle Contraction Improves during Dynamic Exercise by Multi-channel Functional Electrical Stimulation with Time Shifting Stimulation
Rintaro Kamihira; Misato Kasuya; Yinlai Jiang; Shunta Togo; Masao Sugi; Hiroshi Yokoi
International Journal of Bioscience, Biochemistry and Bioinformatics, International Journal of Bioscience, Biochemistry and Bioinformatics, Volume 7, Number 1, 33-40, Jan. 2017, Peer-reviwed
Scientific journal, English - Maintenance of muscle contraction improves during dynamic exercise by multi-channel functional electrical stimulation with time shifting stimulation
Rintaro KAMIHIRA; Misato KASUYA; Yinlai JIANG; Shunta TOGO; Masao SUGI; Hiroshi YOKOI
2016 International Conference on Biomedical Signal and Bioinformatics (ICBSB 2016), 2016 International Conference on Biomedical Signal and Bioinformatics (ICBSB 2016), **, **-**, 27 Nov. 2016, Peer-reviwed
International conference proceedings, English - Development of Artificial Skin for the Myoelectric Prosthetic Hand by using Hyper Elastic Materials with tactile sensor
Yoshiko Yabuki; Kazumasa Tanahashi; Yuta Suzuki; Tatsuhiro Nakamura; Ryu Kato; Yinlai Jiang; Hiroshi Yokoi
The International Workshop on modern Science and Technology 2016(IWMST2016), 26-32, 01 Nov. 2016, Peer-reviwed
International conference proceedings, English - Prosthetic Hand with Wire-Driven Force-Magnification Mechanism for Children
Hesong Ye; Shintaro Sakoda; Yinlai Jiang; Soichiro Morishita; Hiroshi Yokoi
The International Workshop on modern Science and Technology 2016(IWMST2016), 40-45, 01 Nov. 2016, Peer-reviwed
International conference proceedings, English - 慢性期脳梗塞症例に対する4週間の神経筋電気刺激を用いたホームエクササイズによる歩行特性の変化 三次元動作解析装置を用いた検討
久保田 雅史; 安竹 千秋; 神澤 朋子; 山村 修; 渡部 雄大; 今中 芙由子; 嶋田 誠一郎; 辻川 哲也; 岡沢 秀彦; 加藤 龍; 横井 浩史
理学療法学, (公社)日本理学療法士協会, 43, Suppl.2, P-NV, Oct. 2016, Peer-reviwed
Japanese - Induced sensorimotor brain plasticity controls pain in phantom limb patients
Takufumi Yanagisawa; Ryohei Fukuma; Ben Seymour; Koichi Hosomi; Haruhiko Kishima; Takeshi Shimizu; Hiroshi Yokoi; Masayuki Hirata; Toshiki Yoshimine; Yukiyasu Kamitani; Youichi Saitoh
NATURE COMMUNICATIONS, NATURE PUBLISHING GROUP, 7, No.13209, Oct. 2016, Peer-reviwed, The cause of pain in a phantom limb after partial or complete deafferentation is an important problem. A popular but increasingly controversial theory is that it results from maladaptive reorganization of the sensorimotor cortex, suggesting that experimental induction of further reorganization should affect the pain, especially if it results in functional restoration. Here we use a brain-machine interface (BMI) based on real-time magnetoencephalography signals to reconstruct affected hand movements with a robotic hand. BMI training induces significant plasticity in the sensorimotor cortex, manifested as improved discriminability of movement information and enhanced prosthetic control. Contrary to our expectation that functional restoration would reduce pain, the BMI training with the phantom hand intensifies the pain. In contrast, BMI training designed to dissociate the prosthetic and phantom hands actually reduces pain. These results reveal a functional relevance between sensorimotor cortical plasticity and pain, and may provide a novel treatment with BMI neurofeedback.
Scientific journal, English - Development of five-finger robotic hand using master-slave control for hand-assisted laparoscopic surgery
Koki Yoshida; Hiroshi Yamada; Ryu Kato; Tatsuya Seki; Hiroshi Yokoi; Masaya Mukai
2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 5124-5127, 16 Aug. 2016, Peer-reviwed
International conference proceedings, English - A method for evaluation of dependency between diseased side and opposite side of hemiplegia patient during FES-Cycling by using transfer entropy
Mai Nozakura; Soichiro Morishita; Misato Ohdaira; Yinlai Jiang; Hiroshi Yokoi
The International Society of Electrophysiology and Kinesiology (ISEK) Congress, Poster, 08 Jul. 2016
International conference proceedings, English - Development of new Cosmetic Gloves for Myoelectric Prosthetic Hand by using Thermoplastic Styrene Elastomer
Yoshiko Yabuki; Kazumasa Tanahashi; Suguru Hoshikawa; Tatsuhiro; Nakamura; Ryu Kato; Yinkai Jiang; Hiroshi Yokoi
The 14th International Conference on Intelligent Autonomous Systems, 01230899, 3, 177-185, 05 Jul. 2016, Peer-reviwed
International conference proceedings, English - The cortical adaptation monitoring system for leg press machine with FES induced biofeedback
Misato Kasuya; Mai Nozakura; Soichiro Morishita; Yinlai Jiang; Masao Sugi; Ryu Kato; Hiroshi Yokoi
The International Society of Electrophysiology and Kinesiology (ISEK) Congress, **-**, Jul. 2016, Peer-reviwed
International conference proceedings, English - Long-term bidirectional control in the thalamo-prefrontal synaptic plasticity possibly commanding neuraly ubiquitous "embodiment"
Masatoshi Takita; Hiroshi Yokoi
The 1st International Symposium on Embodied-Brain Systems Science(Emboss)2016, **-**, 08 May 2016, Peer-reviwed
International conference proceedings, English - 身体を拡張する筋電義手："障害"を再定義するテクノロジーの実現を目指して
粕谷 昌宏; 加藤 龍; 高木 岳彦; 伊藤 寿美夫; 高山 真一郎; 横井 浩史
情報管理, Japan Science and Technology Agency, 58(2015), 12, 887-899, 01 Mar. 2016, Invited, This paper describes a prosthetic hand for both complementing the function of the hand and for enhancing the function of the body. Types, structures and the operational principles of traditional prosthetic hands are explained, and then the details of prosthetic hands that are controlled by the users electromyogram (EMG), which is the principal subject of this paper, are also explained. The EMG prosthetic hand was first developed over half a century ago; however, there have been no major changes in the control strategy of EMG prosthetic hands in their long history. Although the traditional EMG control strategy is optimized for EMG prosthetic hands with single degrees of freedom, these days EMG prosthetic hands with multiple degrees of freedom are becoming available on the market, and as a result, many people have difficulties with controlling them. Our research group has developed a novel intuitive EMG controller for prosthetic hands with multiple degrees of freedom, and the developed EMG controller outlines the possibility for physical expansion. Finally, we outline the change in society based on this technology, and its possible future expansion.
Scientific journal, Japanese - Real-Time Control of a Neuroprosthetic Hand by Magnetoencephalographic Signals from Paralysed Patients
Ryohei Fukuma; Takufumi Yanagisawa; Youichi Saitoh; Koichi Hosomi; Haruhiko Kishima; Takeshi Shimizu; Hisato Sugata; Hiroshi Yokoi; Masayuki Hirata; Yukiyasu Kamitani; Toshiki Yoshimine
SCIENTIFIC REPORTS, NATURE PUBLISHING GROUP, 6, Article number: 21781, Feb. 2016, Peer-reviwed, Neuroprosthetic arms might potentially restore motor functions for severely paralysed patients. Invasive measurements of cortical currents using electrocorticography have been widely used for neuroprosthetic control. Moreover, magnetoencephalography (MEG) exhibits characteristic brain signals similar to those of invasively measured signals. However, it remains unclear whether noninvasively measured signals convey enough motor information to control a neuroprosthetic hand, especially for severely paralysed patients whose sensorimotor cortex might be reorganized. We tested an MEG-based neuroprosthetic system to evaluate the accuracy of using cortical currents in the sensorimotor cortex of severely paralysed patients to control a prosthetic hand. The patients attempted to grasp with or open their paralysed hand while the slow components of MEG signals (slow movement fields; SMFs) were recorded. Even without actual movements, the SMFs of all patients indicated characteristic spatiotemporal patterns similar to actual movements, and the SMFs were successfully used to control a neuroprosthetic hand in a closed-loop condition. These results demonstrate that the slow components of MEG signals carry sufficient information to classify movement types. Successful control by paralysed patients suggests the feasibility of using an MEG-based neuroprosthetic hand to predict a patient's ability to control an invasive neuroprosthesis via the same signal sources as the noninvasive method.
Scientific journal, English - Development of pediatric EMG prosthetic hand for congenital defects- Adaptable socket design for amputation stump by using conductive polymer and flexible fabric -
TAKAHANA Kenich; MURAI Yuta; HIYOSHI Yutaro; YE Hesong; YABUKI Yoshiko; JIANG Yinlai; KATO Ryu; TAKAGI Takehiko; TAKAYAMA Shinichiro; YOKOI Hiroshi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2016, 1P1-14a4, 2016, Electromyogram (EMG) signals represent the electric potentials on the surfaces of muscles. These signals may be applied for controlling prosthetic replacements such as a prosthetic hand. This paper treats on application of EMG prosthetic hand for congenital defects. The experimental product of EMG prosthetic hand is developed for the subjects under 5 years old. The main problem of experimental product is a design issue of socket of amputee. The socket needs to support all weight of prosthetic hand and object of handling. Furthermore, EMG sensor electrodes are needed to be attached on the surface of amputee side firmly, in order to avoid noise. Therefore this paper proposes new socket design by using conductive polymer and flexible fabric. The experimental result shows that the prototype socket is applied for infant amputees and succeeded to grasping and releasing small object and holding big heavy object by using EMG prosthetic hand.
Japanese - Development of pediatric EMG prosthetic hand for congenital defects-Development of 1-DOF ultra-small and light robot hand modeled infant hands
MURAI Yuta; HIYOSHI Yutaro; TAKAHANA Kenich; YE Hesong; YABUKI Yoshiko; JIANG Yinlai; KATO Ryu; TAKAGI Takehiko; TAKAYAMA Shinichiro; YOKOI Hiroshi
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), The Japan Society of Mechanical Engineers, 2016, 2A1-14a3, 2016, In this paper presents the result of developed robot hand for grasping and manipulating objects as prosthesis by using 3D printing. Author's group develops myoelectric hand for infants which are amputee with transverse deficiencies. A robot hand is required ultra-small, ultra-light, grasping force similar with infant's grasping force and less discomfort movement of hand. As the result, we have developed ultra-light robot hand which is same grip force and pinch force comparing with conventional hands. Specifications of the robot hand shows; size is similar with 2 years old child, weight is 50g ( with no cosmetic globe), 70g( with cosmetic globe), grasp force is about 18.6N. Finally, we have verified usefulness of robot hand for myoelectric hand for infant, by conducting the experiments about mechanical performance and subject experiment.
Japanese - 運動トレーニングシステムのための表面電気刺激による情報提示手法の検討
桑原 昂士; 大平 美里; 杉 正夫; 森下 壮一郎; 横井 浩史
精密工学会学術講演会講演論文集, 公益社団法人 精密工学会, 2016, 885-886, 2016, 現在，運動トレーニングやリハビリテーションなどにおいて，訓練効果を高めるために，目標運動との差異を被験者にフィードバックすることが提案されている．本研究では，目標運動との差異のフィードバックのための情報提示手段として機能的電気刺激を利用することを新たに提案し，ペダルの踏込運動を利用して提案手法の有効性を検証する．
Japanese - Shoulder Joint Control Method for Smart Prosthetic Arm Based on Surface EMG Recognition
Dianchun Bai; Chunyu Xia; Junyou Yang; Shouxian Zhang; Yinlai Jiang; Hiroshi Yokoi
2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), IEEE, 1267-1272, 2016, Peer-reviwed, This paper aims to upper limb amputees with limited motion function characteristic, based on surface myoelectric (sEMG) signal that are detectable from skin surface upper limb shoulder motion angle recognition is studied to judge for shoulder movement intention so that patients can leave the autonomy of motion control prosthetic arm. For sEMG feature extraction and pattern-recognition, two target muscle which pectorals and deltoid sEMG of subjects are collected by surface electrodes. On the basis of filtering process, sEMG root mean square (RMS) value is extracted. According to the relevance of sEMG in position of shoulder movement, sEMG characteristic values are selected as input of BP neural network and shoulder angle signal as its output. A relationship between the joint angle and sEMG signals is established. The motion control experiment is implemented with a laboratory smart prosthetic arm. The results experiment show that the neural network model can well reflect the relationship between EMG and shoulder angle.
International conference proceedings, English - Development of five-finger robotic hand using master-slave control for hand-assisted laparoscopic surgery
Koki Yoshida; Hiroshi Yamada; Ryu Kato; Tatsuya Seki; Hiroshi Yokoi; Masaya Mukai
2016 38TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 5124-5127, 2016, Peer-reviwed, This study aims to develop a robotic hand as a substitute for a surgeon's hand in hand-assisted laparoscopic surgery (HALS). We determined the requirements for the proposed hand from a surgeon's motions in HALS. We identified four basic behaviors: "power grasp," "precision grasp," "open hand for exclusion," and "peace sign for extending peritoneum. "The proposed hand had the minimum necessary DOFs for performing these behaviors, five fingers as in a human's hand, a palm that can be folded when a surgeon inserts the hand into the abdomen, and an arm for adjusting the hand's position. We evaluated the proposed hand based on a performance test and a physician's opinions, and we confirmed that it can grasp organs.
International conference proceedings, English - Hybrid EEG-EOG System for Intelligent Prosthesis Control based on Common Spatial Pattern Algorithmd
Junyou Yang; Xiaoying Su; Dianchun Bai; Yinlai Jiang; Hiroshi Yokoi
2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), IEEE, 1261-1266, 2016, Peer-reviwed, A newly brain computer interaction (BCI) system which combined electrooculography (EOG) with electroencephalography (EEG) was designed and realized to make prosthesis control with multicontrol commands come true. Based on two different imaginary tasks, time-frequency spectrum and brain topographic mapping were used to analyze and validate event related synchronization/desychronization (ERS/ERD). Obviously frequency band of EEG is chosen based on common spatial pattern (CSP) algorithm, and then support vector machine (SVM) were implemented to classify data's characteristics. In order to improve the performance of BCI system, the EOG signals caused by eye movements and EEG signals of ERS/ERD were simultaneously provided as the input of hybrid BCI system. In the lab environment, the proposed system was tested on a multi-functional robotic prosthesis. The robot is light in weight and low in power consumption. Taking advantage of both EOG and EEG, recognition accuracy of entire system reaches 91.1%. The experiments results show that feature information of EEG signal which is evoked by motor imagery have obvious spatial specificity. This hybrid system can recognize different motions of the upper limb, whereas the task can be executed effectively and operator controls the prosthesis easily as their own arm.
International conference proceedings, English - Recognition System of Finger Motion Pattern Based on AR Model Coefficient Estimation
Dianchun Bai; Shouxian Zhang; Junyou Yang; Yinlai Jiang; Hiroshi Yokoi
2016 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), IEEE, 1249-1254, 2016, Peer-reviwed, A new type of finger articulation angle recognition system based on surface electromyography (sEMG) signals were established. Especially, velocities of fingers can be effectively predicted with a few sEMG channels. This paper mainly collected the sEMG signals during forefinger motions which are slow, medium and fast velocities, respectively. A new method were proposed which acquired more accurate estimate of the velocity variations of the finger. Firstly, fast Independent Component Analysis (FastICA) algorithm based on the largest negative entropy was used to predict the acquired signals, and then separate effective operation of the signals. Then autoregressive (AR) parameter model U-C algorithm was used to extract characteristic coefficient. Finally, a RBF neural network was designed, and the input is computational AR characteristic coefficient, the outputs are three different velocities of fingers motion. The experiment data were collected from healthy subjects' four muscles including Index finger extensor(IFE), Middle finger extensor (MFE), Palmaris Longus (PL) and the flexor carpi (FC). RBF neural network was used as a classifier to classification and recognition different finger movement action, and a satisfactory results has achieved.
International conference proceedings, English - Large Scale Indoor 3D Mapping Using RGB-D Sensor
Xiaoxiao Zhu; Qixin Cao; Hiroshi Yokoi; Yinlai Jiang
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I, SPRINGER INT PUBLISHING AG, 9834, 313-321, 2016, Peer-reviwed, 3D Mapping using RBG-D sensor is a hot topic in the robotic field. This paper proposes a sub-map stitching method to build map in the large scale indoor environment. We design a special landmark, and place it in the environment. Every sub-map contains those landmarks, and then can be stitched by BA optimization. The result shows that the map error is blow 1 % in a room with the dimensions of 13 m x 8 m.
International conference proceedings, English - Force-Magnification Mechanism with Artificial Tendon Sheath for Myoelectric Prosthetic Hand for Children
Hesong Ye; Xiang Feng; Yoshiko Yabuki; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), IEEE, 533-538, 2016, Peer-reviwed, Myoelectric prosthetic hands (MPH) for children are being studied to meet with the need of children with upper limb deficiency. The MPH for children developed in a previous study was lack of stability and mechanical adaptability, and could not be controlled to meet with variable scenes in real life. We therefore developed a steady mechanism to ensure its mechanical stability, and conducted a pick-and-place experiment to verify its practical performance. Furthermore, we designed a bionic mechanism to enhance its mechanical adaptability. The mechanism mimicking human ligaments of tendon sheath makes it possible that the MPH's finger can bend fast with small torque while approaching to the object, and slowly increase grasp torque after touching the object. To enable the mechanism to exert proper range of torque, the dynamics of the mechanism was analyzed. We also conducted a mechanics experiment to verify its mechanical adaptability.
International conference proceedings, English - FESleeve: A Functional Electrical Stimulation System with Multi-electrode Array for Finger Motion Control
Tianqu Shao; Xiang Li; Hiroshi Yokoi; Dingguo Zhang
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT II, SPRINGER INT PUBLISHING AG, 9835, 191-199, 2016, Peer-reviwed, Functional electrical stimulation (FES) is frequently used for recovering upper limb functions in patients with central nervous system lesions. However, some typical problems exist such as comfort, selectivity, fatigue and convenience when applying this technology. Targeting these problems, we developed a functional electrical stimulation system with multi-electrode array, called FESleeve, for finger motion control. With smaller size in electrode design, the system was capable of targeting and stimulating muscles related with specific finger movements more precisely, meanwhile improving selectivity. For easy use, the overall system was designed to be sleeve-shape and can be easily fixed on the forearm. Special stimulation configuration was designed to alleviate sting feelings and muscle fatigue. Experiments were conducted on 4 healthy subjects and 3 stroke patients with upper limb deficits. Results show that the system was able to induce desirable finger movements, such as single finger flexing and finger bending. No negative effects of the system were found in the experiments.
International conference proceedings, English - Identification of fragmented letters through minimum-distance interpolation
Ryohei Fukuma; Takufumi Yanagisawa; Youichi Saitoh; Koichi Hosomi; Haruhiko Kishima; Takeshi Shimizu; Hisato Sugata; Hiroshi Yokoi; Masayuki Hirata; Yukiyasu Kamitani; Toshiki Yoshimine
Therapeutic Research, 37, 8, 795-802, 2016, Peer-reviwed, Humans can identify partly occluded objects such as fragmented letters and the process involved could be considered as a common ability to discriminate, for example, between animal camouflage and jungle surroundings. The present study found that the same mechanism is responsible for visual identifying fragmented letters. Psychological experiments showed that individuals with normal vision most frequently imagined the shortest-linear links when observing three points corresponding to the vertices of virtualscalene triangles. Computer simulation also showed that multiple lines between pixels in close proximity remaining within the fragments with randomly removed pixels reproduced the shapes of original letters. Therefore, these results suggest that fragmented letters can be identified via linkages of spontaneously-induced illusory lines that interpolate elements remaining in close proximity within the visual system of the brain.
Scientific journal, English - 脳神経科学からライフサポートへの期待と展望
横井浩史
日本神経回路学会誌, 日本神経回路学会, 23(2016), No. 4, 127-128, 2016, Peer-reviwed, Invited
Scientific journal, Japanese - Development of a Novel Post-Processing Algorithm for Myoelectric Pattern Classification
Masahiro Kasuya; Ryu Kato; Hiroshi Yokoi
Transactions of Japanese Society for Medical and Biological Engineering, Japan Soc. of Med. Electronics and Biol. Engineering, 53, 4, 217-224, 10 Dec. 2015, Peer-reviwed, This paper describes a novel post-processing algorithm for electromyographic (EMG) pattern classification, for use with myoelectric prosthetic hands. Amputees have difficulties controllingmultiple degrees of freedom, but there is an increasingnumber of prosthetic hands with multiple degrees of freedom. Generally, an increasingnumber of classes decreases the classification accuracy. Artificial neural networks have been used for EMG pattern classification in previous studies. The proposed post-processingalg orithm stores the temporal sequence of classifications from the EMG pattern classification algorithm, and runs a second classification based on the sequential patterns. We compared the accuracy of the output before and after the post-processingstep. In our experiment, we set the trainingtime of the EMG pattern classification algorithm to 1 s for each class, and used three channels of surface EMG signals. We selected 7 and 9 classes of EMG patterns, and recorded the output every 10-20 ms. The classification accuracy improved by 11.5％ with 7 classes, and 17.7％ with 9 classes. The overall accuracy of the proposed system was 82.5％ for 9 classes and 92.9％ for 7 classes. With the adequately high classification accuracy and other features(small number of EMG channels and short trainingtime ), the proposed method is potentially suitable for practical use with prosthetic hands.
Scientific journal, Japanese - Development and Evaluation of a Simplified Myoelectric Prosthetic Hand Realizing Basic Grasp Function in ADL
星川英; 迫田辰太郎; 山野井佑介; 加藤龍; 森下壮一郎; 中村達弘; 關達也; 姜銀来; 横井浩史
知能と情報, 27, 6, 885-897, Dec. 2015, Peer-reviwed
Scientific journal, Japanese - 時系列情報を用いた筋電パターン識別精度向上フィルタの提案
粕谷昌宏; 加藤龍; 横井浩史
生体医工学誌, 53, 4, 217-224, Oct. 2015, Peer-reviwed
Scientific journal, Japanese - fNIRS-based analysis of temporal changes of brain activation during long-term conditioning with functional electrical stimulation
Misato Ohdaira; Tomoko Kamisawa; Soichiro Morishita; Yinlai Jiang; Masao Sugi; Osamu Yamamura; Hiroshi Yokoi
international Convention on Rehabilitation Engineering&Assistive Technology(i-CREATe) 2015, P4.3, 11 Aug. 2015, Peer-reviwed
International conference proceedings, English - Closed-Loop Control of a Neuroprosthetic Hand by Magnetoencephalographic Signals
Ryohei Fukuma; Takufumi Yanagisawa; Shiro Yorifuji; Ryu Kato; Hiroshi Yokoi; Masayuki Hirata; Youichi Saitoh; Haruhiko Kishima; Yukiyasu Kamitani; Toshiki Yoshimine
PLOS ONE, PUBLIC LIBRARY SCIENCE, 10, 7, Jul. 2015, Peer-reviwed, Objective
A neuroprosthesis using a brain-machine interface (BMI) is a promising therapeutic option for severely paralyzed patients, but the ability to control it may vary among individual patients and needs to be evaluated before any invasive procedure is undertaken. We have developed a neuroprosthetic hand that can be controlled by magnetoencephalographic (MEG) signals to noninvasively evaluate subjects' ability to control a neuroprosthesis.
Method
Six nonparalyzed subjects performed grasping or opening movements of their right hand while the slow components of the MEG signals (SMFs) were recorded in an open-loop condition. The SMFs were used to train two decoders to infer the timing and types of movement by support vector machine and Gaussian process regression. The SMFs were also used to calculate estimated slow cortical potentials (eSCPs) to identify the origin of motor information. Finally, using the trained decoders, the subjects controlled a neuroprosthetic hand in a closed-loop condition.
Results
The SMFs in the open-loop condition revealed movement-related cortical field characteristics and successfully inferred the movement type with an accuracy of 75.0 +/- 12.9% (mean +/- SD). In particular, the eSCPs in the sensorimotor cortex contralateral to the moved hand varied significantly enough among the movement types to be decoded with an accuracy of 76.5 +/- 10.6%, which was significantly higher than the accuracy associated with eSCPs in the ipsilateral sensorimotor cortex (58.1 +/- 13.7%; p = 0.0072, paired two-tailed Student's t-test). Moreover, another decoder using SMFs successfully inferred when the accuracy was the greatest. Combining these two decoders allowed the neuroprosthetic hand to be controlled in a closed-loop condition.
Conclusions
Use of real-time MEG signals was shown to successfully control the neuroprosthetic hand. The developed system may be useful for evaluating movement-related slow cortical potentials of severely paralyzed patients to predict the efficacy of invasive BMI.
Scientific journal, English - Engineering approach for functional recovery based on body image adjustment by using biofeedback of electrical stimulation
Hiroshi Yokoi; Yuki Sato; Minako Suzuki; Yoshiko Yabuki; Tatsuhiro Nakamura; Takashi Mori; Soichiro Morishita; Ryu Kato; Osamu Yamamura; Masafumi Kubota; Tomoko Kamisawa; Chiaki Igarashi; Tadashi Isa; Tatsuya Umeda; Hidenori Watanabe; Yukio Nishimura; Katsunori Ikoma; Tamaki Miyamoto
Clinical Systems Neuroscience, Springer Japan, 203-247, 01 Jan. 2015, Peer-reviwed, This chapter reports on a biomedical robotic collaborative approach for neuroprosthesis based on body image adjustment. The body image and homunculus show a stable relationship between the brain and a sensor and the motor allocation of the human body. The body schema conceptually explains the relationship between the brain and the body movement. In recent times, a novel concept of functional recovery of motion based on biofeedback to connect the intentions of motion and the sensory input has attracted considerable attention. This chapter describes adaptable EMG prosthetic hand experiments that show that the sensory motor cortex indicates the human intentions of motion through synchronized proprioceptive sensor inputs. This illusion induces strange activities in the sensory motor area according to the synchronous biofeedback. Biofeedback using an interference-driven electrical stimulation (ES) device is proposed, and the experimental results show that the somatic reflex stimulation realizes muscular control and neural rehabilitation in patients with sensor–motor coordination disruption. Furthermore, the proposed device can be applied for the rehabilitation of paralysis due to stroke
it has functions for changing the stimulation parameters and controlling many channels in order to adapt to various types of paralysis and to support complex movements such as grasping, standing, and walking. For neuroprosthesis applications, the desired relationship between the stimulation and intention of motion is synchronous and can be controlled by using an electrical switch to control the ES.
In book, English - Grasping-posture classification using myoelectric signal on hand pre-shaping for natural control of myoelectric hand
Daiki Suzuki; Yusuke Yamanoi; Hiroshi Yamada; Ko Wakita; Ryu Kato; Hiroshi Yokoi
2015 IEEE INTERNATIONAL CONFERENCE ON TECHNOLOGIES FOR PRACTICAL ROBOT APPLICATIONS (TEPRA), IEEE, **, **, 2015, Peer-reviwed, A stationary grasping posture is classified in the control method of an electromyogram prosthetic hand. This grasping posture is static, such as an open hand posture, and one in which the operator of an electromyogram prosthetic hand intentionally continues muscular contraction. In classifying the stationary grasping posture, a movement delay of the robot hand occurs, which feels unnaturally to the operator. To solve these problems, authors propose a method that predicts a grasping posture using the surface electromyogram (sEMG) of low muscle contraction power in hand pre-shaping. In this paper, our research on the performance of grasping posture classification using sEMG for naturally reaching for and grasping an object is presented. Experimental results demonstrate that when the sEMG amplitude peaks in hand pre-shaping, it is useful in classifying the grasping posture.
International conference proceedings, English - fNIRS-based analysis of brain activation with knee extension induced by functional electrical stimulation
Misato Ohdaira; Tomoko Kamisawa; Soichiro Morishita; Yinlai Jiang; Osamu Yamamura; Hiroshi Yokoi
WORLD CONGRESS ON MEDICAL PHYSICS AND BIOMEDICAL ENGINEERING, 2015, VOLS 1 AND 2, SPRINGER INT PUBLISHING AG, 51, 1137-1141, 2015, Peer-reviwed, Patients suffering from paralysis due to aging, accidents, or brain injuries are increasing worldwide. Consequently, there is a compelling need for effective methods for the recovery of motor functions. The involvement of brain plasticity has been suggested effective and previous studies have reported that lost motor function and efficiency due to brain damage can be regained by repeatedly increasing and decreasing brain activation. Functional electrical stimulation (FES) has shown its effectiveness in the recovery of motor function. Brain activity usually decreases with the improvement of muscle control by FES. This study investigated the generality of brain responses during rehabilitation with FES in order to elucidate the recovery mechanism. We monitored the brain activity of one healthy subject with fNIRS over a ten-day period (one experiment per day) during which the knee joint movement was induced by FES with different parameters. The subject was seated in the chair of a leg extension device (Fig. 1). The measurement regions covered the primary motor cortex and the somatosensory cortex with transmitters and receivers shown in the right of Fig. 1. Receiver No. 5 in Fig. 1 was positioned on the Cz of the international 10-20 system. We stimulated his left quadriceps muscle with the FES device for 4 seconds. The results suggest that the observed increases and decreases of brain activity induced by FES are common (Fig. 2). It is suggested that increasing and decreasing brain activation was evoked by long-term FES stimulation. Further research is needed to examine greater numbers of healthy subjects and patients suffering from paralysis to determine the optimum stimulation parameters for brain activation to involve brain plasticity.
International conference proceedings, English - Analysis and Optimization of Novel Post-processing Method for Myoelectric Pattern Recognition
Masahiro Kasuya; Hiroshi Yokoi; Ryu Kato
PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015), IEEE, 985-990, 2015, Peer-reviwed, This paper describes a novel post-processing step for an electromyogram (EMG) pattern classification algorithm that is used in the control of myoelectric prosthetic hands. Amputees often find it difficult to control multiple degrees of freedom, but increasing numbers of prosthetic hands have multiple degrees of freedom. In general, larger numbers of classes tend to reduce the classification accuracy, and artificial neural networks have been used in previous studies for EMG pattern classification. The proposed post-processing algorithm stores the temporal sequence of classifications from the EMG pattern classification algorithm, and then runs a second classification based on the sequential patterns. We compared the output accuracy before and after the post-processing step. In our experiment, we set the training time for the EMG pattern classification algorithm to 1 s for each class, and used three channels of surface EMG signals. We considered nine EMG pattern classes, and recorded the output every 10-20 ms. We then analyzed the proposed algorithm and found seven classes to be the number required for optimal performance. The overall accuracy of the proposed system was 90.0% for seven classes and 89.8% for nine classes. The classification accuracy improved by 12.5% when using seven classes, and by 21.2% when using nine classes. We believe that this level of classification accuracy and other elements (the number of EMG channels and the training time) are sufficient for practical use with prosthetic hands.
International conference proceedings, English - Structure Design for a Two-DoF Myoelectric Prosthetic Hand to Realize Basic Hand Functions in ADLs
Suguru Hoshigawa; Yinlai Jiang; Ryu Kato; Soichiro Morishita; Tatsuhiro Nakamura; Yoshiko Yabuki; Hiroshi Yokoi
2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 4781-4784, 2015, Peer-reviwed, Prosthetic hands are desired by those who have lost a hand or both hands not only for decoration but also for the functions to help them with their activities of daily living (ADL). Prosthetic robotic hands that are developed to fully realize the function of a human hand are usually too expensive to be economically available, difficult to operate and maintain, or over heavy for longtime wearing. The aim of this study is therefore to develop a simplified prosthetic hand (sim-PH), which is to be controlled by myoelectric signals from the user, to realize the most important grasp motions in ADL by trading off the cost and performance. This paper reports the structure design of a two-DoF sim-PH with two motors to drive the CM joint of the thumb and the interlocked MP joints of the other four fingers. In order to optimize the structure, the model of the sim-PH was proposed based on which 7 sim-PHs with different structural parameters were manufactured and tested in a pick-and-place experiment. Correspondence analysis of the experimental results clarified the relationship between the hand functions and the shapes of fingers.
International conference proceedings, English - Pinch-Force-Magnification Mechanism of Low Degree of Freedom EMG Prosthetic Hand for Children
Hesong Ye; Shintaro Sakoda; Yinlai Jiang; Soichiro Morishita; Hiroshi Yokoi
2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 2466-2469, 2015, Peer-reviwed, EMG prosthetic hands are being extensively studied for the disabled who need them not only for cosmesis but also for the functions to help them with basic daily activities. However, most EMG prosthetic hands are developed for adults. Since the early use of prosthetic hands is important for the children to accept and adapt to them, we are developing low degrees of freedom (DoF) prosthetic hand that is suitable for children. Due to the limited size of a child's hand, the servo motor which drives the MP joint are small-sized and low-power. Hence, a pinch-force-magnification mechanism is required to improve the pinch force of the EMG prosthetic hand. In this paper we designed a wire-driven mechanism which can magnify pinch force by increasing the length of the MP joint's moment arm. Pinch force measurement experiment validated that the pinch force of the prosthetic hand with the mechanism is more than twice of that of the hand with direct drive.
International conference proceedings, English - Selective Linear-Regression Model for Hand Posture Discrimination and Grip Force Estimation using Surface Electromyogram Signals
Yusuke Yamanoi; Soichiro Morishita; Ryu Kato; Hiroshi Yokoi
2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 4812-4815, 2015, Peer-reviwed, This paper proposes the method of hand posture discrimination and grip force estimation by means of Selective Linear-Regression Model. Generally, myoelectric hands which discriminate hand posture and estimate grip force at the same time result in unsatisfying results because of complication of EMG signals. Therefore, most of myoelectric hands can control either the force or the posture. However, the proposed method is able to discriminate hand posture and to estimate grip force simultaneously while the accuracy results are achieved. In experiments, EMG signals were measured while hand posture and grip force were changing. As a result, it appears that EMG features increase monotonically with grip force. In addition, increasing forms of EMG features are different on each posture. Based on these experimental results, the authors propose the method for both discriminating hand posture and estimating grip force by means of several linear-regression models which utilize the relationship between the grip force and EMG features on each posture. To evaluate the effectiveness of this method, the failure rates of discrimination and the estimation errors of the proposed method were employed. The results indicate that failure rates and estimation errors are improved significantly.
International conference proceedings, English - A Highly Usable and Customizable sEMG Sensor for Prosthetic Limb Control Using Polypyrrole-coated Nonwoven Fabric Sheet
Yinlai Jiang; Shintaro Sakoda; Masami Togane; Soichiro Morishita; Baoliang Lu; Hiroshi Yokoi
2015 IEEE SENSORS, IEEE, Nov,1-4, 811-814, 2015, Peer-reviwed, A novel sEMG (surface electromyography) sensor using polypyrrole-coated nonwoven fabric sheet as electrodes (PPy-electrode) is proposed for the disabled to control prosthetic limbs in daily life. The PPy-electrodes are sewed on an elastic band to guarantee closely contact to the skin thus to enable stable sEMG measurement with high signal-to-noise ratio. Furthermore, the sensor is highly customizable to fit for the size and the shape of the stump so that the disabled can wear the sensor by themselves. The performance of the proposed sensor is investigated by comparing with Ag/AgCl electrodes with electrolytic gel in an experiment to measure the sEMG from the same muscle fibers. The high correlation coefficient (0.84) between the sEMG measured by the two types of sensors suggests the effectiveness of the proposed sensor. The experiment of sEMG patter recognition to control myoelectric prosthetic hands showed that the PPy-electrodes are as effective as Ag/AgCl electrodes to measure sEMG signals for practical myoelectric control.
International conference proceedings, English - Brain-machine interface to control a prosthetic arm with monkey ECoGs during periodic movements
Soichiro Morishita; Keita Sato; Hidenori Watanabe; Yukio Nishimura; Tadashi Isa; Ryu Kato; Tatsuhiro Nakamura; Hiroshi Yokoi
FRONTIERS IN NEUROSCIENCE, FRONTIERS RESEARCH FOUNDATION, 8, Article 417, 1-9, Dec. 2014, Peer-reviwed, Brain-machine interfaces (BMIs) are promising technologies for rehabilitation of upperlimb functions in patients with severe paralysis. We previously developed a BMI prostheticarm for a monkey implanted with electrocorticography(ECoG) electrodes, and trained it in a reaching task. The stability of the BMI prevente correct movements due to misclassification of ECoG patterns. As a trade-off for the stability, however, the latecy (the time gap between the monkey's actual motion and the prosthetic arm movement) was about 200ms. Therefore , in this study, We aimed to improve the response time of the BMI prosthetic arm. We focused on the generatio of a trigger event by decoding muscle activity in order to predict integrated electromyograms (iEMGS) from the ECoGs. We verified the achievability of our method by conducting a performance test of the achievability of our method by conducting performance test of the proposed with actual achieved iEMGS eliminated the time delay. in addition, We found that motor intention is better reflected by muscle activity estimated from brain activity rather tahn actual muscle activity. Therefore, We propose that using predicted iEMGS to guide arm movements results delay and excellent performance.
Scientific journal, English - Cortical patterns and functional recovery in chronic stroke patients by functional electrical stimulation
Masafumi Kubota; Osamu Yamamura; Tomoko Kamisawa; Chiaki Igarashi; Yudai Watabe; Seiichiro Shimada; Tetsuya Tsujikawa; Hidehiko Okazawa; Ryu Kato; Hiroshi Yokoi; Kenzo Uchida; Hisatoshi Baba
American Society of Neurorehabilitation Annual Meeting, Poster21, Nov. 2014, Peer-reviwed, 電気刺激リハビリによるリハビリ効果をPETにより明らかにした論文である。
片麻痺患者3名に対して4週間の電気刺激リハビリを行った結果， M1，S1領域に強い賦活が見られ，下肢筋力評価に関するリハビリ指標も向上したことを明らかにした。
Scientific journal, English - Effect of burst stimulation by high frequency biphasic square-wave pulse on cortical perfusion after stroke: A pilot study
Osamu Yamamura; Tomoko Kamisawa; Masahumi Kubota; Chiaki Igarashi; Yudai Watabe; Seiichiro Shimada; Tetsuya Tsujikawa; Hidehiko Okazawa; Ryu Kato; Hiroshi Yokoi; Kenzo Uchida; Hisatoshi Baba; Tadanori Hamano; Yasunari Nakamoto
American Society of Neurorehabilitation Annual Meeting, **, **, Nov. 2014, Peer-reviwed
International conference proceedings, English - Development of Five-Finger Multi-DoF Myoelectric Hands with a Power Allocation Mechanism
Tatsuya Seki; Tatsuhiro Nakamura; Ryu Kato; Soichiro Morishita; Hiroshi Yokoi
Journal of Mechanics Engineering and Automation 4, DAVID PUBLISHING, 97-105, 25 Feb. 2014, Peer-reviwed
Scientific journal, English - 急性期脳梗塞患者に対する歩行中の機能的電気刺激治療が歩容及び内側感覚運動皮質へのヘモグロビン濃度へ及ぼす即時的効果
久保田 雅史; 山村 修; 神澤 朋子; 五十嵐 千秋; 松尾 英明; 成瀬 寛亮; 嶋田 誠一郎; 加藤 龍; 横井 浩史; 内田 研造; 馬場 久敏
理学療法学, (公社)日本理学療法士協会, Vol.41, No.1, 13-20, 20 Feb. 2014, Peer-reviwed, 【目的】本研究の目的は、急性期脳梗塞患者に対する歩行中の機能的電気刺激(functional electrical Stimulation:FES)が運動学的・運動力学的歩行パラメータおよび内側感覚運動皮質(medial sensorimotor cortices:mSMC)のヘモグロビン濃度に及ぼす即時的影響を検証することである。【方法】対象は発症後14日以内の脳梗塞患者8名とし、FESは遊脚期に前脛骨筋を、立脚後期に腓腹筋を刺激した。歩行パターンの変化は三次元動作解析システムを用い、mSMCのヘモグロビン濃度変化は近赤外線分光法を用いて計測した。【結果】FES実施前と比較してFES実施中に、歩行速度や、麻痺側立脚期の股関節屈曲モーメント、膝関節伸展モーメントおよび足関節底屈モーメントが有意に上昇し、FES終了後にも持続した。また、FES実施中の非損傷側mSMCの酸素化ヘモグロビン濃度は、FES非実施時と比較して加速期・定速期とも有意に低下していた。【結論】FESは麻痺側立脚期の支持性向上や麻痺側立脚後期のroll-off機能向上といった歩行パターンを変化させ、さらに非損傷側mSMCの過剰な脳活動を抑制している可能性が示された。(著者抄録)
Scientific journal, Japanese - Evaluation of Function According to Finger Shape of Two Degrees of Freedom Myoelectric Prosthetic Hand Which Can Perform Basic Posture of Three Kinds of Grasping
Hoshikawa Suguru; Kato Ryu; Morishita Soichiro; Nakamura Tatsuhiro; Seki Tatsuya; Jiang Yinlai; Yokoi Hiroshi
Proceedings of the Fuzzy System Symposium, Japan Society for Fuzzy Theory and Intelligent Informatics, 30, 694-697, 2014, Use of a myoelectric prosthetic hand is an effective way to rehabilitate upper limb motor function of amputee. In our previous study, we have already developed a two DoF prosthetic hand which has driving MP (meta phalangeal) joint of interlocked middle finger and index finger, and CM (carpometacarpal) joint of thumb. It is structured to perform three grasping postures, namely, power grip, precision grip and lateral pinch. To realize holding function with these postures, 85% of hand movement for ADL is covered. Though the grip performance of the hand depends on joint angles of thumb and fingers, the shape of hand was decided on an empirically. Therefore, the problem that we cannot design the shape of hand according to desired function was remained. It should be solved to clarify the relationship between hand functions and shape with a proper shape model. In this study, we proposed a shape model for function design of the two-DoF prosthetic hand, and confirmed the hand function by some experiments. Then, we measured their gripping force by pull-out test, and evaluated the hand function in daily life by Pick-and-Place task with selected target which are frequently used in daily life. The result shows following tendency: (1) the bending angles of fingers and thumb are larger, their pull-out force are larger, and their grasping function- are lower, (2) the bending angles of fingers and thumb are smaller, their pull-out force are smaller, and their grasping functions are higher.
Japanese - Electrocorticographic control of a prosthetic hand in paralyzed patients ecog control of a prosthetic hand
Takufumi Yanagisawa; Masayuki Hirata; Youichi Saitoh; Haruhiko Kishima; Kojiro Matsushita; Tetsu Goto; Ryohei Fukuma; Hiroshi Yokoi; Yukiyasu Kamitani; Toshiki Yoshimine
Biosystems and Biorobotics, Springer International Publishing, 6, 95-103, 2014, Peer-reviwed, Paralyzed patients would benefit from movement restoration afforded by electrocorticography (ECoG)–controlled prosthetics. However, it is unclear whether ECoG signals from chronically paralyzed patients provide sufficient motor information and, if they do, whether they can be used for prosthetic control. We recorded ECoG signals from sensorimotor cortices of 12 patients with various degrees of sensorimotor impairment executing or attempting to execute simple hand movements. Time-frequency and decoding analyses were performed with the patients’ ECoG signals. In all patients, the high gamma power of the ECoG signals during movements clearly responded to different movement types and could be used to successfully discriminate them. However, classification accuracies were significantly lower in severely impaired patients. Finally, some patients used the method to control a prosthetic arm in real time. ECoG signals appear useful for prosthetic arm control and may provide clinically feasible motor restoration for paralyzed patients.
In book, English - 筋電制御型の義手
横井浩史; 矢吹佳子; 關達也; 中村達弘; 森下壮一郎; 加藤龍; 高木岳彦; 高山真一郎
バイオメカニズム学会誌, バイオメカニズム学会, Vol.38, No.1, 39-46, Jan. 2014, Peer-reviwed, 筋電は，筋収縮を促す神経信号の一種であり，筋膜上を伝搬する電位の波である．近年，筋電を用いてロボットを制御するような応用研究が盛んに行われるようになってきており，電気・電子工学や情報・通信工学，機械・ロボット工学などの分野で大きな進歩を見せている．また，医学と工学の連携も進みつつあり，運動と感覚の機能再建に向けた最先端技術の応用研究も現実味を帯びてきた．本論は，筋電位を入力信号として用いた義手開発の現状について，多自由度の制御に関するトピックスを中心として最新の研究成果をまとめた．
Scientific journal, Japanese - Tendon Drive Finger Mechanisms for an EMG Prosthetic Hand with Two Motors
Xu Yong; Xiaobei Jing; Yinlai Jiang; Hiroshi Yokoi; Ryu Kato
2014 7TH INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING AND INFORMATICS (BMEI 2014), IEEE, 568-572, 2014, Peer-reviwed, EMG prosthetic hands are being extensively studied to meet with the need of the millions of physical disabilities who have lost a hand or both hands. But for most of existing multi-degree of freedom EMG prosthetic hands, shortcomings such as low intensity, high price, et al., have blocked them from practical realization. Low-degree freedom EMG prosthetic hand with high performance is therefore desired to solve these problems. The aim of this study is to optimize the low-freedom degree EMG prosthetic hand based on utilization rate of human hand's joints in daily life. We used two motors to realize the rotary motions of CM joints and three kinds of tendon drive mechanism of MP joints. The low-freedom degree EMG prosthetic hand can also complete powerful grasp, precise grasp and lateral grasp which account for 85% hand motions in daily life. Stress analysis is also performed to guarantee safety in daily use. Finally, a pick-and-place experiment was conducted to evaluate the designs.
International conference proceedings, English - A Low-Degree of Freedom EMG Prosthetic Hand with Nails and Springs to Improve Grasp Ability
Xiaobei Jing; Xu Yong; Yinlai Jiang; Hiroshi Yokoi; Ryu Kato
2014 7TH INTERNATIONAL CONFERENCE ON BIOMEDICAL ENGINEERING AND INFORMATICS (BMEI 2014), IEEE, 562-567, 2014, Peer-reviwed, There are millions of people who have lost a hand or both hands due to acquired amputation or congenital limb deficiencies. In order to improve their quality of life, electromyogram (EMG) prosthetic hands have been developed to compensate for some daily activities which a cosmetic glove cannot do. However, most EMG prosthetic hands pursue the ability of motions by multi-degree of freedom mechanisms that lead to the shortcomings, such as low intensity, high cost, overweight, and maintenance difficulties at the same time. The development of low-degree of freedom EMG prosthetic hand with high performance is therefore very practical and important. We have developed an EMG prosthetic hand with two motors to realize the rotary motions which account for 85% hand motions in daily life. In this study, we improve the mechanism of the hand with springs to connect the fingers to the palm and artificial nails equipped on top of the fingers. Experimental results show a significant improvement of grasp ability, especially for the tiny objects.
International conference proceedings, English - Development and Evaluation of Simplified EMG Prosthetic Hands
Yinlai Jiang; Shintaro Sakoda; Suguru Hoshigawa; Hesong Ye; Yoshiko Yabuki; Tatsuhiro Nakamura; Masahiro Ishihara; Takehiko Takagi; Shinichiro Takayama; Hiroshi Yokoi
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 1368-1373, 2014, Peer-reviwed, Millions of physical disabilities, who have lost a hand or both hands, are in need of prosthetic hands not only for decoration but also for the functions to help them with basic daily activities. Although EMG prosthetic hands are being extensively studied to satisfy this need, most of them are too expensive to be economically available, difficult to operate and maintain by a user him/herself, or over heavy for longtime wearing. The aim of this study is therefore to develop a simplified EMG prosthetic hand (sim-EMGPH) to solve these problems. The sim-EMGPH consists of five parts: a lightweight robotic hand with two motors to realize the most frequent hand activities, a highly stretchable cosmetic glove with little load on the motors, an EMG measurement system including sensors with high wearability made of soft conductive materials, a controller implemented by a 32-bit microprocessor which performs EMG signal processing, pattern recognition, and motor control, and a human-friendly tablet interface for the user to operate the sim-EMGPH by him/herself. We manufactured three sim-EMGPHs for three subjects: two with congenital upper limb deficiency and one with upper limb amputation. Free task experiments showed that the subjects could operate the sim-EMGPHs by themselves to perform basic activities of daily living. Limitations revealed and improvement plans are also discussed in this paper.
International conference proceedings, English - Approximate Model for Interactive-Tendon Driven Mechanism of a Multiple-DoFs Myoelectric Prosthetic Hand
Tatsuya Seki; Yinlai Jiang; Hiroshi Yokoi
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 999-1004, 2014, Peer-reviwed, For practical use, a myoelectric prosthetic hand needs to (1) have a human-like structure, (2) be lightweight, (3) have multiple degrees of freedom (DoFs), and (4) have a high grip force. We have developed a myoelectric prosthetic hand with an interactive-tendon driven mechanism. This paper describes the control method by which the interactive-tendon driven mechanism produces fine and precise actions, as well as an approximate model for the control method. The approximate model was developed based on a geometry model and an equilibrium model for the joint torque. Experimental results show that the joint motions of the actual robotic hand are controlled with errors of between 9 and 15% using the approximate model.
International conference proceedings, English - Force Estimation by Surface Electromyography during Functional Electrical Stimulation
Yuki Shimizu; Masao Sugi; Misato Ohdaira; Soichiro Morishita; Tatsuhiro Nakamura; Ryu Kato; Hiroshi Yokoi
2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014, IEEE, 1345-1350, 2014, Peer-reviwed, In recent years, a rehabilitation method in which a quadriplegic person can perform training without a therapist has been proposed, and studies that use functional electrical stimulation (FES) have been promoted. However, FES induces muscle contractions that tend to be stronger than voluntary contractions, and hence increases the muscle load too easily. Accordingly, the resultant excessive contractions induce early muscle fatigue. Therefore, the state of muscle fatigue must be determined to prevent injury during rehabilitation. Here we employed surface electromyography (SEMG) to estimate the muscle force. We confirmed that the estimation method in a previous study, which filters out noise due to FES, is applicable to SEMG signals during FES. Consequently, we suggest that the aforementioned estimation method may be used during FES.
International conference proceedings, English - ロボティクスによる上肢運動機能再建のためのBMI
森下壮一郎; 横井浩史
週刊医学のあゆみ, Vol.246, No.13, 1117-1122, 01 Sep. 2013, Peer-reviwed
Scientific journal, Japanese - Brain-machine interface using brain surface electrodes: Real-time robotic control and a fully implantable wireless system
Masayuki Hirata; Takufumi Yanagisawa; Kojiro Matsushita; Hisato Sugata; Yukiyasu Kamitani; Takafumi Suzuki; Hiroshi Yokoi; Tetsu Goto; Morris Shayne; Youichi Saitoh; Haruhiko Kishima; Mitsuo Kawato; Toshiki Yoshimine
Assistive Technologies: Concepts, Methodologies, Tools, and Applications, IGI Global, 1535-1548, 31 Aug. 2013, Peer-reviwed, The brain-machine interface (BMI) enables us to control machines and to communicate with others, not with the use of input devices, but through the direct use of brain signals. This chapter describes the integrative approach the authors used to develop a BMI system with brain surface electrodes for real-time robotic arm control in severely disabled people, such as amyotrophic lateral sclerosis patients. This integrative BMI approach includes effective brain signal recording, accurate neural decoding, robust robotic control, a wireless and fully implantable device, and a noninvasive evaluation of surgical indications.
In book, English - 硬膜下電位からのサル捕食運動中の状態判別とロボットアーム動作決定
佐藤圭太; 森下壮一郎; 加藤龍; 横井浩史; 梅田達也; 渡辺秀典; 西村幸男; 伊佐正
日本ロボット学会誌, 31, 1, 1-9, Jan. 2013, Peer-reviwed
Scientific journal, Japanese - 手指リハビリテーション用FM干渉型電気刺激
横井浩史; 加藤龍; 森下壮一郎; 中村達弘
Medical Science Dijest, Vol 39(2), 56-57, Jan. 2013
Scientific journal, Japanese - Development of five-finger multi-DoF myoelectric hands with a power allocation mechanism
Tatsuya Seki; Tatsuhiro Nakamura; Ryu Kato; Soichiro Morishita; Hiroshi Yokoi
Proceedings - IEEE International Conference on Robotics and Automation, 2054-2059, 2013, Peer-reviwed, For use as five-finger myoelectric hands in daily living, robotic hands must be 1) lightweight and human sized as well as possess 2) human-like multiple degrees of freedom (DoF) and a high grip force. The compatibility of these requirements is a trade-off
ideal robotic hands have yet to sufficiently satisfy both these requirements. Herein a power allocation mechanism is proposed to improve the grip force without increasing the size or weight of robotic hands using redundant DoF during pinching motions. Additionally, this mechanism is applied to an actual five-finger myoelectric hand, which can make seven types of motions that are necessary for activities of daily living (ADL) and realizes about a 60% improvement in fingertip force, allowing three fingers to pinch objects exceeding 1 kg. © 2013 IEEE.
International conference proceedings, English - Robust grip force estimation under electric feedback using muscle stiffness and electromyography for powered prosthetic hand
Masahiro Kasuya; Masatoshi Seki; Kazuya Kawamura; Yo Kobayashi; Masakatsu G. Fujie; Hiroshi Yokoi
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 93-98, 2013, Peer-reviwed, Powered prosthetic hands are becoming increasingly functional through sensory feedback.
However, when using electrical stimulation as sensory feedback for electromyographic (EMG) prosthetics, stimulation artifacts may cause EMG data noise. Electrical stimulation and EMG measurements are therefore performed using time-division methods in rehabilitation facilities. Under time-division methods, EMG levels cannot be acquired at the stimulation time. Highly functional prosthetic hands that can estimate grip force, however, use advanced signal processing and require detailed EMG information. EMG measuring cycle expansion may make grip force estimation unstable. We therefore developed a grip force estimation system using muscle stiffness and EMG as the estimation source signals. The estimation system consists of a muscle stiffness sensor, an EMG sensor and an estimation algorithm. We chose a tray holding task for the system evaluation. A weight is dropped on the tray and subjects are expected to control the tray's attitude. Grip force, EMG, and muscle stiffness are measured, and the measured and estimated grip forces are compared. The proposed algorithm estimates grip force with an error of just 18[N], which is 30% smaller than in EMG-only methods. The system response time is lower than human mechanical reaction time, validating the effectiveness of the proposed method.
International conference proceedings, English - Discrimination Analysis and Movement Decision of the prosthesis of the Monkey ECoGs Data Associated with Self-feeding Motions
Keita Sato; Soichiro Morishita; Yukio Nishimura; Hidenori Watanabe; Ryu Kato; Atsushi Nambu; Tadashi Isa; Hiroshi Yokoi
Triangle Symposium on Advanced ICT 2012 (TriSAI 2012), SJ19, Sep. 2012, Peer-reviwed
International conference proceedings, English - Parameter optimization of surface electrical stimulation for movement assistance in joints of extremities
Takashi Mori; Tatsuya Seki; Ryu Kato; Soichiro Morishita; Osamu Yamamura; Hiroshi Yokoi
XIXth Congress of the International Society of Electrophysiology & Kinesiology, PMRE_P1.4, Jul. 2012, Peer-reviwed
International conference proceedings, English - Electrocorticographic Control of a Prosthetic Arm in Paralyzed Patients
Takufumi Yanagisawa; Masayuki Hirata; Youichi Saitoh; Haruhiko Kishima; Kojiro Matsushita; Tetsu Goto; Ryohei Fukuma; Hiroshi Yokoi; Yukiyasu Kamitani; Toshiki Yoshimine
ANNALS OF NEUROLOGY, WILEY, 71, 3, 353-361, Mar. 2012, Peer-reviwed, Objective: Paralyzed patients may benefit from restoration of movement afforded by prosthetics controlled by electrocorticography (ECoG). Although ECoG shows promising results in human volunteers, it is unclear whether ECoG signals recorded from chronically paralyzed patients provide sufficient motor information, and if they do, whether they can be applied to control a prosthetic.Methods: We recorded ECoG signals from sensorimotor cortices of 12 patients while they executed or attempted to execute 3 to 5 simple hand and elbow movements. Sensorimotor function was severely impaired in 3 patients due to peripheral nervous system lesion or amputation, moderately impaired due to central nervous system lesions sparing the cortex in 4 patients, and normal in 5 patients. Time frequency and decoding analyses were performed with the patients' ECoG signals.Results: In all patients, the high gamma power (80-150Hz) of the ECoG signals during movements was clearly responsive to movement types and provided the best information for classifying different movement types. The classification performance was significantly better than chance in all patients, although differences between ECoG power modulations during different movement types were significantly less in patients with severely impaired motor function. In the impaired patients, cortical representations tended to overlap each other. Finally, using the classification method in real time, a moderately impaired patient and 3 nonparalyzed patients successfully controlled a prosthetic arm.Interpretation: ECoG signals appear useful for prosthetic arm control and may provide clinically feasible motor restoration for patients with paralysis but no injury of the sensorimotor cortex. ANN NEUROL 2012;71:353-361
Scientific journal, English - fMRI analysis of prosthetic hand rehabilitation using a brain-machine interface
Hiroshi Yokoi; Keita Sato; Souichiro Morishita; Tatuhiro Nakamura; Ryu Kato; Tatsuya Umeda; Hidenori Watanabe; Yukio Nishimura; Tadashi Isa; Katsunori Ikoma; Tamaki Miyamoto; Osamu Yamamura
Advances in Therapeutic Engineering, CRC Press, 219-250, 01 Jan. 2012, Introduction The increasing use of prosthetic equipment is driven by the development of robotics technology for supporting the daily life of physically challenged people, for example, people with disabilities due to amputations, muscular debility, or nerve diseases. The concept of embodiment suggests the integration of natural behaviour and human intelligence towards useful and robust performance of cyber robotics systems. The goal of this research is a mutually adaptable prosthetic system that can recognise human intentions and accommodate the multifunctional adaptive mechanisms of the human brain. Our research encompasses mechanical design, computational system design, biofeedback system design, and analysis of human adaptation. Section 10.2 introduces previous relevant research.
In book, English - Motor Restoration Based on the Brain-Machine Interface Using Brain Surface Electrodes: Real-Time Robot Control and a Fully Implantable Wireless System
Masayuki Hirata; Kojiro Matsushita; Takufumi Yanagisawa; Tetsu Goto; Shayne Morris; Hiroshi Yokoi; Takafumi Suzuki; Takeshi Yoshida; Fumihiro Sato; Osamu Sakura; Yukiyasu Kamitani; Toshiki Yoshimine
ADVANCED ROBOTICS, VSP BV, 26, 3-4, 399-408, 2012, The brain-machine interface (BMI) is a new approach to the man-machine interface, which enables us to control machines and to communicate with others without input devices, but directly using brain signals. We describe our integrative approach to develop a BMI system using brain surface electrodes for motor and communication control in severely disabled people. This includes effective brain signal recording, accurate neural decoding, robust robot control, a wireless fully implantable device, a non-invasive evaluation of surgical indications, etc. In addition, the inspection and addressing of neuroethical issues is indispensible when undertaking work in this field. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2012
Scientific journal, English - Quantitative estimation of muscle fatigue on cyclic handgrip tasks
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Jun Ota
INTERNATIONAL JOURNAL OF INDUSTRIAL ERGONOMICS, ELSEVIER SCIENCE BV, 42, 1, 103-112, Jan. 2012, Peer-reviwed, A recovery model is proposed to represent the relationship between the muscle fatigue and the rest time. Three experiments were conducted at 50% MVC with the contraction time of 10 s, 30 s and 50 s. Every experiment consists of 5 handgrip tasks with different rest interval. The maximal isometric forces during the pre-fatigue and post-fatigue were recorded to compute the muscle fatigue developed from each handgrip tasks. An exponential function is used to model the relationship between the muscle recovery and rest interval. With this model, the amount of muscle fatigue that is recovered given the rest duration can be estimated. The results suggest that the rate of muscle recovery is correlated to the degree of muscle fatigue at any particular moment, regardless the contraction level or contraction time of the tasks. It is demonstrated that the performance is not significant improved by increasing the number of experiments during calibration process. After that, the recovery model is integrated with the existing fatigue index proposed previously. This is then evaluated on cyclic handgrip tasks. The results show that during the high repetitive motion tasks, the effect of muscle recovery is essential to be taken into consideration for quantifying the degree of muscle fatigue. In average, the estimation error is between 5% MVC, comparing between the estimated value and the force loss measured using dynamometer. This concludes the effectiveness of utilizing force loss as the index to quantify the muscle fatigue and recovery. (C) 2011 Elsevier B.V. All rights reserved.
Scientific journal, English - The Effects of Delay Time Elements in Myoelectric Prosthetic Hand
Tatsuhiro Nakamura; Ryu Kato; Hiroshi Yokoi
2012 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), SOC INSTRUMENT CONTROL ENGINEERS JAPAN, 597-601, 2012, Peer-reviwed, One of the important factors of this system is that the prosthetic hand could respond to the amputee's intensions within the time which don't cause the failure of task. But myoelectric prosthetic hand has many element of delay time in each component. In this paper, the acceptable delay time in myoelectric prosthetic hand is validated by two kinds of time critical tasks execution with various conditions: catch ball task and target grasp in fMRI environment. By the catch ball task, rapid response to the estimated intension is not necessary lead to the good performance and by fMRI analysis, only short response time could be satisfy the simultaneous activated regions.
International conference proceedings, English - Development of real-time muscle stiffness sensor and estimation algorithm for subtle EMG prosthetic hand control
Masahiro Kasuya; Masatoshi Seki; Kazuya Kawamura; Yo Kobayashi; Masakatsu G. Fujie; Hiroshi Yokoi
IWMST2012, 116-121, 2012, Peer-reviwed
International conference proceedings, English - Quantitative estimation of muscle fatigue on cyclic handgrip tasks
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Jun Ota
INTERNATIONAL JOURNAL OF INDUSTRIAL ERGONOMICS, ELSEVIER SCIENCE BV, 42, 1, 103-112, Jan. 2012, Peer-reviwed, A recovery model is proposed to represent the relationship between the muscle fatigue and the rest time. Three experiments were conducted at 50% MVC with the contraction time of 10 s, 30 s and 50 s. Every experiment consists of 5 handgrip tasks with different rest interval. The maximal isometric forces during the pre-fatigue and post-fatigue were recorded to compute the muscle fatigue developed from each handgrip tasks. An exponential function is used to model the relationship between the muscle recovery and rest interval. With this model, the amount of muscle fatigue that is recovered given the rest duration can be estimated. The results suggest that the rate of muscle recovery is correlated to the degree of muscle fatigue at any particular moment, regardless the contraction level or contraction time of the tasks. It is demonstrated that the performance is not significant improved by increasing the number of experiments during calibration process. After that, the recovery model is integrated with the existing fatigue index proposed previously. This is then evaluated on cyclic handgrip tasks. The results show that during the high repetitive motion tasks, the effect of muscle recovery is essential to be taken into consideration for quantifying the degree of muscle fatigue. In average, the estimation error is between 5% MVC, comparing between the estimated value and the force loss measured using dynamometer. This concludes the effectiveness of utilizing force loss as the index to quantify the muscle fatigue and recovery. (C) 2011 Elsevier B.V. All rights reserved.
Scientific journal, English - Small-sized and Lightweight Slip Detection Sensor System for Prosthetic Hand
Seiichi Teshigawara; Satoru Shimizu; Daisuke Yamagishi; Yosuke Suzuki; Hiroshi Yokoi; Makoto Shimojo
15th International Conference on Mechatronics Technology (ICMT2011), Nov. 2011, Peer-reviwed, BEST STUDENT PAPER AWARD
International conference proceedings, English - A tracking method of multiple moving objects for animal watch sensor systems - Measures for random mobility and the problem with connection and separation -
Dongji Nan; Soichiro Morishita; Hiroshi Yokoi
SICE Annual Conference 2011, 1991-1994, Sep. 2011, Peer-reviwed
International conference proceedings, English - Real-time control of a prosthetic hand using human electrocorticography signals
Takufumi Yanagisawa; Masayuki Hirata; Youichi Saitoh; Tetsu Goto; Haruhiko Kishima; Ryohei Fukuma; Hiroshi Yokoi; Yukiyasu Kamitani; Toshiki Yoshimine
JOURNAL OF NEUROSURGERY, AMER ASSOC NEUROLOGICAL SURGEONS, 114, 6, 1715-1722, Jun. 2011, Peer-reviwed, Object. A brain-machine interface (BMI) offers patients with severe motor disabilities greater independence by controlling external devices such as prosthetic arms. Among the available signal sources for the BMI, electrocorticography (ECoG) provides a clinically feasible signal with long-term stability and low clinical risk. Although ECoG signals have been used to infer arm movements, no study has examined its use to control a prosthetic arm in real time. The authors present an integrated BMI system for the control of a prosthetic hand using ECoG signals in a patient who had suffered a stroke. This system used the power modulations of the ECoG signal that are characteristic during movements of the patient's hand and enabled control of the prosthetic hand with movements that mimicked the patient's hand movements.
Methods. A poststroke patient with subdural electrodes placed over his sensorimotor cortex performed 3 types of simple hand movements following a sound cue (calibration period). Time-frequency analysis was performed with the ECoG signals to select 3 frequency bands (1-8. 25-40, and 80-150 Hz) that revealed characteristic power modulation during the movements. Using these selected features. 2 classifiers (decoders) were trained to predict the movement state that is. whether the patient was moving his hand or not and the movement type based on a linear support vector machine. The decoding accuracy was compared among the 3 frequency bands to identify the most informative features. With the trained decoders. novel ECoG signals were decoded online while the patient performed the same task without cues (free-run period). According to the results of the real-time. decoding. the prosthetic hand mimicked the patient's hand movements.
Results. Offline cross-validation analysis of the ECoG data measured during the calibration period revealed that the state and movement type of the patient's hand were predicted with an accuracy of 79.6% (chance 50%) and 68.3% (chance 33.3%). respectively. Using the trained decoders, the onset of the hand movement was detected within 0.37 +/- 0.29 seconds of the actual movement. At the detected onset timing. the type of movement was inferred with an accuracy of 69.2%. In the free-run period, the patient's hand movements were faithfully mimicked by the prosthetic hand in real time.
Conclusions. The present integrated BMI system successfully decoded the hand movements of a poststroke patient and controlled a prosthetic hand in real time. This success paves the way for the restoration of the patient's motor function using a prosthetic arm controlled by a BMI using ECoG signals. (DOI: 10.3171/2011.1.JNS101421)
Scientific journal, English - 五指ハンド筋電義手のための制御システム
中村 達弘; 加藤 龍; 森下 壮一郎; 横井 浩史
The Magnetics Society of Japan, 6, 4, 206-212, May 2011, Peer-reviwed
Scientific journal, Japanese - The Proposal of Putting-on-rehabilitation Devices Using Spreading Jig for Paralyzed Fingers to Keep the Fingers Extended
Sakai Yasuyuki; Kato Ryu; Yokoi Hiroshi
Proceedings of JSPE Semestrial Meeting, The Japan Society for Precision Engineering, 2011, 497-498, 2011, 近年，手指麻痺患者のリハビリを目的とした様々な福祉機器が提案されているが，麻痺指の屈曲拘縮が原因で，使用者は煩雑な装着作業を必要とされる．本研究では，屈曲状態にある指に対し，支点が連続的に変化するテコの原理と，添え木としての作用により，伸展姿勢の維持を容易に実現する補助具を開発した．補助具を用いた装置の装着実験において，所要時間は延長したが，麻痺者の主観評価では装着の煩雑さは低減したと評価された． - Walking assistance by functional clothes with highly elastic fabric
Akio Shizukai; Tatsuya Seki; Ryu Kato; Soichiro Morishita; Tatsuhiro Nakamura; Hiroshi Yokoi
2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), IEEE, 673-676, 2011, Peer-reviwed, We proposed a novel approach to walking assistance by using functional clothes with highly elastic fabric. This strategy can achieve walking assistance without external forces generated by an actuator. In order to examine the effectiveness of the proposed approach, we produced a functional girdle and assessed the extent to which it assisted the hip flexor muscles. We confirmed that the load on the hip flexor muscles decreased during hip flexion while subjects wore the functional clothes.
International conference proceedings, English - Development of Mobile Controller for EMG Prosthetic Hand with Tactile Feedback
Taketomo Hirata; Tatsuhiro Nakamura; Ryu Kato; Soichiro Morishita; Hiroshi Yokoi
2011 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), IEEE, 110-115, 2011, Peer-reviwed, In this paper, we introduce a mobile controller for a five-fingered myoelectric prosthetic hand with tactile feedback. When constructing a system for use in daily life, the following design requirements should be satisfied: 1) limitations on the total weight of the system; 2) sufficient degrees of freedom of motion; and 3) sufficient sensory feedback information for the result of the interaction with circumstance. At first, we limited the degrees of operations for the wrist motion and switching operations, because too many degrees of freedom cause an increase in overall weight. Next, we constructed the controller, which has a suitable processing performance with mobile PC and microcomputer. Moreover, for lightweight tactile feedback system, we employed the technique of Phantom Sensation (PS) with only two electrodes. Finally, we discuss the appropriate parameter combinations for PS.
International conference proceedings, English - Internal security issues related to automatic system malfunction and a model to explain foresight of experts and non-experts
Soichiro Morishita; Hiroshi Yokoi
Journal of Disaster Research, Fuji Technology Press, 6, 5, 498-505, 2011, Peer-reviwed, Accidents or malfunctions in automatic systems often raise questions about the possibility of the system's designer being able to foresee such problems. In general, the opinions of experts are given more credence than the opinions of non-experts. If objective evidence shows that a malfunction could not have been foreseen even by experts, the possibility of prediction is assumed to have not been possible. Experts can make a proper decision based on expertise related to the automatic machine coverage. However, non-experts might underestimate the coverage and become careful about handling of the system. When a malfunction that an expert cannot foresee occurs in such a situation, and results agree by chance with the forecast of a non-expert, engineers are questioned beyond reason about their "responsibility" - a trend particularly marked in relation to computer systems. As described in this paper, the case in which an Okazaki City Library user was arrested is an appropriate case study for this problem. Given the perspective of design of automatic machines and engineering ethics, we discuss it as an internal security issue.
Scientific journal, English - Development of a reflex electrical stimulation device to assist walking
Hiroshi Yokoi; Osamu Yamamura; Yasutaka Kobayashi; Ryu Kato; Tatsuhiro Nakamura; Soichiro Morishita
Brain and Nerve, 62, 11, 1227-1238, Nov. 2010, Peer-reviwed, This paper is a summary of the biofeedback technology for the reflex electrical stimulation device to assist walking. The experiments showed that electrical stimulation resulted in prominent stimulation with less habituation. The research elements were an input-type brain machine interface (BMI), functional magnetic resonance imaging (f-MRI) analysis to detect brain activity, multi-channel electrical stimulation, reflex stimulation for muscle contraction, and an adaptive rehabilitation fitting to the walking gate. The results showed that neuro rehabilitation may be attained by the integration of these research elements.
Scientific journal, Japanese - Estimation of handgrip force using frequency-band technique during fatiguing muscle contraction
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Masataka Nishino; Ryu Kato; Tatsuhiro Nakamura; Jun Ota
JOURNAL OF ELECTROMYOGRAPHY AND KINESIOLOGY, ELSEVIER SCI LTD, 20, 5, 888-895, Oct. 2010, Peer-reviwed, In this paper, we propose a force estimation model to compute the handgrip force from SEMG signal during fatiguing muscle contraction tasks. The appropriate frequency range was analyzed using various combinations of a wavelet scale, and the highest accuracy was achieved at a range from 242 to 365 Hz. After that, eight healthy individuals performed a series of static (70%, 50%, 30%, and 20% MVC) and dynamic (0-50% MVC) muscle contraction tasks to evaluate the performance of this technique in comparison with that of former method using the Root Mean Square of the SEMG signal. Both methods had comparable results at the beginning of the experiments, before the onset of muscle fatigue. However, differences were clearly observed as the degree of muscle fatigue began to increase toward the endurance time. Under this condition, the estimated handgrip force using the proposed method improved from 17% to 134% for static contraction tasks and 40% for dynamic contraction tasks. This study overcomes the limitation of the former method during fatiguing muscle contraction tasks and, therefore, unlocks the potential of utilizing the SEMG signal as an indirect force estimation method for various applications. (C) 2009 Elsevier Ltd. All rights reserved.
Scientific journal, English - 習熟度を考慮した自己組織的動作識別法の構築
北 佳保里; 加藤 龍; 横井 浩史
日本ロボット学会誌, The Robotics Society of Japan, 28, 7, 783-791, Sep. 2010, Peer-reviwed, The purpose of this research is to discriminate many motions using EMG signal for prosthetic application's control. The basic idea of this study is that, the current degree of proficiency, i.e., how well the application is operated by a user is to be analyzed from bio-signal closely related to human motor process, and control rule is generated depending on the proficiency level. Thus, our proposed system consists of two parts: estimation of user's proficiency level using EMG signal, and motion classification using self-organized clustering. In the experiment, users trained to discriminate motions using our proposed system, and then they all were able to discriminate seven forearm motions with approximately 90% accuracy. In addition, one of the users was able to discriminate nine motions with 21% higher accuracy than before training. The results indicated the effectiveness of proposed system.
Scientific journal, Japanese - Classification analysis of Monkey ECoG data for reaching motion
Keita Sato; Tatsuhiro Nakamura; Soichiro Morishita; Tatsuya Umeda; Hidenori Watanabe; Ryu Kato; Tadashi Isa; Hiroshi Yokoi
UEC & SJTU Proceedings of 3rd International Symposium on Robot and Artificial Intelligence, 確認中, Jun. 2010
International conference proceedings, English - Power assist device of finger motion for stoke patient
Yasuyuki Sakai; Hiroshi Yamaura; Ryu Kato; Hiroshi Yokoi
UEC & SJTU Proceedings of 3rd International Symposium on Robot and Artificial Intelligence, 確認中, Jun. 2010
International conference proceedings, English - Development of mobile size EMG controller for five finger's prosthetic hand
Tatsuhiro Nakamura; Taketomo Hirata; Ryu Kato; Soichiro Morishita; Hiroshi Yokoi
UEC & SJTU Proceedings of 3rd International Symposium on Robot and Artificial Intelligence, 確認中, Jun. 2010
International conference proceedings, English - Mutual Adaptation among Man and EMG Intelligent Prosthetic Hand Based on Conditional Entropy Learning Method
Hiroshi Yokoi
Proceedings of the 7th International Symposium on Neutral Networks(ISNN 2010), 確認中, Jun. 2010, Peer-reviwed
International conference proceedings, English - EMG based Adaptable Control for Five Fingers Prosthetic Hand
Hiroshi Yokoi; Tatsuhiro Nakamura; Kahori Kita; Ryu Kato
Journal of Society of Automotive Engineers of Japan, 自動車技術会, 第64, 第5, 65-69, May 2010, Invited
Scientific journal, Japanese - 個性適応型情報処理を用いたロボット制御とその応用
横井 浩史; 加藤 龍
Japanese Journal of Rehabilitation Medicine, 第47, 第2, 88-97, Feb. 2010, Invited
Scientific journal, Japanese - 低侵襲的Brain Machine Interface－リハビリテーションに何をもたらすか－
吉峰 俊樹; 平田 雅之; 柳澤 琢史; 後藤 哲; 松下 光次郎; 齋藤 洋一; 福間 良平; 神谷 之康; 横井 浩史
リハビリテーション医学, 47, 2, 83-88, Feb. 2010
Scientific journal, Japanese - Evaluation Method for the Proficiency Level of an Operating Myoelectric Hand using EMG Signals
Kahori Kita; Ryu Kato; Hiroshi Yokoi
2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), IEEE, 3373-3376, 2010, Peer-reviwed, To evaluate the proficiency level of an operating myoelectric hand, we proposed an evaluation index consisting of the accuracy and the reproducibility of electromyography (EMG) signal patterns. Our proposed method is not an absolute evaluation because we use bio-signals, so it is necessary to verify the correlation between the proposed index and performance evaluation to confirm the usefulness of the index. Therefore, we conducted classification tests on eight forearm motions and verified the correlation between the proposed method and the classification rate. There was a strong correlation between the accuracy and the classification rate. In addition, if the accuracy was high, high reproducibility led to an increase in the classification rate. We conclude that the proposed method can evaluate the proficiency level of a myoelectric hand.
International conference proceedings, English - Integrative BMI approach for functional restoration using human electrocorticograms
Hirata Masayuki; Yanagisawa Takufumi; Goto Tetsu; Matsushita Kojiro; Suzuki Takafumi; Yokoi Hiroshi; Sakura Osamu; Fujii Naotaka; Ushiba Junichi; Yoshida Takeshi; Sato Fumihiro; Saitoh Youichi; Kishima Haruhiko; Kamitani Yukiyasu; Yoshimine Toshiki
NEUROSCIENCE RESEARCH, 68, E40, 2010, Peer-reviwed - Prosthetic arm control by paralyzed patients using electrocorticograms
Yanagisawa Takufumi; Hirata Masayuki; Saitoh Youichi; Kishima Haruhiko; Goto Tetsu; Fukuma Ryohei; Yokoi Hiroshi; Kamitani Yukiyasu; Yoshimine Toshiki
NEUROSCIENCE RESEARCH, 68, E83, 2010, Peer-reviwed - Classification of Individual Finger Motions Hybridizing Electromyogram in Transient and Converged States
Genta Kondo; Ryu Kato; Hiroshi Yokoi; Tamio Arai
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE, 2909-2915, 2010, Peer-reviwed, To classify the five individual finger motions from an electromyogram (EMG) signal, a classification system that hybridizes EMG signals in both the transient and converged states of a motion is proposed. The classifications of finger motions are executed individually in each state by a well-established artificial neural network (ANN). Then, the outputs of the two classifiers are combined. The efficacy of the result is evaluated via a piano-tapping task, in which the subjects are instructed to tap a keyboard with each of their five fingers. We use this task to compare the proposed hybrid system and a conventional converged system that uses an EMG signal only in the converged state. For five of the six subjects, the accuracy ratio of finger motions was better in the proposed method: approximately 85% for each finger except the second. Further analysis suggests two remarkable advantages of the hybrid method: 1) the output of the ANN is more credible, and 2) finger motion in the transient state (i.e., the early phase) is more predictable.
International conference proceedings, English - Training-free control of robot by BMI using physiological characteristics of ECoG
Yanagisawa T; Hirata M; Saitoh Y; Kishima H; Goto T; Fukuma R; Hosomi K; Yokoi H; Kamitani Y; Yoshimine T
Functional neurosurgery, 49, 162-165, 2010, Peer-reviwed
Scientific journal, English - The Relationship between Muscle Fatigue and Recovery during Isometric Handgrip Task
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Jun Ota
Proceedings of the 7th IASTED International Conference on Biomedical Engineering (BioMed 2010), 79-85, 2010, Peer-reviwed
International conference proceedings, English - Evaluation of Motor Recovery by Using Adaptive Myoelectric Hand
KATO Ryu; YOKOI Hiroshi
JRSJ, The Robotics Society of Japan, 27, 8, 926-932, 15 Oct. 2009, Peer-reviwed, It is important to evaluate the motor recovery effect of the amputee caused by using myoelectric hand from multiple evaluation criteria. In this paper, we evaluate amputee's motor recovery by using adaptable myoelectric hand from the standpoint of brain function and clinical practice. As a result, we clarified that robust control ability of prosthetic hand activates the activity of the primary motor cortex, and the substitute function of the body provided by the myoelectric hand realizes the motor recovery as close to healthy person's body function.
Japanese - 筋電義手使用による運動機能再建の評価
加藤 龍; 横井 浩史
日本ロボット学会誌, 27, 8, 102-108, Oct. 2009
Scientific journal, Japanese - Estimation of Movement by Epidural Potential Measurement
UEJIMA Takeshi; FUJII Toshiyuki; KATO Ryu; TAKITA Masatoshi; YOKOI Hiroshi
JRSJ, The Robotics Society of Japan, 27, 7, 732-738, 15 Sep. 2009, Peer-reviwed, A low-invasive method to record neural activity is required for safe and practical brain-machine interfaces (BMI). BMIs are expected to be used to reintegrate motor functions of physically disabled persons; however, conventional invasive methods require electrodes inside the dura mater. In this study, the authors used epidural electrodes, which are located between the skull and dura mater, to record rat neural activity for low-invasive BMI. The signals were analyzed using short-time Fourier transform, and the power spectra were classified into rat behavioral conditions by an artificial neural network and a support vector machine. The accuracy was approximately 60∼85% in two behavioral conditions classifications according to the tested electrodes' locations and frequency bands. The results indicated the feasibility of low-invasive BMI using epidural electrodes.
Japanese - 硬膜外電位計測によるラットの運動状態推定の基礎研究
上嶋 健嗣; 藤井 俊行; 加藤 龍; 瀧田 正寿; 横井 浩史
日本ロボット学会誌, 27, 7, 30-36, Sep. 2009, Peer-reviwed
Scientific journal, Japanese - Editorial
Tamio Arai; Hiroshi Yokoi
Robotics and Autonomous Systems, 57, 2, 121-122, 28 Feb. 2009, Peer-reviwed
Scientific journal, English - Analysis of skill acquisition process: A case study of arm reaching task
Kahori Kita; Ryu Kato; Hiroshi Yokoi; Tamio Arai
ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE BV, 57, 2, 167-171, Feb. 2009, Peer-reviwed, Analysis of continuous process of motor learning gives a lot of useful knowledge for the recovery of human motion activities, and functional adaptability in new environment. This paper proposes a valuation index for degree of proficiency, and shows results of motor skill analysis for several arm reaching tasks. The motor skills were evaluated by using the reproducibility of muscle activation patterns, which were represented by using the variance value of the Electromyographic (EMG) signal patterns, and the motion accuracy. We confirm that the reproducibility is high when the motion accuracy is high, and the various skill acquisition processes exist due to individual difference. We conclude that, the reproducibility is one of the important indices for evaluating the degree of proficiency. (C) 2008 Elsevier B.V. All rights reserved.
Scientific journal, English - Mutual adaptation among man and machine by using f-MRI analysis
Ryu Kato; Hiroshi Yokoi; Alejandro Hernandez Arieta; Wenwei Yu; Tamio Arai
ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE BV, 57, 2, 161-166, Feb. 2009, Peer-reviwed, A prosthetic device for disabled people requires new and reliable robotics technology. This paper describes the interesting reaction of our brain to an adaptable prosthetic system. The adaptable prosthetic system is composed of an EMG signal controlled robot hand with an EMG pattern recognition learning function for Transradial (below elbow) prostheses. The mutual adaptation between the system and the human body is analyzed using functional magnetic resonance imaging (f-MRI) in order to clarify the plasticity of the motor and sensory cortex area according to the changes in the prosthetic system. The developed prosthetic hand has 13 DOF: three motors on the thumb, two motors for each finger, and two motors for the wrist. The tactile feedback is applied by using surface electrical stimulus. The f-MRI data shows the process of replacement from a phantom limb image to the prosthetic hand image. (C) 2008 Elsevier B.V. All rights reserved.
Scientific journal, English - Self-regulatory hardware: Evolutionary design for mechanical passivity on a Pseudo Passive Dynamic Walker
Hiroshi Yokoi; Kojiro Matsushita
Artificial Life Models in Hardware, Springer London, 87-102, 2009, Peer-reviwed, The functioning of our body is the resultant of the lifelong survival competition. The body possesses the special physical characteristic shape, size, and material, and has been living throughout using this characteristic by achieving the function of the movement and the sense. Lot of functions have been added to the simple reflective system that emerged in the first generation. After the competition, the basic function of the reflective system of sense and action has been changed to be integrated and over wrapped by the new reflective system. The basic function necessary for survival has been achieved. The performance of this simple reflective system gives the chance for surviving, and we have the simple way to design an individual with good performance who can adapt to the environment. We focused on the process to acquire the structure and the material characteristics of the leg as an example of a simple reflective system. Moreover, the result of examining how the function of walking develops is described. We discuss evolution design system by using simple genetic algorithm (GA) that allow to achieve the function of the leg. We also demonstrate how to optimize a set of parameters in the competition between various designs of hardware. © 2009 Springer London.
In book, English - ECoG-based Brain-Machine Interface
Yoshimine Toshiki; Hirata Masayuki; Yanagisawa Takuhumi; Goto Tetsu; Saitoh Youichi; Kishima Haruhiko; Yokoi Hiroshi; Kamitani Yukiyasu; Fukuma Ryohei
NEUROSCIENCE RESEARCH, 65, S33, 2009, Peer-reviwed - Real time cortical control of a prosthetic hand using electrocorticogram (ECoG)
Yanagisawa Takufumi; Hirata Masayuki; Saitoh Youichi; Goto Tetsu; Fukuma Ryohei; Kishima Haruhiko; Yokoi Hiroshi; Kamitani Yukiyasu; Yoshimine Toshiki
NEUROSCIENCE RESEARCH, 65, S49, 2009, Peer-reviwed - A Self-Organizing Approach to Generate Training Data for EMG Signal Classification
Kahori Kita; Ryu Kato; Hiroshi Yokoi
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, IEEE, 1230-1235, 2009, Peer-reviwed, We propose a method for generating training data by using a self-organized clustering technique for electromyography (EMG) signal classification. In this method, EMG signals are measured during motions, and representative feature patterns are extracted from the EMG signals by using the self-organized clustering method. A user determines the connections between feature patterns and motions, and training data are generated. These training data are employed for the classification of the user's intended motions. It is necessary to determine the number of feature patterns required for motion classification. Therefore, we verify appropriate thresholds which determine the number of feature patterns with consideration of classification rate and learning time.
International conference proceedings, English - Poultry Tracking System with Camera Using Particle Filters
Toshiyuki Fujii; Hiroshi Yokoi; Tatsuya Tada; Kotaro Suzuki; Kenji Tsukamoto
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, IEEE, 1888-+, 2009, Peer-reviwed, We developed a poultry tracking system for analyzing the behavior of poultry infected with avian influenza using a camera. The trackers employed in our system robustly track poultry that make contact and occlude each other in a narrow isolator during infection experiment using a particle filtering algorithm. This system has two kinds of trackers: poultry trackers and the exploring trackers. We used one poultry tracker for each target in the isolator. An exploring tracker searches and corrects a poultry tracker that failed. Further, complete overlap among trackers is avoided marking tracker positions on an image. We evaluated this system using 5 min video data on 10 healthy poultry. The results showed that our system can recognize and track poultry effectively; however, the durations for which poultry were tracked were not sufficient.
International conference proceedings, English - Motion Classification by Epidural Potential Measurement of Rat for Low-Invasive Brain-Machine Interface
Takeshi Uejima; Toshiyuki Fujii; Hiroshi Yokoi; Masatoshi Takita
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, IEEE, 2019-+, 2009, Peer-reviwed, A low-invasive method to record neural activity is required for safe and practical brain-machine interfaces (BMI). BMIs are expected to be used to reintegrate motor functions of physically disabled persons; however, conventional invasive methods require electrodes inside the dura mater. In this study, the authors used epidural electrodes, which are located between the skull and dura mater, to record rat neural activity for low-invasive BMI. The signals were analyzed using short-time Fourier transform, and the power spectra were classified into rat motions by an artificial neural network. The accuracy was approximately 70% in two-motion classifications according to the tested electrodes' locations and frequency bands. The results indicated the feasibility of low-invasive BMI using epidural electrodes.
International conference proceedings, English - Self-Organized Clustering Approach for Motion Discrimination using EMG Signal
Kahori Kita; Ryu Kato; Hiroshi Yokoi
2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, IEEE, 2587-2590, 2009, Peer-reviwed, In order to control a myoelectric hand, it is necessary to discriminate among motions using electromyography (EMG) signals. One of the biggest problems in doing so is that EMG feature patterns of different motions overlap, and a classifier cannot discriminate clearly between them. Therefore, we propose a motion discrimination method to solve this problem. In this method, representative feature patterns are extracted from the EMG signals by using a self-organized clustering method, and user's intended motions are assigned as class labels to these feature patterns on the basis of the joint angles of the hand and fingers. The classifier learns using training data that consists of feature patterns and class labels, and then discriminates motions. In an experiment, we compared the discrimination rates of the proposed and conventional methods. The results indicate that the discrimination rate obtained with the former is 5-30% higher than that obtained with the latter; this result verifies the effectiveness of our method.
International conference proceedings, English - Control Strategy for a Myoelectric Hand: Measuring Acceptable Time Delay in Human Intention Discrimination
Tatsuhiro Nakamura; Kahori Kita; Ryu Kato; Kojiro Matsushita; Yokoi Hiroshi
2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, IEEE, 5044-5047, 2009, Peer-reviwed, In order to enhance controllability of a myoelectric hand, we focus on a gap between the time when a human intends to move a myoelectric hand and the time when the hand actually moves (i.e., time delay). Normally, the myoelectric hand users dislike the time delay because it makes them feel uncomfortable. However, the users learn the time delay within some time ranges and, eventually, get feel comfortable to operate the hand. Thus, we assume, if we reveal the acceptable delay time (i.e., the time the users accept the gap with their learning ability), we can provide more time in a human intention discrimination process, and enhance its success rate. Therefore, we developed a mobile myoelectric hand system with an embedded linux computer, and conducted a ball catch experiment: we investigate the acceptable delay time by adding the delay time (i.e., 120[ms], 170[ms], 220[ms], 270[ms], 320[ms]) into the human intention discrimination process. As a result, we confirmed that the max accept delay time was approximately 170 [ms] that achieves 61% success rate.
International conference proceedings, English - Motion Classification using Epidural Electrodes for Low-Invasive Brain-Machine Interface
Takeshi Uejima; Kahori Kita; Toshiyuki Fujii; Ryu Kato; Masatoshi Takita; Hiroshi Yokoi
2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, IEEE, 6469-6472, 2009, Peer-reviwed, Brain-machine interfaces (BMIs) are expected to be used to assist seriously disabled persons' communications and reintegrate their motor functions. One of the difficult problems to realize practical BMI is how to record neural activity clearly and safely. Conventional invasive methods require electrodes inside the dura mater, and noninvasive methods do not involve surgery but have poor signal quality. Thus a low-invasive method of recording is important for safe and practical BMI. In this study, the authors used epidural electrodes placed between the skull and dura mater to record a rat's neural activity for low-invasive BMI. The signals were analyzed using a short-time Fourier transform, and the power spectra were classified into rat motions by a support vector machine. Classification accuracies were up to 96% in two-class discrimination, including that when the rat stopped, walked, and rested. The feasibility of a low-invasive BMI based on an epidural neural recording was shown in this study.
International conference proceedings, English - Development of Hand Rehabilitation System for Paralysis Patient - Universal Design Using Wire-Driven Mechanism
Hiroshi Yamaura; Kojiro Matsushita; Ryu Kato; Hiroshi Yokoi
2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, IEEE, 7122-7125, 2009, Peer-reviwed, We have developed a hand rehabilitation system for patients suffering from paralysis or contracture. It consists of two components: a hand rehabilitation machine, which moves human finger joints with motors, and a data glove, which provides control of the movement of finger joints attached to the rehabilitation machine. The machine is based on the arm structure type of hand rehabilitation machine; a motor indirectly moves a finger joint via a closed four-link mechanism. We employ a wire-driven mechanism and develop a compact design that can control all three joints (i.e., PIP, DIP and MP) of a finger and that offers a wider range of joint motion than conventional systems. Furthermore, we demonstrate the hand rehabilitation process, finger joints of the left hand attached to the machine are controlled by the finger joints of the right hand wearing the data glove.
International conference proceedings, English - Development of Drum CVT for a Wire-Driven Robot Hand
Kojiro Matsushita; Shinpei Shikanai; Hiroshi Yokoi
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 2251-2256, 2009, Peer-reviwed, We propose a load sensitive Continuously Variable Transmission (CVT) for a wire-driven robot hand "Drum CVT", and aims at achieving efficient finger motions by mechanically changing the reduction rate of the drive: fast finger motion with low load (i.e., low drive at fast motion) and slow finger motion with high load (i.e., high drive at slow motion). We developed two material types of Drum CVT: the deflection-type (using nylon) and the torsion-type (using metal). Both types are investigated in both theoretical and actual models, and demonstrated their performance. Eventually, we revealed those characteristics, and indicated the usage of each Drum-CVT.
International conference proceedings, English - Robotics Education: Development of Cheap and Creative EMG Prosthetic Applications
Kokiro Matsushita; Hiroshi Yokoi
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 2341-2346, 2009, Peer-reviwed, We propose a novel robotic developmental kit for educational purpose. It helps junior high / high school / university students to understand recent prosthetic technology and, moreover, to provide a chance to produce creative prosthetic applications for short time at low cost. The developmental kit consists of an EMG-to-Motor controller and a wire-driven device. For delivering the cheapness and easiness to :Indents, we demonstrate three prosthetic applications based on the kit: (1) Simple Prosthetic Hand is a mimic of commercial prosthetic hand. It illustrates that low-precise design achieves cheap production cost and sufficient function as a prosthetic hand. (2) Rock-Scissors-Paper Prosthetic Hand is based on,prosthetic hands for research use. It clearly illustrates EMG-to-Motion discrimination processes by displaying real signals. (3) EMG Presbyopia Spectacles shows the possibility that beginners design creative prosthetic applications based on daily activities. Finally, we report two educational courses we have conducted for junior high and high school students.
International conference proceedings, English - Development of Hand Rehabilitation System Using Wire-Driven Link Mechanism for Paralysis Patients
Hiroshi Yamaura; Kojiro Matsushita; Ryu Kato; Hiroshi Yokoi
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4, IEEE, 209-+, 2009, Peer-reviwed, In this paper, we present a hand rehabilitation system for patients suffering from paralysis or contracture. It consist of two components: a hand rehabilitation machine, which moves human finger joints using motors, and a data glove, which enables controlling the movement of the finger joints attached to the rehabilitation machine.
The machine is based on the arm structure type of hand rehabilitation machine; a motor indirectly moves a finger joint via a closed four-link mechanism. We employ a wire-driven mechanism and coupled mechanism for DIP and PIP joints. These mechanism render the machine lightweight, and offer wider range of motion than conventional systems. The design specifications of the mechanisms and experimental results are shown.
International conference proceedings, English - Mutually Adaptable EMG Devices for Prosthetic Hand
Hiroshi Yokoi; Kaori Kita; Tatsuhiro Nakamura; Ryu Kato; Alejandro Hernandez; Tamio Arai; Katsunori Ikoma; Tamaki Miyamoto; Hitoshi Makino; Takeya Ito
The International Journal of Factory Automation, Robotics and Soft Computing, 27-38, 2009
Scientific journal, English - Quantitative estimation of muscle fatigue using surface electromyography during static muscle contraction
Yewguan Soo; Masao Sugi; Masataka Nishino; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Tatsuhiro Nakamura; Jun Ota
2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20, IEEE, 2975-2978, 2009, Peer-reviwed, Muscle fatigue is commonly associated with the musculoskeletal disorder problem. Previously, various techniques were proposed to index the muscle fatigue from electromyography signal. However, quantitative measurement is still difficult to achieve. This study aimed at proposing a method to estimate the degree of muscle fatigue quantitatively. A fatigue model was first constructed using handgrip dynamometer by conducting a series of static contraction tasks. Then the degree muscle fatigue can be estimated from electromyography signal with reasonable accuracy. The error of the estimated muscle fatigue was less than 10% MVC and no significant difference was found between the estimated value and the one measured using force sensor. Although the results were promising, there were still some limitations that need to be overcome in future study.
International conference proceedings, English - Evaluation of frequency band technique in estimating muscle fatigue during dynamic contraction task
Yewguan Soo; Masataka Nishino; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Ryu Kato; Tatsuhiro Nakamura; Jun Ota
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, IEEE, 4206-4211, 2009, Peer-reviwed, Long-time exposure to repetitive or monotonous work is associated with increased risk for musculoskeletal disorders that are due to muscle fatigue. Previously, researchers reported that muscle fatigue can be estimated using a low-frequency band of an SEMG signal. However, these studies were performed exclusively during static contraction tasks. The objective of the present study was to evaluate and determine the frequency range for a low-frequency band. In addition, the performance during dynamic contraction tasks was analyzed. A group of healthy university students (8 males) was recruited, and endurance handgrip tasks were conducted. SEMG signals were captured from the forearm muscle. The frequency range for the low-frequency band was redefined as 5 - 40Hz. The results from a dynamic contraction task indicated that a low-frequency band is a reliable method for indexing muscle fatigue from SEMG signals.
International conference proceedings, English - 個性適応型ロボットハンドを用いた手指機能の再建へのアプローチ(fMRIによる大脳感覚野と運動野の変化についての考察)
横井 浩史
Peripheral Nerve, 19, 2, 139-146, Dec. 2008, Peer-reviwed
Scientific journal, Japanese - 人に適応する運動補助装置開発のための表面筋電位を用いた運動習熟度推定法
北 佳保里; 加藤 龍; 横井 浩史; 新井 民夫
精密工学会誌, 74, 3, 298-305, Mar. 2008, Peer-reviwed
Scientific journal, Japanese - The relationship between changes in amplitude and instantaneous mean frequency at low and high frequency bands during dynamic contraction
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Tatsuhiro Nakamura; Rulin Du; Jun Ota
2nd International Conference on Bioinformatics and Biomedical Engineering, iCBBE 2008, IEEE Computer Society, 1413-1416, 2008, Peer-reviwed, Surface Electromyography (SEMG) analysis of dynamic contraction is becoming more important to understand the muscle condition in real life activities. The objective of the study is to discover the relationship between the changes of amplitude and frequency at high and low frequency bands. Continuous Wavelet Transform (CWT) is utilized in order to process the SEMG data in both time and frequency domain. The result shows the potential to estimate the force level by analyzing the amplitude of high frequency band. However the influence of muscle fatigue and force variation should be identified during dynamic contraction. The proposed method provides an alternative solution for analyzing SEMG signals in different perspective. © 2008 IEEE.
International conference proceedings, English - Evaluating assembly instruction methods in cell production system by physiological parameters and subjective indices
Nuttapol Pongthanya; Feng Duan; Jeffrey Too Chuan Tan; Kei Watanabe; Ye Zhang; Masao Sugi; Hiroshi Yokoi; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 199-+, 2008, Peer-reviwed, Providing assembly information to support human workers has been verified to be an effective way to improve the assembly performance. However, the relationship between the assembly information format and the human workers'fatigue has not been investigated clearly. This paper is aimed to evaluate assembly instruction provided by information supporting system in fatigue aspect by using physiological measurement. The task performance and subjective rating measurements are taken into account to verify the physiological responses. The experimental results show that image and text instruction have more potential to convey the assembly information than voice instruction in this setting.
International conference proceedings, English - Multimedia based assembly supporting system for cell production
Feng Duan; Masahiro Morioka; Jeffrey Too Chuan Tan; Ye Zhang; Kei Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Ryou Nihei; Shinsuke Sakakibara; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 213-+, 2008, Peer-reviwed, Multiple skilled human operators enable the cell production system to meet the requirement of the diversified products and production quantity flexibly. How to improve the assembly performance of the operators and reduce their assembly burden are two important factors. To solve these problems, a multimedia based assembly supporting system (MASTER) is proposed, which aims to support assembly operators from both information aspect and physical aspect. The results show that using this system, the assembly performance of the operators is improved. With the information and physical supports from this system, the assembly complexity and burden of the assembly operators are reduced.
International conference proceedings, English - A study of design factors for information supporting system in cell production
Ye Zhang; Feng Duan; Jeffrey Too Chuan Tan; Kei Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 319-+, 2008, Peer-reviwed, With the innovation of mechanism, operators are released from the physical assembly tasks. Most of current assembly tasks are the cognitive tasks; therefore providing assembly supporting information can improve the assembly process. However, which kinds of assembly information fit the operators and how to provide the assembly information is convenient to the operator have not been investigated thoroughly. To solve these problems, an information supporting system is developed and several operators are employed to execute a cable-insert task. The results show that providing multimedia based assembly information in the assembly area can reduce assembly mistakes and mental work load while accelerate the assembly process.
International conference proceedings, English - Analyzing Human Skill through Control Trajectories and Motion Capture Data
Feng Duan; Ye Zhang; Nuttapol Pongthanya; Kei Watanabe; Hiroshi Yokoi; Tamio Arai
2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING, VOLS 1 AND 2, IEEE, 454-+, 2008, Peer-reviwed, Extracting and transferring human skills is an important step towards creating an intelligent robot in a cooperative environment. Human skill contains human control skill and human motion skill. Many studies have been done to extract and transfer either human control skill or human motion skill successfully; however, the complete human-to-human skill transfer process (including both human control skill and human motion skill) has not been realized. In this study, the objective is to achieve the complete human-to-human skill transfer process from an expert to a novice. To realize the human control skill extract, synthesis and transfer process, a dynamic simulator is built up to record human operators' control trajectories. Based on the simulation results, the best control strategy can be obtained. To analyze human motion skill, motion capture equipment is employed to record human operators' motions, and BvhViewer software is utilized to compute human joint angle values. To make human novices understand human experts' motions easily, it is absolutely necessary to reproduce and synthesize the experts' motions. In this case, a kinematic human body simulator is utilized to synthesize the experts' motions. A ball shooting task is employed to evaluate the effect of the proposed method. The results show that, after training by the synthesized human control skill model and the human motion skill model, the novice's performance is significantly improved.
International conference proceedings, English - Assembly information system for operational support in cell production
Jeffrey Too Chuan Tan; Feng Duan; Ye Zhang; Kai Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Tamio Arai
MANUFACTURING SYSTEMS AND TECHNOLOGIES FOR THE NEW FRONTIER, SPRINGER, 209-+, 2008, Peer-reviwed, In cell production, the output depends heavily on the performance of the worker. Assembly information support is useful to support the worker. The objective of this study is to develop a framework to organize assembly information to support production operation. It is illustrated by an application of a production operation in laboratory simulation. Assembly motion of skilled worker is extracted and the assembly process is decomposed into operational units, which linked with support information to set up the information database. New assembly process with information support can then be generated and implemented with multimodal system to assist production operation.
International conference proceedings, English - Embodiment of Legged Robots Emerged in Evolutionary Design: Pseudo Passive Dynamic Walker
Kojiro Matsushita; Hiroshi Yokoi
Frontiers in Evolutionary Robotics (Ed. Aleksandar Lazinica), 311-326, 2008, Peer-reviwed
Scientific journal, English - 脳/大脳生理とBMI/BCI
横井 浩史
経済産業省 平成19年度技術戦略マップローリング事業，人間系融合領域アカデミック・ロードマップ, 13-27, 2008, Invited
Scientific journal, Japanese - Simultaneous measurement of force and muscle fatigue using frequency-band wavelet analysis
Yewguan Soo; Masao Sugi; Hiroshi Yokoi; Tamio Arai; Rulin Du; Jun Ota
2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vols 1-8, IEEE, 5045-5048, 2008, Peer-reviwed, Static and dynamic handgrip experiments are performed in order to evaluate the effectiveness of utilizing frequency-band wavelet analysis in measuring force and muscle fatigue simultaneously. SEMG signals are recorded from flexor muscle and analyzed using continuous wavelet transform (CWT). The wavelet coefficients are grouped into high frequency (65Hz - 350Hz) and low frequency (5Hz - 45Hz) band. A significant correlation is discovered between amplitude of high frequency hand and force level. On the other hand, the amplitude of low frequency band is associated with muscle fatigue. These results have an important implication for estimating force and muscle fatigue simultaneously especially during dynamic contraction.
International conference proceedings, English - The man-machine interaction: The influence of artificial intelligence on rehabilitation robotics
Alejandro Hernández Arieta; Ryu Kato; Wenwei Yu; Hiroshi Yokoi
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 4850 LNAI, 221-231, 2007, We are leaving in a world where the interaction with intelligent machines is an every day life event. The advances in artificial intelligence had allowed the development of adaptive machines that can modify its internal parameters to adjust their behavior according to the changing environment. One field that has profit from this is rehabilitation and prosthetics. In this respect, is our interest to evaluate the effects that this interaction has on the user. In this study, we use an f-MRI (functional Magnetic Resonance Imaging) device to measure the changes on the motor and sensory cortex of a right hand amputee's using an EMG controlled Adaptable prosthetic hand with tactile feedback. Our results show the improvement in the adaptation to the prosthetic device, also, our experiments point to a possible modification of the body schema, generating an illusion of belonging of the robot hand to the human body. © Springer-Verlag Berlin Heidelberg 2007.
International conference proceedings - Analyze assembly skills using a motion simulator
Feng Duan; Jeffrey Too Chuan Tan; Ye Zhang; Kei Watanabe; Nuttapol Pongthanya; Masao Sugi; Hiroshi Yokoi; Tamio Arai
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, IEEE, 1428-1433, 2007, Peer-reviwed, Many researchers have focused on transferring human skills to robots by extracting those skills into the machine-understandable models. It is an important step towards creating an intelligent robot in a cooperative environment. These models not only can be employed to transfer human control strategy to robots, but also can be used to improve the new workers' performance. In this paper, we propose a method that is to extract the advantages of several operators' skills and synthesize new skills to train new workers. To realize the skill extract, synthesis and transfer system, it is absolutely necessary to reproduce and synthesize the experts' motions. In the latter case, a kinematic simulator of human body is employed to realize the synthesis of the operators' motions based on the detected motion data. To verify the proposed method, we employed it to execute a peg-in-hole assembly task. The results show that after training by the synthesized skill model, the new operator's performance is improved significantly.
International conference proceedings, English - 個性適応機能を有する筋電義手に関する研究
横井 浩史; 加藤 龍; アレハンドロ・ヘルナンデス・アリエタ; 新井 民夫; 生駒 一憲; 宮本 環; 牧野 均; 伊藤 武哉; 大西 隆; 兪 文偉
POアカデミージャーナル, (公社)日本義肢装具士協会, 15, 2, 83-92, 2007, Peer-reviwed
Scientific journal, Japanese - A Case Study Approach: Walking Assist Scheme Exploiting Somatic Reflex of a Leg-Paralysis Patient
Kojiro Matsushita; Akihiro Yamakawa; Hiroshi Yokoi; Tamio Arai
Journal of Robotics and Mechatronics, 16, 6, 629-636, 2007, Peer-reviwed
Scientific journal, English - Plastic-Bottle-Based Robots in Educational Robotics Courses -Understanding Embodied Artificial Intelligence-
Kojiro Matsushita; Hiroshi Yokoi; Tamio Arai
Journal of Robotics and Mechatronics, 19, 2, 212-222, 2007, Peer-reviwed
Scientific journal, English - メカトロニクス・ロボティクス総論：実習編-PETボトルを使ったロボット製作，制御の実践的テキスト-
横井 浩史; 松下 光次郎
経済産業省 中小企業産学連携製造中核人材育成事業 メカトロニクスロボット分野，2007年度版, 確認中, 2007
Scientific journal, Japanese - 人と機械の融合システムと倫理について
横井 浩史
経済産業省 平成18年度技術戦略マップローリング事業，人間系融合領域アカデミック・ロードマップ, 54-64, 2007, Invited
Scientific journal, Japanese - アメーバ状ロボットの駆動と制御
横井浩史
機械の研究, 養賢堂, 58, 11, 1129-1139, Nov. 2006, Peer-reviwed
Scientific journal, Japanese - Pseudo-passive dynamic walkers designed by coupled evolution of the controller and morphology
Kojiro Matsushita; Hiroshi Yokoi; Tamio Arai
ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE BV, 54, 8, 674-685, Aug. 2006, Peer-reviwed, In this paper we investigated the morphology and controller of biped robots. We viewed them as design components that together can induce dynamically stable bipedal locomotion. We conducted coupled evolution of the morphology and controller of a biped robot, consisting of nine links and eight joints, actuated by oscillators without sensor feedback in three-dimensional simulation. As a result, both pseudo-passive dynamic walkers and active-control walkers emerged, but the pseudo-passive dynamic walkers showed more dynamic stability than the active-control walkers. This is because compliant components in morphology function as noise filters and passive oscillators. Analysis on this latter class of walkers revealed that this was achieved by two novel functions: self-stabilization and self-regulation. Because these functions were handled by the passive dynamics induced in the robot morphology, due to its compliance, we concluded that a computational trade-off between the controller and morphology occurs in these devices. Finally, we have concluded that appropriate compliance is a key to achieving dynamical stability during locomotion. (c) 2006 Elsevier B.V. All rights reserved.
Scientific journal, English - Designing Dynamical Stable Locomotors Across the Reality Gap, Proceedings of the 50th Anniversary Summit of Artificial Intelligence
Kojiro Matsushita; Hiroshi Yokoi; Tamio Arai
Proceedings of the 50th Anniversary Summit of Artificial Intelligence, 203-204, Aug. 2006, Peer-reviwed
International conference proceedings, English - The Man-Machine Interaction: FMRI Study for an EMG Prosthetic Hand with Biofeedback
Alejandro Hernandez Arieta; Hiroshi Yokoi
Proceedings of 50th Anniversary Summit of Artificial Intelligence, 101-102, Jul. 2006, Peer-reviwed
International conference proceedings, English - Acquirement of Body Schema using Intelligent EMG Prosthetic Hand
Ryu Kato; Alejandro Hernandez Arieta; Kojiro Matsushita; Hiroshi Yokoi
Proceedings of 50th Anniversary Summit of Artificial Intelligence, 187-188, Jul. 2006, Peer-reviwed
International conference proceedings, English - FES as biofeedback for an EMG controlled prosthetic hand
Alejandro Hernandez Arieta; Hiroshi Yokoi; Tamio Arai; Yu Wenwei
TENCON 2005 - 2005 IEEE REGION 10 CONFERENCE, VOLS 1-5, IEEE, 489-+, 2006, The importance of providing with biofeedback when interacting with man-machine interfaces has to be considered when developing new applications, in particular, with externally powered prosthetic devices. In this study we look to develop a tactile biofeedback system for this purpose using electrical stimulation.. In this paper we study the ability of the human body to recognize different patterns of stimulation using two methods: surface and interferential current stimulation and their influence over the EMG acquisition process. The goal is to develop an appropriate feedback source to the human body to be used along with an EMG controlled prosthetic hand.
International conference proceedings, English - An f-MRI study of an EMG Prosthetic Hand Biofeedback System
Alejandro Hernandez A; Hiroshi Yokoi; Takashi Ohnishi; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, IOS PRESS, 921-+, 2006, Peer-reviwed, The need of biofeedback in Man-Machine interfaces is of vital importance for the development of subconscious control with external devices. In order to include external devices into the user's body schema, we need to provide more information channels to the human body. In this case Study we focus on a EMG controlled prosthetic system. We use electrical stimulation to translate pressure information into biofeedback for the human body. We used functional magnetic resonance imaging in order to measure the effectiveness of this system.
International conference proceedings, English - Analysis of Dynamical Locomotion of Two-Link Locomotors
Kojiro Matsushita; Hiroshi Yokoi; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, I O S PRESS, 574-581, 2006, Peer-reviwed, In this paper, we demonstrated simple locomotive robots, which consist of two links connecting at one joint and are actuated with simple oscillation, in both virtual and real world. Then, the locomotion of those robots was analyzed in terms of gait and exploitation of its own morphology. As results, we have firstly recognized two different gaits: kicking ground type and falling-over type. Then, the third gait has been acquired and it indicated a clue to acquire dynamically bipedal locomotion.
International conference proceedings, English - A New Heating Method for the Actuation of the Shape Memory Alloy (SMA) Actuator
Chee Siong Loh; Kojiro Matsushita; Hiroshi Yokoi; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, I O S PRESS, 839-846, 2006, Peer-reviwed, This paper describes a new control method for the shape memory alloy (SMA) actuator implementing a high voltage pulse heating method consists of high voltage short interval Pulses in the millisecond order to actuate the alloy in an on-off manner. This proposed method replaces the conventional heating method that heats the alloy in a gradual manner, resulting in heat accumulation in the surrounding air. When cooling occurs, the heat transfer front the SMA to the environment becomes stagnant and slow, resulting in the accumulation of heat in the alloy when Subsequent heating Occurs. This excessive heat causes the alloy to remain in the form of the austenite structure, which is less elastic in nature compared to the low temperature crystalline structure of martensite. This phenomenon attributes to the slowness of the SMA in its control response speed, which is a major setback in the application of this alloy. Our proposed method optimizes the amount of applied heat, and therefore excessive heating of the SMA can be prevented. To verify the advantages of our method, we present experimental results for both conventional and proposed heating methods
International conference proceedings, English - Analysis of Skill Acquisition Process -A case study of arm reaching task
Kahori Kita; Ryu Kato; Hiroshi Yokoi; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, I O S PRESS, 9, 991-998, 2006, Peer-reviwed, Analysis of continuous process of motor learning gives a lot of useful knowledge for the recovery of human motion activities, and functional adaptability in new environment. This paper proposed a valuation index for degree of proficiency, and showed results of motor skill analysis for several arm reaching tasks. The motor skills were evaluated by using the reproducibility of muscle activation patterns, which were represented by using the variance value of the Electromyographic (EMG) signal patterns, and the motion accuracy. We confirmed that the reproducibility is high when the motion accuracy is high, and the various skill acquisition processes exist due to individual difference. We concluded that, the reproducibility is one of the important indices for evaluating the degree of proficiency.
International conference proceedings, English - Competitive Learning Method for Robust EMG-to-Motion Classifier
Ryu Kato; Hiroshi Yokoi; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, I O S PRESS, 946-953, 2006, Peer-reviwed, This paper describes a competitive learning method for a robust EMG-to-motion classifier system, to adjust to the change in user's characteristics. This method is done under the assumptions that the input motions are continuous, and the teaching motions are ambiguous in nature, therefore, automatic addition, elimination and selection of learning data are possible. Applying our proposed method, we conducted experiments to discriminate eight forearm motions, with the results, a stable and highly effective discrimination rate was achieved and maintained even when changes occurred in user's characteristics.
International conference proceedings, English - Mutual Adaptation among Man and Machine by using f-MRI analysis
Hiroshi Yokoi; Alejandro Hernandez Arieta; Ryu Katoh; Takashi Ohnishi; Wenwei Yu; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, IOS PRESS, 9, 954-962, 2006, Peer-reviwed, The prosthetic device for disabled people requires new and reliable robotics technology. This paper describes the interesting reaction of our brain to an adaptable prosthetic system. The adaptable prosthetic system is composed of an EMG controlled robot hand with EMG pattern recognition learning function for Transradial (below elbow) prostheses. The mutual adaptation between the system and the human body is analyzed using a functional magnetic resonance imaging (f-MRI) in order to clarity the plasticity of motor and sensory cortex area according to the changes in the prosthetic system. The developed prosthetic hand has 13 D.O.F.: three motors on the thumb, two motors for each finger, and two motors for the wrist. The tactile feedback is applied by using electric stimulus. The f-MRI data shows the process of replacement from a phantom limb image to the prosthetic hand image.
International conference proceedings, English - Robotics in education: Plastic bottle based robots for understanding morph-functionality
K. Matsushita; H. Yokoi; T. Arai
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 662-667, 2006, Peer-reviwed, In this paper, we introduce our robot package for educational use. The main characteristics are the followings: robots are built by connecting plastic bottles and RC servo motors with glues so that technical skills such as machining are not required for students
three types of robot controllers, such as manual controller, autonomous controller, bio-signal interface controller, are provided so that students can experience autonomous robots and bio-signal interface techniques. Thus, this package provides opportunities to design both robot structure and control architecture and, moreover, to experience new engineering technologies. So far, we have conducted robot education courses for undergraduates and graduates three times. The first course purposed to teach students morpho-functionality, which is a concept of embodied artificial intelligence. As results, all the students have designed locomotive robots and understood "morpho-functionality." In the second and third courses, students have experienced to control locomotive robots with bio-signal interface techniques. Thus, we have shown that this educational package provide variety of robot techniques and, depending on course hour and students target, we can modify course programs. © 2006 IEEE.
International conference proceedings, English - Adaptable EMG prosthetic hand using on-line learning method -Investigation of mutual adaptation between human and adaptable machine
Ryu Kato; Tetsushiro Fujita; Hiroshi Yokoi; Tamio Arai
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, 599-604, 2006, Peer-reviwed, we developed a new adaptable EMG prosthetic hand, which executes recognition process and learning process in parallel and can keep up with change in the mapping between an electromyographic signals (EMG) to the desired motion, for amputee. EMG-to-motion classifier which used in proposed prosthetic hand is done under the assumptions that the input motions are continuous, and the teaching motions are ambiguous in nature, therefore, automatic addition, elimination and selection of learning data are possible. Using our proposed prosthetic hand system, we conducted experiments to discriminate eight forearm motions, with the results, a stable and highly effective discrimination rate was achieved and maintained even when changes occurred in the mapping. Moreover, we analyzed mutual adaptation between human and adaptable prosthetic hand using ability test and f-MRI, and clarified each adaptation process. ©2006 IEEE.
International conference proceedings, English - Investigation of reality constraints: Morphology and controller of two-link legged locomotors for dynamically stable locomotion
Kojiro Matsushita; Hiroshi Yokoi; Tamio Arai
FROM ANIMALS TO ANIMATS 9, PROCEEDINGS, SPRINGER-VERLAG BERLIN, 4095, 101-112, 2006, Peer-reviwed, In this paper, we purpose to reveal effective design components for morphological functionality and reality constraints by analyzing simple locomotors in both virtual and real worlds. Firstly, we assumed that human experiences and techniques contained important design components so that we conducted edutainment course to acquire locomotors, which were heuristically designed. Then, we analyzed two remarkable locomotors in both virtual and real worlds. As a result, we have known that symmetrical design played an important role on dynamically stable locomotion because its design enabled to exploit its own dynamics as passive dynamics and also widened its controllability. Addition to it, the locomotors in both virtual and real worlds demonstrated similar characteristics.
Scientific journal, English - An fMRI study on the effects of electrical stimulation as biofeedback
Alejandro Hernandez; Ryu Kato; Hiroshi Yokoi; Tamio Arai; Takashi Ohnishi
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, IEEE, 4336-+, 2006, Peer-reviwed, Nowadays, the Man-Machine interfaces are becoming more important in our interaction with robotic systems. One particular case is on prosthetic devices, where the need of "biofeedback" is of vital importance to achieve subconscious control of these devices. In order to provide this feedback, so the device can be included into the user's body image, we use electrical stimulation as a substitute for tactile feedback. In this study we analyze the effects of the electrical stimulation together with the intention, provided by the electromyography, for the sensation generation, and its inclusion on the user's body schema. To evaluate our system, we use functional Magnetic Resonance Imaging, to measure the changes in the brain due to the use of an EMG controlled prosthetic hand with electrical stimulation as tactile feedback.
International conference proceedings, English - A fMRI study of the cross-modal interaction in the brain with an adaptable EMG prosthetic hand with biofeedback
Alejandro Hernandez Arieta; Ryu Kato; Hiroshi Yokoi; Tarnio Arai
2006 28TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-15, IEEE, 3194-+, 2006, Peer-reviwed, Mutual adaptation between man and machine is necessary for the development of more efficient devices that allows easy adaptation. The interaction with intelligent machines involves adaptation processes from both the user and the machine. The human body has the ability to change its body schema to include external tools in it, using this fact we proposed the design of intelligent machines with biofeedback to the user, permitting in this way, development of subconscious control of external devices. We propose the case of an EMG prosthetic hand with biofeedback to study the adaptation process between man-machine. Our system includes an EMG classification system to acquire the intended movement from the user. We use electrical stimulation as a provider of tactile feedback, to interact with the human body. We use a functional Magnetic Resonance Image study while using the prosthetic device while receiving biofeedback to measure the activation levels in the amputee's brain.
International conference proceedings, English - Real-time learning method for adaptable motion-discrimination using surface EMG signal
Ryu Kato; Hiroshi Yokoi; Tamio Arai
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, IEEE, 2127-+, 2006, Peer-reviwed, This paper describes a new real-time learning method for the development of a robust motion discriminating method from an EMG signal, to adjust to the change in user's characteristics. This method is done under the assumptions that the input motions are continuous, and the teaching motions are ambiguous in nature, therefore, automatic addition, elimination and selection of learning data are possible. Applying our proposed method, we conducted experiments to discriminate eight forearm motions, with the results, a stable and highly effective discrimination rate was achieved and maintained even when changes occurred in user's characteristics.
International conference proceedings, English - Acquirement of Body Schema using Intelligent EMG Prosthetic Hand
Ryu Kato; Alejandro Hernandez Arieta; Kojiro Matsushita; Hiroshi Yokoi
50th Anniversary Summit of Artificial Intelligence, 187-188, 2006, Peer-reviwed
International conference proceedings, English - Development of a multi-DOF electromyography prosthetic system using the adaptive joint mechanism
Alejandro Hernandez Arieta; Ryu Katoh; Hiroshi Yokoi; Wenwei Yu
Applied Bionics and Biomechanics, 3, 2, 101-111, 2006, Peer-reviwed
Scientific journal, English - Natural Heat-Sinking Control Method for Fast Actuation of the SMA
Chee Siong Loh; Hiroshi Yokoi; Tamio ARAI
International Journal of Advanced Robotics Systems, 3, 4, 303-312, 2006, Peer-reviwed
Scientific journal, English - Development of Autonomous Assistive Devices - Analysis of change of human motion patterns
Kahori Kita; Ryu Kato; Hiroshi Yokoi; Tarnio Arai
2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS, IEEE, 316-+, 2006, Peer-reviwed, The purpose of our research is to build a system for mutual adaptation between a user and assistive devices for restoration of motor function. To build such system, it is necessary to know human's motion patterns. In this paper, as the first step, we investigated human motion characteristic on human-machine system like EMG (electromyogram) prosthetic hand and EMG to motion classifier system. In the experiment, we measured the EMG signals and investigated a difference between motion patterns of teaching motion, i.e. user's intended motion, and that of actual motion using the proposed criteria. As results, it is clear that these criteria are useful to analyze changes of human motion patterns.
International conference proceedings, English - Mutual Adaptation among Man and Machine by using f-MRI analysis
Hiroshi Yokoi; Alejandro Hernandez Arieta; Ryu Katoh; Takashi Ohnishi; Wenwei Yu; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, IOS PRESS, 57, 2, 954-962, 2006, Peer-reviwed, The prosthetic device for disabled people requires new and reliable robotics technology. This paper describes the interesting reaction of our brain to an adaptable prosthetic system. The adaptable prosthetic system is composed of an EMG controlled robot hand with EMG pattern recognition learning function for Transradial (below elbow) prostheses. The mutual adaptation between the system and the human body is analyzed using a functional magnetic resonance imaging (f-MRI) in order to clarity the plasticity of motor and sensory cortex area according to the changes in the prosthetic system. The developed prosthetic hand has 13 D.O.F.: three motors on the thumb, two motors for each finger, and two motors for the wrist. The tactile feedback is applied by using electric stimulus. The f-MRI data shows the process of replacement from a phantom limb image to the prosthetic hand image.
International conference proceedings, English - Analysis of Skill Acquisition Process -A case study of arm reaching task
Kahori Kita; Ryu Kato; Hiroshi Yokoi; Tamio Arai
INTELLIGENT AUTONOMOUS SYSTEMS 9, I O S PRESS, 57, 2, 991-998, 2006, Peer-reviwed, Analysis of continuous process of motor learning gives a lot of useful knowledge for the recovery of human motion activities, and functional adaptability in new environment. This paper proposed a valuation index for degree of proficiency, and showed results of motor skill analysis for several arm reaching tasks. The motor skills were evaluated by using the reproducibility of muscle activation patterns, which were represented by using the variance value of the Electromyographic (EMG) signal patterns, and the motion accuracy. We confirmed that the reproducibility is high when the motion accuracy is high, and the various skill acquisition processes exist due to individual difference. We concluded that, the reproducibility is one of the important indices for evaluating the degree of proficiency.
International conference proceedings, English - Artificial Whiskers: Structural Characterization and Implications for Adaptive Robots
Hiroshi Yokoi; Max Lungarella; Miriam Fend; Rolf Pfeifer
Journal of Robotics and Mechatronics, 17, 5, 584-595, Oct. 2005, Peer-reviwed
Scientific journal, English - 関数最適化型研究(18・6 進化計算とロボティクス,18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)
横井 浩史; 千葉 龍介
日本機械学會誌, 108, 1041, 665, Aug. 2005, Peer-reviwed
Scientific journal, Japanese - Measurement and analysis of reflex responses to perturbation during walking-towards the realization of artificial reflex
Wenwei Yu; Kumagai Masaru; Sarawar Shahe; Tamotsu Katane; Hiroshi Yokoi; Masaki Sekine; Toshiyo Tamura; Osami Saito
Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, 7 VOLS, 6243-6246, 2005, Peer-reviwed, Reflex responses play an important role in gravity resistance, balance maintenance and the reaction to perturbation during human walking and standing upright. In this study, aiming at the realization of artificial reflex for paralyzed people, whose reflexive system was also impaired to a certain degree because of the weakened afferent neural pathway, the reflex responses of normal subjects were measured and analyzed. Not only the sensors for measuring muscle activation, but also the sensors for measuring body motion were employed. The spatiotemporal relation between muscle activity and body motion was qualitatively analyzed. Moreover, the candidates for artificial reflex triggering signal were identified for further investigation. © 2005 IEEE.
International conference proceedings - Measurement and analysis of reflex responses to perturbation during walking - Towards the realization of artificial reflex
Wenwei Yu; Kumagai Masaru; Sarawar Shahe; Tamotsu Katane; Hiroshi Yokoi; Masaki Sekine; Toshiyo Tamura; Osami Saito
2005 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vols 1-7, IEEE, 6243-6246, 2005, Peer-reviwed, Reflex responses play an important role in gravity resistance, balance maintenance and the reaction to perturbation during human walking and standing upright. In this study, aiming at the realization of artificial reflex for paralyzed people, whose reflexive system was also impaired to a certain degree because of the weakened afferent neural pathway, the reflex responses of normal subjects were measured and analyzed. Not only the sensors for measuring muscle activation, but also the sensors for measuring body motion were employed. The spatiotemporal relation between muscle activity and body motion was qualitatively analyzed. Moreover, the candidates for artificial reflex triggering signal were identified for further investigation.
International conference proceedings, English - Locomoting with less computation but more morphology
K Matsushita; M Lungarella; C Paul; H Yokoi
2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4, IEEE, 2008-2013, 2005, Peer-reviwed, Biped walking is one of the most graceful movements observed in humans. Today's humanoid robots, despite their undeniably impressive performance, are still a long way from the elegance and grace found in Nature. To narrow the gap between natural and artificial systems, we propose to rely more on morphology, intrinsic dynamics, and less on raw computation. This paper documents a series of simulated and real "pseudo-passive" dynamic biped walkers in which computation is traded off for good morphology, that is, adequate mechanical design and appropriate material properties These two factors are parameterized, and the resulting solution space is explored in simulation. Interesting solutions are then realized in the real world. Our experiments show that successful pseudo-passive walkers with a good morphology locomote by converting oscillatory energy into forward movement.
International conference proceedings, English - Improving heat sinking in ambient environment for the Shape Memory Alloy (SMA)
CS Loh; H Yokoi; T Arai
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vols 1-4, IEEE, 2277-2282, 2005, Peer-reviwed, SMA has been used as an actuator alongside with certain heat sinking mechanism which makes the structure of the actuator as a whole, bulky and heavy in nature. This paper describes the effort taken in speeding up the rate of heat transfer of the SMA in ambient environment by introducing a simple, new heat sink, consisting of a combination of an outer metal tube and silicone grease as cooling medium. The SMA wire of diameter 0.3 mm is first coated with a layer of silicone grease, and is inserted into the outer metal tube making sure that the silicone coated SMA does not inhibit the mobility of the outer metal tube. An experimental setting, with the task of using the SMA to vertically haul up a 3kg weight was set up. PWM (Pulse Width Modulation) control was applied to the SMA and by using a position sensor, the rise and fall of weight can be easily monitored, therefore the response speed of the actuator can be observed. Meanwhile a temperature sensor, a thermocouple type-K, was used to monitor the temperature of the SMA for temperature control. Simulation results of the rate of beat transfer based on the beat transfer equation are also presented to validate the effectiveness of this proposed heat sink.
International conference proceedings, English - New shape memory alloy actuator: Design and application in the prosthetic hand
Chee Siong Loh; Hiroshi Yokoi; Tamio Arai
2005 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vols 1-7, IEEE, 6900-6903, 2005, Peer-reviwed, This paper describes a new SMA actuator design and its application in the prosthetic hand replacing conventional servo motors which are bulky and noisy in nature. Two one-way memory SMA wires are used in the development of the actuator. The proposed actuator consists of two 0.3mm in diameter SMA wires inserted from both ends of a stainless outer tube which functions as a guide and simultaneously a heat sink for the dissipation of heat from the SMA. These wires meet at the centre of the stainless tube where an electrode is placed. There are 2 other electrodes, each located at the end of the outer tube. These electrodes are the points where current is passed through each of the SMA wire asynchronously. In order to actuate a degree of freedom (DOF) of a robotic finger, 2 actuators are used each for the flexion and extension actions respectively. A high voltage PWM signal of very short intervals is used in actuation to avoid excessive heat build-up in the SMA due to long unnecessary heating.
International conference proceedings, English - Study on the effects of electrical stimulation on the pattern recognition for an EMG prosthetic application
Alejandro Hernandez Arieta; Hiroshi Yokoi; Tamio Arai; Wenwei Yu
2005 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Vols 1-7, IEEE, 6919-6922, 2005, Peer-reviwed, The need of biofeedback in Man-Machine interfaces is of vital importance for the development of subconscious control with external devices. In order to obtain extended proprioception, in other words, to include the external devices into the body schema, we need to provide with more feedback channels to the human body. In this study we look into the use of electrical stimulation as biofeedback and its effects over the pattern recognition process from the EMG signals that controls the hand movements.
International conference proceedings, English - Development of Interference Driven Link of Prosthetic Hand
Mizoguchi, Y; Loh, C. S; Matsushita, K; Yokoi, H; Arai,T
The second International Workshop on Man-Machine Symbiotic Systems, 421-427, Nov. 2004, Peer-reviwed
International conference proceedings, English - SOM based Analysis of Prosthetics Application for Mutual Adaptation
Fujita, T; Katoh, R; Arieta, H; Yokoi, H; d Arai
The second International Workshop on Man-Machine Symbiotic Systems, 231-237, Nov. 2004, Peer-reviwed
International conference proceedings, English - Nonlinear Cyclic Pattern Generation Using an Excitable Chemical Medium Controller for a Robot Hand
Hiroshi Yokoi; Andy Adamatzky; Ben De Lacy Costello; Chris Melhuish
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 112-117, Sep. 2004, Peer-reviwed
International conference proceedings, English - Development of a Whisker Sensor System and Simulation of Active Whisking for Agent Navigation
Hiroshi Yokoi; Miriam Fend; Rolf Pfeifer
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 607-612, Sep. 2004, Peer-reviwed
International conference proceedings, English - Excitable chemical medium controller for a robotic hand: Closed-loop experiments
H Yokoi; A Adamatzky; BD Costello; C Melhuish
INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS, WORLD SCIENTIFIC PUBL CO PTE LTD, 14, 9, 3347-3354, Sep. 2004, Peer-reviwed, We discuss the experimental implementation of a chemical controller for a robotic hand. In the present case study, we have designed a closed system where a Belousov-Zhabotinsky (BZ) thin layer chemical reactor was linked to the robotic hand via an array of photo-sensors and the fingers of the hand were able to stimulate the excitation dynamics in the BZ medium via the local addition of an activator species. A principal working loop of the chemo-robotic system is that oxidation wave fronts traveling in the medium are detected by photo-sensors and cause (via a microcontroller) the fingers of the hand to bend. When a finger bends, it is set up to apply a small quantity of colloid silver to the reaction and thus causes an additional excitation wave. The traveling and interacting waves stimulate further movements of the fingers and patterns of behavior are observed. These patterns of behavior have been modeled using a cellular automaton. In the paper, we offer an experimental set-up, including algorithms and interfacing, for an experimental chemical robotic hand controller, which contributes to the fields of nonclassical computation, nonlinear physics, and unconventional robotics.
Scientific journal, English - Acquisition of Adaptive Behavior for the SMA-Net Robot Using Chaotic Neural Networks
Ikuo Suzuki; Masaru Fujii; Keitaro Naruse; Hiroshi Yokoi; Yukinori Kakazu
Journal of Robotics and Mechatronics, 16, 4, 411-419, Aug. 2004, Peer-reviwed
Scientific journal, English - An approach to the piano mover's problem using hierarchic reinforcement learning
Y Ishiwaka; T Yoshida; H Yokoi; Y Kakazu
IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG, E87D, 8, 2106-2113, Aug. 2004, Peer-reviwed, We attempt to achieve corporative behavior of autonomous decentralized agents constructed via Q-Learning, which is a type of reinforcement learning. As such, in the present paper, we examine the piano mover's problem including a find-path problem. We propose a multi-agent architecture that has an external agent and internal agents. Internal agents are homogenous and can communicate with each other. The movement of the external agent depends on the composition of the actions of the internal agents. By learning how to move through the internal agents, avoidance of obstacles by the object is expected. We simulate the proposed method in a two-dimensional continuous world. Results obtained in the present investigation reveal the effectiveness of the proposed method.
Scientific journal, English - 進化・学習とロボティクス(18.ロボティクス・メカトロニクス,<特集>機械工学年鑑)
横井 浩史
日本機械学會誌, 107, 1029, 650, Aug. 2004, Peer-reviwed
Scientific journal, Japanese - An Analysis of Human Motion for Control of a Wearable Power Assist System
Satoshi Kawai; Keitaro Naruse; Hiroshi Yokoi; Yukinori Kakazu
Journal of Robotics and Mechatronics, Special Issue on Selected Papers from ROBOMEC'03 (II), 16, 3, 237-244, Jun. 2004, Peer-reviwed
Scientific journal, English - Design and Control of Humanoid Robot Locomotion with Passive Legs and Upper Body Actuation
Chandana Paul; Hiroshi Yokoi; Kojiro Matsushita
Proceedings of 35th International Symposium on Robotics(ISR2004), CD-ROM等, Mar. 2004, Peer-reviwed
International conference proceedings, English - A study for control of a power assist device -development of an EMG based controller considering a human model
Satoshi Kawai; Keitaro Naruse; Hiroshi Yokoi; Yukinori Kakazu
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3, 2283-2288, 2004, A power assisting device for lower back flexion and extension, when carrying a heavy load is presented in this paper. When people lift up something heavy, they use both hands. So the development of a controller without using hands is necessary. We attempt to control the device by a voluntary human motion. First, lifting up and putting down motions are analyzed using a human model. Results show that torques in a hip joint and a knee joint are characteristic for control the device. It means that EMG signals in front and back thigh muscles can become feature values because the muscles located there connect the hip joint and the knee joint. After that, a controller of the device using the EMG signals is developed. Finally, artificial neural networks(ANN) are introduced as a solution of the problem of individual differences.
International conference proceedings, English - Using pitch accenting to improve Japanese text-to-speech understanding.
Yu W; Yokoi H; Kakazu Y; Tamura T
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 6, 4556-4559, 2004, Peer-reviwed - Using pitch accenting to improve Japanese text-to-speech understanding
Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu; Toshiyo Tamura
Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, 26 VI, 4556-4559, 2004, In order to develop an assistive technology that can increase computer accessibility for visually impaired people, we investigated the effect of pitch accenting on Japanese text-to-speech understanding. The effect was confirmed when a training procedure was introduced. Besides, we proposed an individual-adaptive pitching accenting method to explore the optimal pitch accents for individual users. The exploration process of one subject in a verification experiment was analyzed.
International conference proceedings - Design of Wearable Power-Assist Device for Lower Back Support
Keitaro Naruse; Satoshi Kawai; Hiroshi Yokoi; Yukinori Kakazu
Journal of Robotics and Mechatronics, 16, 5, 489-496, 2004, Peer-reviwed
Scientific journal, English - Mutual adaptation in a prosthetics application
H Yokoi; AH Arieta; R Katoh; WW Yu; Watanabe, I; M Maruishi
EMBODIED ARTIFICIAL INTELLIGENCE, SPRINGER-VERLAG BERLIN, 3139, 2004, 146-159, 2004, Peer-reviwed, Prosthetic care for handicapped persons requires new and reliable robotics technology. In this paper, developmental approaches for prosthetic applications are described. In addition, the challenges associated with the adaptation and control of materials for human hand prosthetics are presented. The new technology of robotics for prosthetics provides many possibilities for the detection of human intention. This is particularly true with the use of electromyogram (EMG) and mechanical actuation with multiple degrees of freedom. The EMG signal is a nonlinear wave, and has time dependency and big individual differences. The EMG signal is a nonlinear wave that has time dependency and significant differences from one individual to another. A method for how an individual adapts to the processing of EMG signals is being studied to determine and classify a human's intention to move. A prosthetic hand with I I degrees of freedom (DOF) was developed for this study. In order to make it light-weight, an adaptive joint mechanism was applied. The application results demonstrate the challenges for human adaptation. The f-MRI data show a process of replacement from a phantom limb image to a prosthetic hand image.
Scientific journal, English - Using Electromyogram to Analyze Skill Acquiring Patterns in Reaching Tasks
Kahori Kita; Ryu Katoh; Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of International Conference on the Advanced Mechatronics (ICAM'04), 19-24, 2004, Peer-reviwed
International conference proceedings, English - An Analogical Interface with Statistic Mechanics for the Dynamics of Morpho-Functional Machine
Hiroshi Yokoi; Rolf Pfeifer
Proceedings of International Conference on the Advanced Mechatronics (ICAM'04), 69-74, 2004, Peer-reviwed
International conference proceedings, English - Development of a Small Size Controller for Control of a Wearable Power Assist Device
Satoshi Kawai; Keitaro Naruse; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of International Conference on the Advanced Mechatronics (ICAM'04), 407-412, 2004, Peer-reviwed
International conference proceedings, English - The effect of Pitch Accenting on Japanese Text-to-Speech Understanding
Wenwei Yu; Takahiro Arai; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of International Conference on the Advanced Mechatronics (ICAM'04), 559-564, 2004, Peer-reviwed
International conference proceedings, English - Evolutionary Acquisition of Behavior Using Robot Model Based on Spring-mass System
Kazutoshi Uehara; Keitaro Naruse; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering System Through Artificial Neural Networks:Smart Engineering System Design:Neural Networks, Fuzzy Logic, Evolutionary Programming, Complex Systems and Artificial Life, The Japan Society of Mechanical Engineers, 13, 517-522, Nov. 2003, Peer-reviwed, 進化ロボティクスにおける形態と機能間の関係を考えるための基礎的な研究として, 動作の進化が示す性質を調べる実験を行った。GAを利用した実験の結果, 適応度関数の設計に応じた異なる動作パターンが獲得された。
International conference proceedings, English - 表面筋電位を用いた運動習熟過程の評価とモデル化 上肢到達運動による検討
北 佳保里; 加藤 龍; 兪 文偉; 横井 浩史; 嘉数 侑昇
バイオメカニズム学術講演会予稿集, バイオメカニズム学会, 24回, 91-92, Oct. 2003
Japanese - Adaptive behavior learning for a distributed autonomous swimming robot in an environment including a narrow gate
Wenwei Yu; Daisuke Iijima; Hiroshi Yokoi; Yukinori Kakazu
International Journal of Smart Engineering System Design, 5, 4, 269-279, Oct. 2003, Peer-reviwed, This paper describes a design method for an autonomous robot system consisting of plural agents that enable the robot to behave adaptively in the real world. One difficulty in designing a distributed autonomous system is how to embed dynamics for self-organizing environment-oriented action rules in the system. We, therefore, propose a robot system consisting of mechanically constrained agents that have been identically designed, which are controlled by a decision-making method that has an oscillator and learning methods based on the same object functions, such that each agent actively interacts with other agents and with the outer world. In order to verify the usefulness of this system, tests on behavioral acquisition in target approaching and obstacle avoidance were carried out by using a distributed autonomous swimming robot. Moreover, for learning efficiency in complex tasks, such as obstacle avoidance, we propose "Switching-Q learning," in which previously obtained action rules are effectively used. It was found that the robot acquired simple obstacle avoidance behavior and dynamics based on interaction among agents and the outer world. It was, therefore, verified that the proposed robot design method is one solution for a system that can adapt to complex environments.
Scientific journal, English - An adaptive FES switching system for hemiplegics
Wenwei Yu; Hiroki Yamaguchi; Hiroshi Yokoi; Masaharu Maruishi; Yukio Mano; Yukinori Kakazu
International Journal of Smart Engineering System Design, 5, 4, 299-311, Oct. 2003, Peer-reviwed, Functional Electrical Stimulation (FES) is an effective and developing method used to restore functions for paraplegic patients. In this research, we focus on the switching problem of FES, which is one of the obstacles that prevents FES from further practical use. Namely, in most of the current FES systems, patients have to make a superfluous action by themselves, or rely on someone else to turn on/off the stimulation instead. To release patients from such a switching action, we have been developing an adaptive switching system for FES control for the lower limb activities of hemiplegic patients, based on the consideration that lower limb activities need the synchronization of limbs on both sides. We used electromyogram (EMG) signals detected from the normal side to recognize the activities that the patients intend to do, and utilized the recognition results as the switching signals. However, motion patterns to be represented and analyzed by EMG are distinctive of individual variations and characteristic alternation, which inevitably results in classification errors in EMG analyzing. Moreover, EMG analyzing for FES switching should be able to cope with the contamination of FES pulse. We first compared three methods to decide the suitable feature extraction for EMG analyzation for FES systems. Then, in order to enable the analyzing system to recognize the correct timings in the dynamical processes of activities, a practical training-set construction method that utilizes additional reference data was proposed. Accordingly, the problem-oriented feature extraction and the training-set construction were incorporated with an Artificial Neural Network (ANN)-based online learning system to form an adaptive switching system for FES. The proposed switching system was applied to an FES system that supports the standing and walking of a hemiplegic subject to verify the effectiveness.
Scientific journal, English - ポテンシャル場によるエージェントの協調作業の導入に関する研究
牧野勤; 成瀬継太郎; 横井浩史; 嘉数侑昇
情報処理学会論文誌:数理モデル化と応用, 44, SIG 7 (TOM 8), 69-81, May 2003, Peer-reviwed
Scientific journal, Japanese - Development of autonomous snowplow
Tetsushi Sato; Keitaro Naruse; Yukinori Kakazu; Tsutomu Makino; Hiroshi Yokoi
Intelligent Engineering Systems Through Artificial Neural Networks, 13, 877-882, 2003, This paper presents the development of a robot that can perform snow-removal work in both an autonomous control mode and a remote control mode. In this paper, first, difficulties of practical autonomous snowplow are described. An autonomous snowplow is developed, which includes a sensor module, a vehicle control module, an emergency stop module and work planning module. The sensor module of the snowplow is evaluated and their characteristics are shown through experiments. Finally, the emergency stop module is tested and it is shown that the snowplow can stop even when a person comes up suddenly.
International conference proceedings, English - Group formation of emotion agents
Keitaro Naruse; Hiroshi Yokoi; Masahiro Kinoshita; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, 13, 213-218, 2003, In the field of multiple robot control and artificial life, group formation of agents, such as aggregation, distribution, lining and so on, is one of the important problems. Particularly, we focus on a group such that the shape of the group is almost same but its characteristic is different, for example, a group that is easy to distribute and a group which is robust to a noise. The objective of this paper is to develop a mechanism of forming such an agent group. For making such the group, in this paper, we set two-dimensional inner state in the agent, as well as subjective one-to-one evaluation. Then we investigate the characteristic of the proposed agent system.
International conference proceedings, English - Development of Wearable Exoskeleton Power Assist System for Lower Back Support
Keitaro Naruse; Satoshi Kawai; Hiroshi Yokoi; Yukinori Kakazu
IEEE International Conference on Intelligent Robots and Systems, 4, 3630-3635, 2003, In this paper, we propose a power assist device for lower back flexion and extension, when carrying a heavy load. To see the effect of the device, we model a human body and analyze a compression force in his lower back, as well as the evaluation of a supported force at a hand position. A prototype of the device is manufactured and a controller of the device is developed, which can follow a voluntary human motion assisting his strength (see video).
International conference proceedings, English - Design of compact and lightweight wearable power assist device
Keitaro Naruse; Hiroshi Yokoi; Satoshi Kawai; Yukinori Kakazu
American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC, American Society of Mechanical Engineers (ASME), 72, 1, 525-532, 2003, Peer-reviwed, In this paper, the development of a compact and lightweight power assist device for lower back flexion and extension, when carrying a heavy load, is presented. For investigating the effect of the device, we model a human body as a planar seven-link system, and we analyze a compression force in the lower back, particularly at the disc between the fifth lumbar vertebra and the first sacrum. We built two prototypes of the device, and we apply the model to real data acquired by the prototype. The analysis results show that the proposed device can reduce the compression force in the disc. A controller for the device is developed, which can follow a voluntary human motion using surface myosignals.
International conference proceedings, English - An EMG keyboard for forearm amputees
Wenwei Yu; Ryu Kato; Fukuda Fabio; Hiroshi Yokoi; Yukinori Kakazu
Applied Bionics and Biomechanics, 1, 1, 33-43, Jan. 2003, Peer-reviwed
Scientific journal, English - Amoeba-like robots in the perspective of control architecture and morphology/materials
H Yokoi; T Nagai; T Ishida; M Fujii; T Iida
MORPHO-FUNCTIONAL MACHINES: THE NEW SPECIES, SPRINGER-VERLAG TOKYO, 99-129, 2003, Peer-reviwed, This paper provides a summary of the Amoeba-like robot research that is a part of the Morpho-Functional Machine Project. This research is a developmental trial of a new robot architecture with many degrees of freedom and large deformability, and it started from imitating NC4 (the cellular slime mould slug). The proposed designs for the amoeba-like robot are a Unit Based Control Architecture with field technique and deformable hardware structure. In the Unit Based Control Architecture, locomotive through self-body deformation, adaptive control of body shape depending on obstacle in the environment, and distributed functional learning are established. Two types of deformable hardware designs are proposed. One type consists of a group of distributed units and is named SMA-net. The SMA-net type is a lattice structured using shape memory alloy (SMA), and distributed units are arranged on all node of the lattice, where each unit includes controller, sensor, indicator and actuator. The other is a liquid type that drives mercury drops using MHD (magneto-hydro-dynamics) on a magnetic field. Based on evidence from performance tests using these two proposed architectures we suggested to define a so called morpho-rate as design index that shows the "design distance" from the locomotive functions of NC4. The summary shows a perspective of deformable robot design using morpho-rate.
International conference proceedings, English - Morpho-rate: A macroscopic evaluation and analysis of the morpho-functional machine
H Yokoi; WW Yu; R Pfeifer
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, IEEE, 2, 788-793, 2003, Peer-reviwed, This paper describes an experimental approach of the macroscopic evaluation for the Morpho-Functional Machine. The robotics agent that has many degrees of freedom and large deformability has a difficulty of control, which is how to dew the influence of global body for the feedback signal of local agent The Amoeba like Robot is an example we proposed for the Morpho-Functional Machine. The mathematical model of swarming behavior of multi agents system based on field technique gives a model of the Amoeba-like-Robot The description of macroscopic observation is proposed and applied for the behavior analysis of Amoeba-like-Robot The macroscopic observation proposed here suggested to define a so called as Morpho-Rate that consists of the Dynamics of multi agents system. One of the hardware designs of Amoeba-like-Robot consists of a group of distributed agents and is named SMA-net. The SMA-net type is built using a lattice structured field of shape memory alloy (SMA) spring coils, and distributed agents are arranged on all node of the lattice, where each agent includes controller, sensor, indicator and actuator Based on evidence from performance tests using these proposed architectures we suggested using morpho-rate as design index for the macroscopic evaluation.
International conference proceedings, English - Morphology and material property of a biped robot
K Matsushita; H Yokoi; R Pfeifer
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, IEEE, 3, 1227-1232, 2003, Peer-reviwed, In this paper, a biped robot is introduced, which is an instantiation of the principle of cheap design. The proposed biped robot is a light-weight skeleton-actuation mechanism with I I DOF motors, elastic limbs, and tendon-supported joints. The sensor system of this robot is comprised of pressure sensors on the sole and a posture sensor at the hip position. An adaptive neural oscillator is employed as a controller. This paper presents some preliminary analysis of a biped robot exploiting elastic materials. The goal of this research is to explore principles of bipedal locomotion in the context of elastic materials. The experimental result shows such non-linearity of elastic material has a significant relation to the locomotion.
International conference proceedings, English - Emergence of adaptive behavior by chaotic neural networks
Suzuki, I; H Yokoi; Y Kakazu
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, IEEE, 1, 151-156, 2003, Peer-reviwed, In this paper, we propose an emergent system in which an autonomous mobile robot can acquire environment oriented behavior. In the general robotic engineering, a system designer gave the model of environment and sensory-motor commands beforehand. However, we think that the autonomous robot has to be developed through the interaction between robot's behavior and the environmental information by itself So, we construct the controller for the autonomous robot to acquire the adaptive behavior with the Chaotic Neural Networks (CNNs). Furthermore, we make use of the Dynamic Learning Method (DLM) as an on-line learning method. The results of the computational experiments show the chaotic search of this network plays an important role for the acquisition of the adaptive behavior.
International conference proceedings, English - Modeling and movement control of mobile SMA-net
M Fujii; H Yokoi; Y Kakazu
2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, IEEE, 1, 253-258, 2003, Peer-reviwed, This paper discusses the modeling of Mobile SMA-Net, and move control. Mobile SMA-Net is the robot which combined the spring of a shape memory alloy in the shape of a lattice, and has very redundant flexibility. Therefore, the physical characteristic is modeled based on a real robot's measurement data, a simulator is created, and movement is controlled by this paper on it. Since the robot has very large flexibility, in order that the robot may control, he ingratiates himself in Learning. However, in order that the robot may change own form in the action process, learn and the mechanism which can be re-learned are needed. In this paper, robust control is realized using Reinforcement Learning.
International conference proceedings, English - Optimal morphology of a biologically-inspired whisker array on an obstacle-avoiding robot
M Fend; H Yokoi; R Pfeifer
ADVANCES IN ARTIFICIAL LIFE, PROCEEDINGS, SPRINGER-VERLAG BERLIN, 2801, 771-780, 2003, Peer-reviwed, Whiskers are versatile sensors for short-range navigation and exploration that are widespread in many animal species, especially in rodents. Their arrangement is in very precise rows and arcs on both sides of the animal's head. The controlled variations between species and the conservation within a species indicates a prominent role of their morphology for their functioning. Because of their enormous potential for robotic applications, we constructed a robot with two multi-whisker arrays, and evaluated the morphology and arrangement of the whiskers in an obstacle-avoidance task. We found that an artificial whisker array uncommon in nature performed best, and we argue that this might be explained by additional functions whiskers have in animals.
Scientific journal, English - An active artificial whisker array for texture discrimination
M Fend; S Bovet; H Yokoi; R Pfeifer
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, IEEE, 2, 1044-1049, 2003, Peer-reviwed, Whiskers are powerful sensors for robots that are not only useful for basic tasks such as obstacle avoidance, but also have the potential for gathering rich information about objects. We have developed an active multi-whisker array modelled on the rat whisker system which can be mounted on a mobile robot. We show that with this whisker array we can discriminate different textures based on the frequencies elicited by the whiskers. We exploit the phase-locked structure of our data using sensory-motor integration. The data were generated by periodic active movement of the whiskers. Two factors enable better discrimination of the textures: firstly, considering several touch events from one whisker; and secondly, combining the information from more than one whisker.
International conference proceedings, English - An EMG keyboard for forearm amputees
Wenwei Yu; Ryu Kato; Fukuda Fabio; Hiroshi Yokoi; Yukinori Kakazu
Applied Bionics and Biomechanics, 1, 1, 33-43, Jan. 2003, Peer-reviwed
Scientific journal, English - On-line supervising mechanism for learning data in surface electromyogram motion classifiers
Daisuke Nishikawa; Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu
Systems and Computers in Japan, 33, 14, 1-11, Dec. 2002, Peer-reviwed, This paper proposes a mechanism that supervises the learning data set for the classification from electromyogram to forearm motion. The supervising mechanism contains automatic data addition and automatic data elimination processes. It also contains manual data addition that is the same as our former algorithm. Both the automatic addition and elimination processes evaluate success or failure of classification from the continuity of the classifier's outputs. These processes assume that a person cannot change his motion within a certain interval. In experiments, a system with the supervising mechanism embedded classifiers ten forearm motions from two channels of the electromyogram. First, this paper makes it clear that the proposed mechanism is effective by comparison with six settings, including the absence of a supervising pattern. Next, it is verified that the system can adapt to alteration of the operator's characteristics by a sensor-shifting test in which we move one sensor after the operator's training. From the experimental results, it is concluded that the proposed mechanism can adjust the generated decision boundaries for improvement of classification ability, and in addition is capable of tracking the alteration of the operator's characteristics through time.
Scientific journal, English - Multifunctional Electrical Prosthetic Hand-Development of Tendon-driven Mechanism and Controller-
Yu W; Nishikawa D; Ishikawa Y; Yokoi H; Kakazu Y
Journal of Robotics & Mechatronics, 14, 6, 324-331, Dec. 2002, Peer-reviwed
Scientific journal, English - Evaluation of Biosignal Processing Methods for Welfare Assisting Devices-Evaluation of EMG Information Extraction Processing Using Entropy-
Kato, R; Nishikawa, D; Yu, W; Yokoi, H; Kakazu, Y
Journal of Robotics & Mechatronics, 14, 6, 573-580, Dec. 2002, Peer-reviwed
Scientific journal, English - A Bio-Signal Information Criterion for Analysis of Individual Characteristics
Ryu Kato; Yu, W; Naruse, K; Yokoi, H; Kakazu, Y
Intelligent Engineering Systems Through Artificial Neural Networks, 12, 741-746, Nov. 2002, Peer-reviwed, Learning of bio-signal-to-motion classifiers would be influenced by the factors like postures of the motion-related body part, and loads to the body sections in motor activity. In this study, the influence of posture on individual characteristics was analyzed using a bio-signal information criterion, which is based on the concept of conditional information entropy. The calculation of this criterion consisted of three steps: Feature extraction, Clustering and Evaluation. An experiment on forearm motion discrimination under four postures was conducted to investigate firstly the usefulness of the criterion, and secondly the effectiveness of the criterion to analyze the influence of different postures on EMG-to-motion classifiers. As a result, a strong correlation between the proposed criterion and discriminating rate calculated by ANN was observed, which suggests that pre-learning criterion reflects the post-learning effect well. And postures' influences on individual characteristics were expressed using the criterion and made clear. In the case of a hard-to-take posture, it was found that there was an individual variation in the degree of influence on characteristic.
International conference proceedings, English - Measurement and Control of Multi-Robot Behavior
KINOSITA,M; Watanabe, M; Kawakami, K; Yokoi, H; Kakazu, Y
Intelligent Engineering Systems Through Artificial Neural Networks, 12, 225-230, Nov. 2002, Peer-reviwed
International conference proceedings, English - A Study on Behavior Substitution for the Robustness of Distributed Autonomous System
Ishioka, T; Yu, W; Yokoi, H; Kakazu, Y
Intelligent Engineering Systems Through Artificial Neural Networks, 12, 51-56, Nov. 2002, Peer-reviwed, One main objective of DAS (Distributed Autonomous Systems) is to realize robust and adaptive behavior, for which, the learning ability is usually equipped to agents that comprise the systems. As a matter of fact, even homogeneous agents with same hardware would differentiate in their decision-making roles after learning. So that, the usual approach to cope with the troubles in DAS is relying on the re-learning ability of the agents to adapt to themselves to new roles in the new situations. However, the re-learning is usually time-consuming. The basic idea of this study is to replace the troubled one by the agent with the highest similarity to it. Therefore, it only needs less time to adjust agent's behavior models to fit to the new situation. In this study, we introduced a measurement to describe the similarity between decision-making rules of distributed autonomous agents. A series of experiments were conducted using a real floating robot. The results showed that, when some troubles occurred to one certain agent, the substitution by an agent with a higher similarity could result in a better performance for whole DAS.
International conference proceedings, English - Blind Source Separation Using Chaotic Information Maximization
Yu, W; Yokoi, H; Kakazu, Y
Intelligent Engineering Systems Through Artificial Neural Networks, 12, 69-74, Nov. 2002, Peer-reviwed, Recently, some learning methods that can perform Blind Source Separation (BSS), a process that uses mixtures of several signal sources only to extract the original signals, have been suggested. However, the adaptation rules of the methods have the problem that, the learning tends to be trapped by local minimums caused by periodicity of signal sources, multi-path transfer, etc. In order to tackle this problem, in this study, we introduced Chaotic Steepest Decent (CSD) Model into the BSS network architecture. Taking the mutual information as the Objective Function, we first derived the adaptation rules for each element of the parameter matrix. Then we analyzed the dynamics of the chaotic BSS system, and suggested a cross-correlation based monitoring algorithm for the chaotic BSS system, to secure more search for promising solution area. At last, we verified the validation of the system by results of experiments on audio recordings.
International conference proceedings, English - 異方性エッチングを用いた生体電位計測のための多層構造型マイクロプローブの開発
川島貴弘; 横井浩史; 柴田隆行; 牧野英司; 嘉数侑昇
精密工学会誌, The Japan Society for Precision Engineering, 68, 9, 1185-1189, Sep. 2002, Peer-reviwed, This paper focuses on a development of a cortical signal recording system to analyze an information processing system in a brain, and describes a fabricated microprobe using techniques of the microfabrication for realizing a multi-site recording. In order to identify the brain system, the multi-site and simultaneous recording is required. However, the property of the invasiveness leads to miniaturizing such a device. Therefore, the multi-site microprobe was fabricated by applying a multilayer structure of electrical circuits. Moreover, the anisotropic etching was applied in order to simplify the fabrication process. And the electrical property of this microprobe was described.
Scientific journal, Japanese - Whisking: An unexplored sensory modality
Lungarella, M; Hanfner, V. V; Pfeifer, R; Yokoi, H
Proceedings of the 7th International Conference on the Simulation of Adaptive Behavior (SAB2002), From Animals to Animats 7, 58-59, Aug. 2002, Peer-reviwed
International conference proceedings, English - 筋電義手の新しい制御方法
横井浩史; 兪文偉; 成瀬継太郎
日本義肢協会POアカデミージャーナル, (公社)日本義肢装具士協会, 10, 1, 9-12, Jun. 2002, Peer-reviwed
Scientific journal, Japanese - EEG on-line analysis for autonomous adaptive interface
Yuko Ishiwaka; Hiroshi Yokoi; Yukinori Kakazu
International Congress Series, 1232, C, 271-275, 01 Apr. 2002, Our purpose was to develop an interface that closely adapts to individuals such as bedridden people. By quantifying the frustration as the human manipulates the machines from the biomedical signal, and making it to be the teaching signals of machine learning (ML), we aimed at the development of the system in which the machine adapts to the human. In this paper, we extract the characteristic vector whether the examinee feels comfort or discomfort from an electroencephalogram (EEG). The artificial neural network (ANN) is employed to extract the characteristic vector. For the machine learning, reinforcement learning is used and their rewards are extracted signals from physiological signals. As a basic experiment for extracting comfort and discomfort from the physiological signals, the EEG measurement experiment is carried out under an unpleasant task. The input signals to the ANN, for the characteristic vector extraction are examined. Finally, several results of EEG measuring under the discomfort situation are shown in which the frustration accumulated for the examinee. © 2002 Elsevier Science B.V.
Scientific journal, English - Evolutionary logic circuits for reconfigurable robot
Tomokazu Shindo; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 7, 188-193, 2002, Reconfigurable robots have functional flexibility and physical flexibility. A tripod robot is one of the robots having SMA actuators and it is characterized by its symmetrical structure and reconfigurability. When realizing movements of autonomous robots, the model of both the robot and the environment are required for the controller. In this paper, the model for control the tripod robot is generated as a logic circuit by Net-list evolution. The Net-list chromosome is one of the circuit models that abstracted a logic circuit structurally. The generation of the adaptive behavior of the tripod Robot and the control model are discussed through the experiment of using a simulator.
International conference proceedings, English - Autonomous acquisition of environment oriented behavior using chaotic neural networks
Ikuo Suzuki; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, 12, 63-68, 2002, This paper describes that an autonomous mobile robot can acquire environment oriented behavior through the interaction with environment. In the traditional researches which attempt to give intelligence to an artificial system, a system designer gave the implication of environment beforehand. However, we think that the autonomous robot has to be developed though the interaction between robot's behavior and the environmental information by itself. Then, we propose the controller for the autonomous robot to acquire the environment oriented behavior by processing an internal space with the Chaotic Neural Networks (CNNs), in this paper.
International conference proceedings, English - A study of rule system based on artificial immune system
Yosuke Shigeta; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, 12, 193-198, 2002, Recently, the system like web system or autonomous robot system become extent, decentralization and complication. In this paper, the rule system based on immune system is proposed. The model of this study added the function of control by environment parameters to conventional Idiotype network model. It is shown that the behaviour of this system can be controlled by a few environment parameters. The state extraction engine is applied the artificial immune system for rule system. The characteristic of this rule system has three points. First point is easy behaviour control using environment parameters. Second point is a series of output. Last point is the antigen dependency of the first ignition rule. These characteristics depend on mapping table of the state extraction engine. It is possible to construct this table automatically using perceptron or reinforcement learning.
International conference proceedings, English - A Study on Diverse Policies and Substitutability by Distributed Autonomous Robot
Ishioka Takuya; Yu Wenwei; Yokoi Hiroshi; Kakazu Yukinori
SICE Division Conference Program and Abstracts, The Society of Instrument and Control Engineers, 2002, 0, 188-188, 2002, In multi-agent system constructed by learning-agent, even homogeneous agents with same hardware would produce diversity in their decision-making rules after learning. In this study, we introduced a measurement to describe the similarity between probabilistic decision-making rules of distributed autonomous robots. The experiment results showed the measurement can be used to describe the behavior similarity. - Adaptive behavior learning for a distributed autonomous swimming robot by switching-Q
D Iijima; T Ishioka; WW Yu; A Hayashi; H Yokoi; Y Kakazu
INTELLIGENT AUTONOMOUS VEHICLES 2001, PERGAMON-ELSEVIER SCIENCE LTD, 333-338, 2002, Peer-reviwed, This paper proposes a decision-making method for an autonomous robot system consisting of mechanically linked plural identical agents that enable the robot to behave adaptively in the real world. In this study, in order to verify the environment adaptability of distributed autonomous swimming robot which is controlled by the proposed method, behavioral acquiring tests of target approaching including obstacle avoidance on the water surface were carried out. For this purpose, a modified Q-learning in which plural Q-tables were used alternately according to dead-locksituations were proposed. By using this method, as a result, the robot acquired stable target approaching behavior. Additionally, the mechanism of behavioral learning in the distributed controlled system was investigated. Copyright (C) 2001 IFAC.
International conference proceedings, English - Using interaction-based learning to construct an adaptive and fault-tolerant multi-link floating robot
WW Yu; Takuya, I; D Iijima; H Yokoi; Y Kakazu
DISTRIBUTED AUTONOMOUS ROBOTIC SYSTEMS 5, SPRINGER-VERLAG TOKYO, 455-464, 2002, Peer-reviwed, How to build distributed autonomous systems that can adaptively behave through learning in the real world is still an open problem in the research field. In order to tackle this problem, we constructed a distributed autonomous floating robot that consisted of mechanically linked multiple identical units and proposed a new control framework, adaptive oscillator method, to deal with units' temporal and spatial interaction with their environment. A single model reinforcement learning system was first employed to realize the framework, and a multiple-model reinforcement learning system was proposed further and employed to cope with environmental changes caused by adding obstacles. In order to confirm adaptive behavior acquisition and fault-tolerance in a real environment, we did experiments on target approaching task by using the real floating robot.
International conference proceedings, English - An artificial whisker sensor for robotics
M Lungarella; VV Hafner; R Pfeifer; H Yokoi
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, IEEE, 2931-2936, 2002, Peer-reviwed, In this paper, we present a first series of experiments with prototype artificial whiskers that have been developed in our laboratory. These experiments have been inspired by neuroscience research on real rats. In spite of the enormous potential of whiskers, they have to date not been systematically investigated and exploited by roboticists. Although the transduction. mechanism is simple and straightforward, and the whiskers axe currently used in a passive way only, the dynamics of the sensory signals resulting from the interaction with various textured surfaces is complex and has a rich information content. The experiments provide the foundation for future work including active sensing, whisker arrays, and cross-modal integration.
International conference proceedings, English - Using Entropy to evaluate EMG information extraction
Kato, R; Nishikawa, D; Yu, W; Yokoi, H; Kakazu, Y
Journal of Robotics & Mechatronics, 14, 6, 573-580, 2002, Peer-reviwed
Scientific journal, English - 表面筋電位からの動作識別システムにおけるオンライン型学習データ管理機構
西川大亮; 兪 文偉; 横井浩史; 嘉数侑昇
電子情報通信学会論文誌 IEICE D-II, (一社)電子情報通信学会, J84-D-II, 12, 2634-2643, Dec. 2001, Peer-reviwed
Scientific journal, Japanese - アメーバ状ロボットへのアプローチ
嘉数侑昇; 横井浩史; 兪文偉
日本ロボット学会誌, 19, 7, 843-849, Oct. 2001, Peer-reviwed
Scientific journal, Japanese - 筋電義手の新しい制御方法
横井 浩史; 兪 文偉
POアカデミー研究会抄録集, POアカデミー研究会, 8回, 27-38, Sep. 2001
Japanese - An informational evaluation method for biomedical signals in motion discrimination
Katoh, R; Yamaguchi, H; Yu, W; Yokoi, H; Kakazu, Y
The international Symposium on Measurement, Analysis and Modeling o f Human Functions, 181-191, Sep. 2001, Peer-reviwed
International conference proceedings, English - Vibrating Potential Field for Large Scale Scheduling Problem
Yokoi, H; Kakazu, Y; Mizuno, T; Takita, M
Taylor & Francis, Journal of Smart Engineering System Design, 3, 227-241, Aug. 2001, Peer-reviwed
Scientific journal, English - 自律分散遊泳ロボットの障害物回避行動の獲得
飯島大典; 兪文偉; 横井浩史; 嘉数侑昇
日本ロボット学会誌, The Robotics Society of Japan, 19, 2, 85-95, Mar. 2001, Peer-reviwed, This paper describes a design method of a robot system which consists on mechanically linked plural agents, so as to realize autonomous robots which can adaptively behave in the real world. A difficulty in designing distributed autonomous systems, is how to embed a dynamics for self organizing environment-oriented-action-rules in the systems. So, we propose a robot system which controlled by a decision making method that has oscillator and learning method based on same object functions, and which has a structure of mechanically linked agents that are identically designed, in order that each agent actively interacts with other agents and the outer world. For verifying an usefulness of the system, behavioral acquiring tests in target approaching and obstacle avoidance were implemented by using Distributed Autonomous Swimming Robot that was constructed by the proposed way. Moreover, for learning efficiency in complex tasks such as obstacle avoidance, we proposed Switching Q-learning in which previously obtained action rules were effectively used As a result, the robot acquired simple obstacle avoidance behavior, and time-sequential connections between acquired action rules were observed by interaction-based learning in a distributed autonomous system. That is, it was verified that the proposed system design method was one of the solutions of adaptive systems to complex environments.
Scientific journal, Japanese - Learning of adaptive behaviors in an autonomous distributed swimming machine
Yu, D; Yokoi, H; Iijima, D; Kakazu, Y
International Workshop on Morpho-functional Machines, Shaping embodied machine intelligence _ the morpho-functional machine perspectives, 194-221, Mar. 2001, Peer-reviwed
International conference proceedings, English - A study on state grouping and opportunity evaluation for reinforcement learning methods
W. Yu; H. Yokoi; Y. Kakazu
International Journal of Smart Engineering System Design, 3, 1, 29-49, 2001, Peer-reviwed, In this paper, we propose State Grouping and Opportunity Evaluation schemes to cope with the problem emerging when scaling up Reinforcement Learning algorithms to real, large size applications. We first discuss the Labeling Based Evaluation scheme that evaluates the opportunity of one situation according to local information, therefore, makes it possible to use better experience to guide the exploration of the state-space. The grouping scheme is based on geometrical and trial-error information, and is made up of state generating, state grouping, state splitting, state forgetting processes, as well as corresponding action selecting module and learning module. Incorporating the Labeling Based Evaluation and State Grouping scheme into Reinforcement Learning algorithms, we get an approach that does problem solving while organizing state space. We argue that an approach with this kind of ability is necessary for an autonomous agent, since, an autonomous agent can not act depending on any pre-defined maps, but must, instead, search the environment and find the optimal problem solution simultaneously and autonomously. By solving the large state-size 3-D.O.F rod navigation problem and 4-Link-Manipulator control problem, we show the efficiency of the proposed approach, through the fact that the agent can achieve the optimal or sub-optimal path with less memory and less time.
Scientific journal - Chaotic Information Maximization for Blind Source Separation
Yu, W; Yokoi, H; Kakazu, Y
Proceedings of the Sixth International Symposium on Artificial Life and Robotics, 184-191, Jan. 2001, Peer-reviwed
International conference proceedings, English - Obstacle avoidance learning for a multi-agent linked robot in the real world
D Iijima; WW Yu; H Yokoi; Y Kakazu
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, IEEE, 523-528, 2001, Peer-reviwed, In order to achieve an autonomous system which can adaptively behave through learning in the real world, we constructed a distributed autonomous swimming robot that consisted of mechanically linked multi-agent and adopted adaptive oscillator method that was developed as a general decision making for distributed autonomous systems (DASs). One of the our aims by using this system is to verify whether the robot could complete a target approaching including obstacle avoidance. For this purpose, we introduced a modified Q-learning in which plural Q-tables are used alternately according to dead-lock situations. By using this system, as a result, the robot acquired stable target approaching and obstacle avoiding behavior.
International conference proceedings, English - Obstacle avoidance learning for a multi-agent linked robot in the real world
D Iijima; WW Yu; H Yokoi; Y Kakazu
2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, IEEE, 523-528, 2001, Peer-reviwed, In order to achieve an autonomous system which can adaptively behave through learning in the real world, we constructed a distributed autonomous swimming robot that consisted of mechanically linked multi-agent and adopted adaptive oscillator method that was developed as a general decision making for distributed autonomous systems (DASs). One of the our aims by using this system is to verify whether the robot could complete a target approaching including obstacle avoidance. For this purpose, we introduced a modified Q-learning in which plural Q-tables are used alternately according to dead-lock situations. By using this system, as a result, the robot acquired stable target approaching and obstacle avoiding behavior.
International conference proceedings, English - Control system of flexible structure multi-cell robot using amoeboid self-organization mode
Nobuyuki Takahashi; Takashi Nagai; Hiroshi Yokoi; Yukinori Kakazu
ADVANCES IN ARTIFICIAL LIFE, SPRINGER-VERLAG BERLIN, 2159, 563-572, 2001, Peer-reviwed, In this paper, we present a distributed multi-cell robot control system that enables autonomous movement. Flexible deformation and actions are features of living things such as amoebae. One amoeba has neither specialized sensitive organs nor motile organs, however, as a whole, a slime of amoebae can present unified movement. That is, organisms such as amoebae own various self-organization abilities. The control system proposed in this study rose from such kind of self-organization, by which cell units move together to give rise to the movement of multi-cell robots, according to only local interaction. Especially, in this study, self-organization phenomena including entrainment of non-linear oscillators were modeled, and effectiveness was shown through computer experiments.
International conference proceedings, English - On-line learning method for EMG prosthetic hand control
D Nishikawa; WW Yu; H Yokoi; Y Kakazu
ELECTRONICS AND COMMUNICATIONS IN JAPAN PART III-FUNDAMENTAL ELECTRONIC SCIENCE, SCRIPTA TECHNICA-JOHN WILEY & SONS, 84, 10, 35-46, 2001, Peer-reviwed, This paper proposes a novel learning method for prosthetic hand control. Conventional works have used off-line learning methods for control, and hence two kinds of training must be carried out separately: one is for the amputee to control prosthetic hands, and the other is for the prosthetic hand controller to adapt to the amputee's variations. Consequently, an amputee cannot acquire the sensations of operating prosthetic hands through training, and nevertheless he or she is likely to experience difficulties in forcing the prosthetic hand controller to follow the change of his or her own characteristics in practical use. We accordingly design an on-line learning mechanism which can adapt to the individual's characteristics in real time. Using this mechanism, a suitable mapping function of the surface electromyogram (EMG) to motions of prosthetic hands can be acquired according to the amputee's evaluation in practical use. Thereby, the mechanism realizes a shortening of training time and adaptation to individual variation in real time. The experiments succeeded in discriminating six forearm motions to verify the proposed method. First, we use intrinsic exercise images to control a prosthetic hand, and compare our on-line method with one conventional off-line method. Second, we use EMG signals on shoulder girdles to control the prosthetic hand for upper elbow amputation. The discrimination rate in forearm EMG experiments is 89.9% by our method and 80.3% by the conventional method. Moreover, we show the possibility of applying the on-line learning method to upper elbow amputees, because a discrimination rate of 79.3% is achieved by our method in shoulder girdle EMG classification. (C) 2001 Scripta Technica.
Scientific journal, English - Sensitization of glutamate release and N-methyl-D-aspartate receptor response by transient dopamine pretreatment in prefrontal cortex of rats
Takita, M; Kawashima, T; Kaneko, H; Suzuki, S; Yokoi, H
Neuroscience Letters, ELSEVIER, 317, 97-100, 2001, Peer-reviwed
Scientific journal, English - Macroscopic quantitative observation of multi-robot behavior
M Kinoshita; M Watanabe; T Kawakami; H Yokoi; Y Kakazu
ICCIMA 2001: FOURTH INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE AND MULTIMEDIA APPLICATIONS, PROCEEDINGS, IEEE COMPUTER SOC, 2, 4, 190-194, 2001, Peer-reviwed, It is very difficult to estimate behaviors of multiple autonomous robots or mutual interactions of them in real time. Therefore, we propose a quantitative observation approach of multiple robots behaviors. This approach introduces thermodynamic macroscopic state values to the multi-robot systems. The advantage of this approach is that it enables to observe the behaviors of autonomous robots in real world can be mapped to characteristic values in another conceptual state space. Thermodynamic macroscopic state values, such as temperature, pressure and entropy, are defined in mobile robots systems. In our definition, each mobile robot is supposed a Particle in thermodynamic systems. The experiment shows that the states of robots system can be classified by thermodynamic macroscopic state value. This verifies that the macroscopic quantitative observation is efficient and applicable to control multi-robot systems.
International conference proceedings, English - On-line learning based electromyogram to forearm motion classifier with motor skill evaluation
D Nishikawa; W Yu; M Maruishi; Watanabe, I; H Yokoi; Y Mano; Y Kakazu
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, JAPAN SOC MECHANICAL ENGINEERS, 43, 4, 906-915, Dec. 2000, Peer-reviwed, An on-line learning based EMG to motion classifier can manage learning data set by manual appending and automatic elimination compared with conventional off-line learning based classifiers. It is designed to track the alteration of an operator's characteristics through time. The automatic elimination is based on the continuity of human motion. Moreover, in this study we quantify the attainment of motor skill using the classifier. By classifying up to eight forearm motions from two channels of EMG, we investigate the effectiveness of the automatic elimination process, the validity of the attainment of motor skill by seven trials on an unskilled subject, as well as the relationship among the number of electrodes, the classification performance, and the subject's motor skill. Results show that the proposed approaches can simplify decision boundaries, the attainment of motor skill can be used fur judging completion of the training by external observers, and bottlenecks in this classifier can be detected.
Scientific journal, English - 個人の特性に適応するEMG識別装置の開発 特性変化に対応する学習用データ自動管理機構の設計
西川 大亮; 兪 文偉; 丸石 正治; 渡辺 一郎; 横井 浩史; 眞野 行生; 嘉数 侑昇
バイオメカニズム学術講演会予稿集, バイオメカニズム学会, 21回, 405-406, Nov. 2000, 学習データの自動削除及び自動追加機能による,オンライン型のデータ管理機構を提案した.取捨の基準としてヒトの動作の連続性を仮定し識別の成功と失敗を判定した.実験結果より,提案手法はデータをランダムに選択する従来手法と比べて,識別に有利な決定境界の生成が可能であることが確認できた
Japanese - Adaptive FES switching system for hemiplegics
Yamaguchi, H; Yu, W; Yokoi, H; Kakazu, Y; Maruishi, M; Mano, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 10, 765-770, Nov. 2000
International conference proceedings, English - Development of Robot Hands with an Adjustable Power Transmitting Mechanism
Ishikawa, Y; Yu, W; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 10, 631-636, Nov. 2000
International conference proceedings, English - The Development of a Navigation System with Associative Memory
Ikuo Suzuki; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 10, 確認中, Nov. 2000, Peer-reviwed
International conference proceedings, English - 競争社会系における価値観群の創発
石田崇; 横井浩史; 嘉数侑昇
人工知能学会誌, 人工知能学会, 15, 5, 896-903, Sep. 2000, Peer-reviwed, In Multi-Agent Systems, agents sense their local information, and they estimate the global environment. Autonomous agents should have independent estimate functions according to their local information. The functions should adapt the global environment. We consider this estimate function to be exactly a "norms of behavior" in the human sense. In this study, we construct a competitive social system with selfish autonomous agents. Agents interact with their alternative actions each other repeatedly as like as IPD(Iterated Prisoner's Dilemma)games.Agents have a estimation table for their action independently. Agents'strategies of action are adapted to their own estimate function, and agents'norms of behavior satisfy. But global environment deprives their energy according to a global rule. In such systems, the agent which adapt not only strategy but also norms of behavior to the environment can survive.
Scientific journal, Japanese - Evolutionary reconstruction system using inertia coupling for spacecraft
Kurotaki, M; Yokoi H; Ishida, S
Proceedings of AIAA Guidance, Navugation, and Control Conference, 1, 102-109, Aug. 2000, Peer-reviwed
International conference proceedings, English - Functional MRI of amputees during use of myoelectric prosthetic hand
M Maruishi; D Nishikawa; Y Mano; W Yu; H Yokoi; Y Kakazu; T Nakagawa
ELECTROPHYSIOLOGY AND KINESIOLOGY, MEDIMOND S R L, 571-574, 2000, Peer-reviwed, We investigated cortical mapping of patients with amputation using functional magnetic resonance imaging (fMRI). The system analyzed surface electromyography (sEMG) from two points of proximal muscles of the stump, and sent motor commands to move a prosthetic hand. Before use of the prosthesis, with the missing hand grasping task, fMRI of amputees with phantom pain demonstrated a broad activation on the contralateral M1. On the contrally, fMRI of amputees without phantom pain demonstrated an activation shifting medially than the contralateral activation of healthy hand. Use of prosthesis affected the location of the activation in the M1.
International conference proceedings, English - Navigation system including associative memory
Ikuo Suzuki; Hiroshi Yokoi; Yukinori Kakazu
Advanced Robotics, VSP BV, 14, 5, 403-405, 2000, Peer-reviwed, A navigation system that includes associative memory is proposed as a method to overcome perceptual aliasing problem (PAP). The system is composed of two mechanisms, the associative memory part (AM-part) and the action selected part (AS-part).
Scientific journal, English - On-line learning based EMG prosthetic hand
D Nishikawa; Y Ishikawa; W Yu; M Maruishi; Watanabe, I; H Yokoi; Y Mano; Y Kakazu
ELECTROPHYSIOLOGY AND KINESIOLOGY, MEDIMOND S R L, 575-580, 2000, Peer-reviwed, This paper reports our current achievements of the development of the EMG prosthetic hand. It has been studied in two ways, which are a study of EMG classification method and the development of a light-weight and high-power prosthetic hand. In the former study, an on-line learning method has been designed, which adapts to each amputee's characteristics demanded in practical use. This method can discriminate 6 similar to 10 forearm motions from 2 similar to 3 channel of EMG signals. In the later study, an adjustable power transmitting mechanism for a well-known tendon driven method has been designed which adjusts speed and torque in response to loads about six time scales. Finally, this paper discusses remaining problems that contain the cause of performance difference between normal and amputee subjects, and necessity of feedback control of the tendon driven prosthetic hand.
International conference proceedings, English - Adaptive FES switching control for hemiplegics using EMG signal
H Yamaguchi; W Yu; M Maruishi; H Yokoi; Y Mano; Y Kakazu
ELECTROPHYSIOLOGY AND KINESIOLOGY, MEDIMOND S R L, 155-160, 2000, FES (Functional Electrical Stimulation) is an effective method to restore function for paraplegic patients. However in spite of this benefit, its clinical application isn't spread. One reason is that, in most of the current FES technology, patients have to make a superfluous action to realize the switch. We are developing another type of switch for FES control for hemiplegic patients, based on the consideration that, lower limbs' actions, for example, standing-up and ambulation, need the synchronization of both limbs. So that, in the case of lower limb actions of hemiplegics, it is possible to make auto switch using EMG signal detected from their normal side. EMG is physiological signal with individual disparity, which inevitably results in classification error. To overcome this problem, we use an ANN based on-line classifier method. This paper will present such an automatic switch system and show its possibility.
International conference proceedings, English - Obstacle avoidance for a distributed autonomous swimming robot by interaction-based learning
D Iijima; WW Yu; H Yokoi; Y Kakazu
FROM ANIMALS TO ANIMATS 6, MIT PRESS, 6, 297-306, 2000, Peer-reviwed, This paper describes a design method for an autonomous robot system consisting of plural agents that enables the robot to behave adaptive ly in the real world. One difficulty in designing a distributed autonomous system is how to embed dynamics for self-organizing environment-oriented action rules in the system. We therefore propose a robot system consisting of mechanically constrained agents that have been identically designed, which is controlled by a decision-making method that has oscillator and learning method based on the same object functions in order that each agent actively interacts with other agents and with the outer world. In order to verify the usefulness of this system, tests on behavioral acquisition in target approaching and obstacle avoidance were carried out by using a distributed autonomous swimming robot. Moreover, for learning efficiency in complex tasks such as obstacle avoidance, we propose "Switching Q-learning", in which previously obtained action rules are effectively used. It was found that the robot acquired simple obstacle avoidance behavior and dynamics based on interaction among agents and the outer world It was therefore verified that the proposed robot design method is one solution for a system that can adapt to complex environments.
International conference proceedings, English - Adaptive Logic Circuits Based on Net-list Evolution
Shindo, T; Yokoi, H; Kakazu, Y
Journal of Robotics and Mechatronics, 12, 2, 144-149, 2000, Peer-reviwed
Scientific journal, English - オンライン学習法を用いる機能的電気刺激
丸石正治; 兪 文偉; 横井浩史; 西川大亮
北海道リハビリテーション学会誌, 28, 3-7, 2000, Peer-reviwed
Scientific journal, Japanese - EMG automatic switch for FES control for hemiplegics using artificial neural network
H Yamaguchi; WW Yu; M Maruishi; H Yokoi; Y Mano; Y Kakazu
INTELLIGENT AUTONOMOUS SYSTEMS 6, I O S PRESS, 40, 2, 339-346, 2000, Peer-reviwed, Functional Electrical Stimulation (FES) is an effective method to restore function for paraplegic patients. FES makes it possible to realize some ADL (Activities of Daily Livings) such as standing-up, ambulation, and grasping. However in spite of this benefit, its clinical application isn't spread. One reason is that a switch signal is necessary to denote the onset of stimulation, whereas, in most of the current FES technology, patients have to make a superfluous action to realize the switch. Such superfluous action is not preferred in function restoration.
We are developing another type of switch for FES control for hemiplegic patients, based on the consideration that, lower limbs' actions, for example, standing-up and ambulation, need the synchronization of both limbs. So that, ill the case of lower limb hemiplegics, it is possible to recognize the action that the patients intend to do, from some kind of physiological signal detected from their normal side. In this research, EMG (electromyogram) is employed as the signal. EMG is physiological signal with individual disparity, which inevitably results in classification error. To overcome this problem, we use an ANN based on-line classifier method. This paper will present such an automatic switch system and show its possibility.
International conference proceedings, English - 腱駆動ロボットハンドの倍力機構に関する研究
石川 泰広; 兪 文偉; 横井 浩史; 嘉数 侑昇
バイオメカニズム学術講演会予稿集, バイオメカニズム学会, 20回, 39-39, Nov. 1999
Japanese - 個人の特性に適応するEMG識別装置の開発 特性の動的変化に対する帰納学習手法の適用
西川 大亮; 兪 文偉; 丸石 正治; 渡辺 一郎; 横井 浩史; 眞野 行生; 嘉数 侑昇
バイオメカニズム学術講演会予稿集, バイオメカニズム学会, 20回, 38-38, Nov. 1999
Japanese - Amoeba Searching Behavior Model for Traveling Salesman Problem
Yokoi, H; Mizuno, T; Takita, M; Kakazu, Y
Gordon and Breach, International Journal of Smart Engineering System Design, 2, 1, 43-55, Nov. 1999, Peer-reviwed
Scientific journal, English - Adaptive Behavior Acquisition for a Distributed Autonomous Swimming Robot Based on Real-World Learning
Iijima, D; Yu, W; Yokoi, H; Kakazu, Y
Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1, 229-234, Oct. 1999, Peer-reviwed, This paper proposes the construction of a 'strong' autonomous mobile robot, which can acquire environment oriented behavior through learning, as a distributed autonomous system. It is thought that such a system has many advantages over other systems in terms of adaptability to the environment and so on. However, the potential of this type of system has yet to be demonstrated in experiments under real-world conditions. We conducted an experiment to determine whether a distributed autonomous swimming robot could acquire target-approaching behavior on a water surface which was set as the robot's work space. As a result, from a fairly simple coding, the robot acquired the reproducible target-approaching behavior using only local learning even in cases where a partial fault occurred, and the acquired actions also enabled the robot to approach the target in an environment with a narrow gate.
International conference proceedings, English - An Acquisition of a Narrow Path Going Through Behavior for a Distributed Autonomous Swimming Robot
Iijima, D; Yu, W; Yokoi, H; Kakazu, Y
Proceedings of 1999 IEEE International Conference on Systems, Man and Cybernetics, VI, 602-607, Oct. 1999, Peer-reviwed, For achieving a 'strong' autonomous mobile robot which can acquire adaptive behavior through learning in the complex real world, to construct the robot as a distributed autonomous system can become one of the answers. It is thought that such a system has many advantages over other systems in terms of adaptability to the environment and so on. However, the potential of this type of system has yet to be demonstrated in experiments under real-world conditions. So, we developed a distributed autonomous swimming robot which had redundant linkage structure, and in which each link were independently controlled. The reason why we chose a watery environment as the robot's work space is that the environment had uncertainty and unstableness of the real world. Under these settings, we conducted an experiment to determine whether the robot could complete an target approaching including obstacle avoidance which is one of the necessary functions for the autonomous mobile robots. In this paper, the obstacle is a narrow path, so, the robot can't go through it by chance. Then, first, behavior-acquiring experiment for mere target approaching was implemented, after that, the capability of narrow path going through was tested by using acquired action patterns. As a result, from a fairly simple coding, the robot acquired the reproducible target-approaching behavior using only local learning, and completed the narrow path going through behavior in a conditional environment.
International conference proceedings, English - To Explore Continuous Action Space in Actor/Critic Architecture
Yu, W; Iijima, D; Yokoi, H; Kakazu, Y
Proceedings of IEEE International Conference on Systems, Man and Cybernetics, V, 441-446, Oct. 1999, Peer-reviwed, Reinforcement Learning is a commonly used paradigm for learning in autonomous dynamical systems. Recently, a popular topic in this field is how to extend the RL into the continuous state space and action space, so that RL can be applied to more real world problems. The ASE/ACE which is one of the most famous implementations of RL, shows the possibility to be one solution. However the convergence of the scheme is proved to be quite slower than the method based on discrete state and action space, such as Q-Learning methods. The reason is clear, since the continuous state and action need to be organized to reduce the indefinite searching to definite. On the other hand, there exists few RL system exploring the action space by combining the effective action sequences to catch the regularity of the environment and thus to be reusable. In this paper, we add an memory-based sequence structure, and correspondingly an adaptive action sequence Critic to the Actor/Critic architecture to organize the action space. By generating and organizing the action sequences in continuous action space, the new model is able to improve the learning speed and acquire the environment-oriented skill. Experiments to solve a bench-mark double integrator problem and a 2-dimensional complicated problem are carried out to show the effectiveness of the new model.
International conference proceedings, English - 筋電義手制御のためのオンライン学習法
西川大亮; 兪文偉; 横井浩史; 嘉数侑昇
電子情報通信学会論文誌D-II, The Institute of Electronics, Information and Communication Engineers, J82-D-II, 9, 1510-1519, Sep. 1999, Peer-reviwed, 本論文では筋電義手制御のための新しい学習法を提案する.従来研究されている筋電義手の制御手法は,切断者に対する義手適用訓練と義手に対する個人差の学習を別々に行うOff-line型である.そのため切断者は訓練中においては義手操作の感覚をつかみづらく,使用中は義手を自身の変化に追従させるのが困難であった.そこで本論文では実時間で学習を行うOn-line型の学習機構を設計する.本手法では切断者本人が使用中に与える評価から,義手装置は表面筋電位と動作の間の適切な写像関係を獲得する.これにより訓練時間の短縮と個人差への適応を実時間で実現する.本論文では手法の検証のために6種類の動作識別実験を行っている.まず前腕の運動イメージを用いた実験を行い,従来のOff-line型の手法と比較している.更に上腕での切断者を意識して,肩甲帯の運動から筋電信号を取り出し義手駆動実験を行っている.実験における前腕での識別率は提案手法で89.9%,従来法で80.3%であった.また提案手法における肩甲帯での識別率は79.3%の性能が達成されており,上腕切断者に対する本筋電義手制御法の適用の可能性が確かめられている.
Scientific journal, Japanese - To Explore Continuous Action Space in Actor/Critic Architecture, A Preliminary Study
Yu, W; Iijima, D; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 9, 149-154, Sep. 1999, Peer-reviwed, Recently, a popular topic in the study of Reinforcement Learning is how to extend the RL into the continuous state space and action space, so that RL can be applied to more real world problems. The ASE/ACE, which is one of the most famous implementations of RL, shows the possibility to be one solution. However, the research effort should be done to organize both state and action space to reduce the indefinite searching to definite. There exists few RL system exploring the action space by combining the effective action sequences to catch the regularity of the environment and thus to be reusable. In this paper, we proposed a memory-based sequence structure, and correspondingly an adaptive action sequence Critic to the Actor/Critic architecture to organize the action space. Experiments to solve a benchmark double integrator problem and a 2-dimensional complicated double integrator problem are carried out to show the effectiveness of the new architectures.
International conference proceedings, English - EMG sensor and on-line learning method for FES
Maruishi M; Yu W; Mano Y; Yokoi H; Nishikawa D
Proc 4th Annual Conference International Functional Electrical Stimulation Society, 307-310, Aug. 1999, Peer-reviwed
International conference proceedings, English - Autonomous Acquisition of Environmental Oriented Behavior for a Distributed Autonomous Swimming Robot
Iijima, D; Yu, W; Yokoi, H; Kakazu, Y
Proceedings of the 38th SICE Annual Conference (SICE’99)(International Session Papers), 953-958, Jul. 1999, Peer-reviwed, This paper describes that a distributed autonomous swimming robot which is constructed as a distributed autonomous robotic system can acquire environment oriented behavior through learning. Although such a system has many advantages in terms of robustness and so on, there are few fruits especially in the real world. So, we verified the possibilities by using this robot on the water surface where the environment included the unstableness and uncertainty of the real world. Because robot control was difficult, and it took many repetitions before the target behavior was acquired, we introduced oscillation action patterns suitable for providing motion through water for fast learning. As a result, the robot acquired the active target-approaching behavior using only local learning, and the behavior was almost the same as that in the centralized control.
International conference proceedings, English - Emergence of adaptive society with competitive selfish agents
Takashi Ishida; Hiroshi Yokoi; Yukinori Kakazu
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Springer Verlag, 1674, 555-559, 1999, In multi-agent systems, agents receive incomplete local information, and they must achieve global tasks. We consider this ability to determine the appropriate action to correspond exactly to “norms of behavior” in the human sense. In this study, we constructed a competitive social system consisting of selfish autonomous agents. Each agent had an independent evaluation table for their actions. The Agents’ strategies were adapted on the basis of their individual evaluations, and agents’ norms of behavior satisfy. In such systems, only the agents that adapt not only their strategy but also their norms of behavior to the environment were able to survive.
International conference proceedings, English - Self-organized norms of behavior under interactions of selfish agents
Takashi Ishida; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 3, 1999, A competitive social system consisting of selfish autonomous agents was constructed. Agents' strategies were adapted on the basis of their individual evaluations, and agents' norms of behavior satisfy. Further, a method of controlling autonomous distributed robots with flexible structure using the system was established.
International conference proceedings, English - Development of a cognition mechanism with selective attention
Itaru Nakano; Hiroshi Yokoi; Keitaro Naruse; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, ASME, 9, 857-862, 1999, This paper presents a cognitive mechanism for an autonomous system. One of the requisites for the autonomous system is to get environmental information. However it is difficult to get accurate and wide range information generally. So the system needs to select only important information that should direct its attention to among vast environmental information. Then such information is different in every system, in every task, and so on. Therefore, an internal space of the system has to express various information from the viewpoint of the system's perspective (not from the observer's perspective). The proposed approach is based on the Neocognitron. With the network, this system can make a lot of information that is in various abstract levels. In the internal space, the system reveals important information that contributes to the recognition of a target through the interaction between the system and the environment. The system explores for the target using the information. By using it, the exploring cost is reduced, because the system does not have to direct his attention to the area that does not have the information.
International conference proceedings, English - On-line trial-and-error learning method for chaotic neural networks
Yasufumi Kinoshita; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, ASME, 9, 31-36, 1999, This paper proposes an on-line and trial-and-error learning method for an all-connected type chaotic neural network to acquire a sequential dynamical output pattern, and to keep obtaining rewards from an observer. We carry out computational simulations to verify the effectiveness of the proposed method. Simulation results show that the proposed method has an on-line learning capability and generality. The chaotic neural network is a model that have refractoriness of the neuron, and it can generate a non-periodic output, which cannot be performed by usual neural networks. Common learning methods of the chaotic neural networks are off-line-type learning. However, if a given problem is unknown to the network, trial-and-error search is necessary. In addition if the neural network is applied to a real world's problem such as robot control, an on-line and real time learning method is necessary as well, because the robot needs to control many actuators at the same time to achieve the given task, and so on.
International conference proceedings, English - Development of a motion planning system for an agricultural mobile robot
Tsutomu Makino; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), 959-962, 1999, This paper describes the development of a motion planning system which plans an optimal work pass for an autonomous agricultural vehicle in a farm land. This system consists of two parts: a global path planning component and a local motion planning component. The global path planning component works to acquire an optimal work path for a whole field. In this case, the optimal work path is the lowest traveling cost from a start point to a goal point. The local motion planning component acquires the optimal path and plans an optimal control policy in a headland. In this motion planning, an optimal solution is a path with a low traveling cost and soil compaction. These components are implemented with the following algorithm: Simulated Annealing (SA), TABU Search, Genetic Algorithm (GA), and Reinforcement Learning. In this paper, we solve the optimal path problems in the headland using computer simulation.
International conference proceedings, English - Path planning system for an agricultural mobile vehicle by behavior acquisition
Keitaro Naruse; Tsutomu Makino; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, ASME, 9, 143-148, 1999, This paper presents a mechanism of an efficient reinforcement learning algorithm for autonomous vehicle navigation, particularly for an agricultural robot. Most of the agricultural robots are a steered vehicle with an effector attached to its rear, which makes the robots a nonholonomic vehicle. In addition, a workspace the robot works at is a natural field, which involves different slopes, inconsistent shapes, non-uniform soil conditions and so on. For dealing with the characteristics, in this paper, a sequence of control data of the robot is defined as a behavior, and the planning system acquires it through a trial and error search using the reinforcement learning. Computational simulations are carried out and they demonstrate the proposed mechanism successfully.
International conference proceedings, English - Analyzing and discriminating EMG signals using wavelet transform and real-time learning method
Daisuke Nishikawa; Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, 9, 281-286, 1999, This paper discusses the applicability of the Wavelet transform for analyzing EMG signal. In previous works including authors', researchers have dealt with steady EMG and have proposed analyzing methods being suitable for the EMG, for example FFT. Therefore, it is difficult for the previous approaches to discriminate motions from the EMG in the different phases of muscle activity, i.e., pre-activity, in activity, post-activity phases, as well as the period of motion transition from one to another. In this paper, we introduce the Wavelet transform using the Gabor mother wavelet function into our real-time EMG prosthetic hand controller for discriminating motions from steady and unsteady EMG. A preliminary experiment to discriminate two hand motions from one channel EMG in the initial pre-activity and in activity phase is carried out to show the effectiveness of the approach. However, future research effort is necessary to investigate the other mother wavelets to discriminate more motions much precisely.
International conference proceedings - EMG prosthetic hand controller discriminating ten motions using real-time learning method
Daisuke Nishikawa; Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu
IEEE International Conference on Intelligent Robots and Systems, 3, 1592-1597, 1999, In this paper, we discuss the necessity of learning mechanism for EMG prosthetic hand controller, and the real-time learning method is proposed and designed. This method divides the controller into three units. Analysis Unit extracts useful informations for discriminating motions from EMG. Adaptation Unit learns the relation between EMG and control command and adapts operator's characteristics. Trainer Unit makes the Adaptation Unit learn in real-time. Experiments show that proposed controller discriminates ten forearm motions, which contain four wrist motions and six hand motions, and learning within 4-25 minutes. The average of the discriminating rate is 91.5%.
International conference proceedings - Adaptive behavior learning for a distributed autonomous swimming robot in an environment including a narrow gate
Daisuke Iijima; Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, 9, 1135-1140, 1999, In order to achieve an autonomous mobile robot which can acquire adaptive behavior through learning in the complex real world, we constructed a distributed autonomous swimming robot which consisted of mechanically linked multi-agent and adopted adaptive oscillator method which was developed as a general decision making for DARSs. One of the our aims by using this system is to verify whether the robot could complete a target approaching including obstacle avoidance. In this paper, the obstacle is a narrow gate. For this purpose, we introduced a modified Q-learning in which plural Q-tables are used alternately according to dead-lock situations. By using this system, as a result, the robot acquired stable target approaching and narrow gate going through behavior.
International conference proceedings - EMG prosthetic hand controller using real-time learning method
Daisuke Nishikawa; Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1, 1999, This paper reports the prosthetic hand controller discriminating ten forearm motions from two channels of EMG signals. The controller uses the real-time learning method that is defined as simultaneously controlling a prosthetic hand and learning to adapt to operator's characteristics. In this method, the controller is divided into three units. Analysis Unit extracts useful information for discriminating motions from EMG. Adaptation Unit learns the relation between EMG and control command and adapts to operator's characteristics. Trainer Unit generates training data and makes the Adaptation Unit learn in real-time. In experiments, the proposed controller performs discriminating a maximum ten forearm motions including four wrist motions and six hand motions. In eight forearm motions experiment, the five subjects' average discriminating rate, which serves an index of accurate controlling, was 85.1%. Two groups occur from this result, one marks high performances (91.7%) and another does not (75.2%). The paper discusses the factors of this difference in performance from both phases of training and reasons that the low proficiency leads to the undesirable results in the latter groups. Besides, in ten forearm motions experiment the average discriminating rate of three subjects who achieve high performance in the previous experiment was 91.5%. This paper concludes that the effectiveness of the real-time learning method is confirmed by these experiments.
International conference proceedings - Distributed robotic learning: Adaptive behavior acquisition for distributed autonomous swimming robot in real-world
D Iijima; WW Yu; H Yokoi; Y Kakazu
MACHINE LEARNING, PROCEEDINGS, MORGAN KAUFMANN PUB INC, 191-199, 1999, Peer-reviwed, This paper proposes the construction of a "Strong" autonomous mobile robot, which can acquire environment oriented behavior through learning, as a distributed autonomous system. It is thought that such a system has many advantages over other systems in terms of adaptability to the environment and so on. However, the potential of this type of system has yet to be demonstrated in experiments under real-world conditions. We conducted an experiment to determine whether a distributed autonomous swimming robot could acquire target-approaching behavior on a water surface. The experimental conditions were set in order to reproduce the unstableness and uncertainty of the real world. Therefore, control of the robot was difficult, and it took many repetitions before the target behavior was acquired. In this study, we attempted to produce fast learning by introducing oscillation action patterns suitable for providing motion through water. As a result, the robot acquired the active target-approaching behavior using only local learning even if partial fault has occurred, and the behavior was almost the same as that in the ce.ntralized control.
International conference proceedings, English - An architecture for adaptive functional electrical stimulation for hemiplegic lower limb activities
WW Yu; M Maruishi; H Yokoi; Y Mano; Y Kakazu
RO-MAN'99: 8TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTION, IEEE, 248-253, 1999
International conference proceedings, English - Autonomous Acquisition of Target Approaching Behavior for Distributed Controlled Swimming Robot (The Case of Presetting Oscillation Action Patterns)
Daisuke Iijima; Wenwei Yu; Hiroshi Yokoi; Yukinori Kakazu
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 65, 637, 3686-3693, 1999, Peer-reviwed, This paper describes autonomous acquisition of target approaching behavior for a distributed autonomous robotic system on a water surface. The robot is a distributed controlled swimming one which has redundant linkage structure. Being located under unstable and uncertain floating environment, it is difficult for the robot to control itself. However, in this paper, we propose a method being simpler than those already proposed. That is, oscillation action patterns are preset heuristically, and simple Q-learning is employed to realize the target approaching behavior. The robustness of the behavior acquired by this simple scheme is shown by the observed fact that the behavior is environmental oriented, and the behavior is used recursively by the swimming robot. © 1999, The Japan Society of Mechanical Engineers. All rights reserved.
Scientific journal, English - EMG control switching system for FES
H Yamaguchi; D Nishikawa; WW Yu; M Maruishi; H Yokoi; Y Mano; Y Kakazu
RO-MAN'99: 8TH IEEE INTERNATIONAL WORKSHOP ON ROBOT AND HUMAN INTERACTION, IEEE, 7-12, 1999, Peer-reviwed, Functional electrical stimulation (FES) is an effective method for paraplegic patients. FES makes it possible to realize some ADL such as standing-up, walking, and grasping. However in spite of this advantage, its clinical application is limited. One reason is that it needs a switch for which paraplegic patients have to make an action other than the one that they desired to act. In some cases, it is possible to make another type of switch. Lower limbs' actions, for example, standing-up and walking, need the synchronization of both limbs. So that, in the case of lower limb hemiplegics it is possible to recognize the action that the patients intend to do, from EMG (electromyogram) detected on the surface of normal limb. EMG is physiological signal with individual disparity, which inevitably results in classification error. To overcome this problem, we use on-line classifier method. This paper presents an automatic switch system using EMG for hemiplegics and shows the its possibility.
International conference proceedings, English - Metamorphic internal image of autonomous agents: emergence of behavior
Jun Hakura; Kenji Miwa; Hiroshi Yokoi; Yukinori Kakazu
Robotics and Autonomous Systems, Elsevier Science Publishers B.V., 28, 2, 149-161, 1999, Peer-reviwed, This study presents an autonomous agent to be able to behave appropriately in a complex environment with unsophisticated sensors. To satisfy this aim, an internal cognitive space named Metamorphic Internal Image Space with learning mechanism is introduced. The Metamorphic Internal Image Space integrates the sensory inputs and the temporal change of the space, so that the agent behaves relying only on the image. The agent is considered to have the following two major characteristics: 1. It can learn a chain of actions considered as a behavior. 2. It can move with/without the change of sensory inputs. Computational experiments show an emergence of behaviors.
Scientific journal, English - Morpho-functional machine: design of an amoebae model based on the vibrating potential method
Hiroshi Yokoi; Wenwei Yu; Jun Hakura
Robotics and Autonomous Systems, Elsevier Science Publishers B.V., 28, 2, 217-236, 1999, Peer-reviwed, Soft-mechanics is a new research area in the field of developmental robotics. This paper reports on the methodology and results of our application of soft-mechanics to the problem of imitating amoebae-like motion through the fusion/coordination of hard- and software technology. This paper describes the development of a morpho-functional machine able to imitate amoebae motion, and the application of vibrating potential methodology to control this machine. Our efforts resulted in the development of a new field technique known as the vibrating potential field [H. Yokoi, Y. Kakazu, An approach to the traveling salesman problem by a bionic model, HEURISTICS, J. Knowledge Engrg. (1992) 13-27] and in a new parameter tuning method inspired from thermodynamics [H. Yokoi, T. Mizuno, M. Takita, J. Hakura, Y. Kakazu, Amoebae like self-organization model using vibrating potential field, Proceedings of the A-Life V, International Conference of Artificial Life V, 1996, pp. 32-39]. The field model produces self-organizing gathering behavior through the physical interaction of potential fields. The computer simulation shows that characteristics typical of swarm intelligence such as, gathering toward energy, thermotaxis, and obstacle avoidance, developed in the amoebae model. These characteristics were applied to the design and construction of three types of robotics-based physical system. The results of this research show the patterns of behavior which morpho-functional machines are capable of producing.
Scientific journal, English - EHW筋電義手の構築に関する基礎研究
西川 大亮; 兪 文偉; 樋口 哲也; 横井 浩史; 嘉数 侑昇
バイオメカニズム学術講演会予稿集, バイオメカニズム学会, 19回, 17-22, Nov. 1998
Japanese - Competitive Evolutionary Programming for Motion Feature
Sato, Y; Yokoi, H; Mizuno, T; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 8, 365-370, Nov. 1998, Peer-reviwed
International conference proceedings, English - Competitive Social System with Self-Organized Norms of Behavior
Ishida, T; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 8, 573-578, Nov. 1998, Peer-reviwed
International conference proceedings, English - Autonomous Acquisition of Adaptive Behavior for a Distributed Floating Robot Based on the AHC Method
Iijima, D; Yu, W; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 8, 537-542, Nov. 1998, Peer-reviwed, This paper describes how a 'distributed floating robot' acquired adaptive behavior, i.e., swimming motion on the surface of water. In environments where inertia force has a considerable effect, such as in a pool, the sequential relation of time series of environmental information is associated with actions of the robot. This paper introduces the AHC method, which can process time series data, as the action learning mechanism. The experimental results show sensor-based adaptive behavior, such as approach to and enclosure of a light source that is a goal.
International conference proceedings, English - Electromyographic (EMG) Pattern Recognition by Reinforcement Learning Method for Prosthetic Arm Control
Yu, W; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 8, 503-508, Nov. 1998, Peer-reviwed, There existed researches on EMG signal classification and recognition depending on a desired-output-indicating time-varying vector signal, i.e., using supervised learning methods. But sometimes, e.g., in the case of prosthetic arm/hand control, it is difficult or even impossible to get such kind of desired output signal. In this paper, we apply an AHC based Reinforcement Learning method to learn to classify the series of EMG signal. The learning of the network is based on the Temporal Difference theory. Additionally, input EMG patterns are generalized by a feature map network. One output stochastic exploration unit and gradient estimator are proposed for credit discrimination. The classification of the real EMG pattern is successfully accomplished.
International conference proceedings, English - Developing adaptable EMG controlled prostheses to disabled people
梶谷 勇; 星野 力; 西川 大亮; 横井 浩史; 梶原 信樹; 樋口 哲也
TECHNICAL REPORT OF IEICE, The Institute of Electronics, Information and Communication Engineers, 98, 85, 9-16, Sep. 1998, Peer-reviwed, The EMG controlled prosthesis is one application of the user-interface with surface electro myography(EMG). Because the surface EMG vary from individual person to person, it is very difficult to control this kind of prosthesis (almost one month of training is needed). To overcome this problem, we develop such prosthesis whose controller can be adapt to the characteristics of an individual person's surface EMG.In this adaptation, the Evolvable Hardware(EHW)is used for the controller of the prosthesis.
Scientific journal, Japanese - 集団行動の創発とファジィ理論
横井 浩史; 石田 崇
日本ファジィ学会誌８月号, 10, 4, 601-610, Aug. 1998, Peer-reviwed
Scientific journal, Japanese - Multi-Agent Programming System for Starfish Robot Control
N.Hondo; Nishikawa, K; Yokoi, H; Kakazu, Y
Proceedings of the Genetic Programming Conference 98 (GP-98), 140, 140-145, Jul. 1998, Peer-reviwed
International conference proceedings, English - A Morpho-Functional Machine: An Artificial Amoeba Based on the VPM
Yokoi, H; Yu, W; Hakura, J; Kakazu, Y
Proceedings of the Sixth International Conference on Artificial Life, Artificial Life VI, VI, 447-482, Jun. 1998, Peer-reviwed
International conference proceedings, English - An Emergence Model of Sense of Values in a Competitive Social System
Ishida, T; Yokoi, H; Kakazu, Y
Distributed Autonomous Robotic Systems 3, 205-214, May 1998, Peer-reviwed
International conference proceedings, English - Identification of reactive signal in rat frontal cortex based on cellular field model
Takahiro Kawashima; Jun Hakura; Hiroshi Yokoi; Masatoshi Takita; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, 1998, 643-648, 1998, This paper proposes an approach to identification of reactive signals in a rat frontal cortex based on the Cellular Field Model. Recent studies in nerve pharmacology reveal a phenomenon of decreasing reactive signals for a repeated stimulus in the rat frontal cortex. We assume such a phenomenon must be concerned with detecting novelty, one of the vital brain functions. In this study, the Cellular Field is introduced as a mathematical model mimicking the phenomenon, which is a dynamics of [Ca 2+] diffusion, in the rat frontal cortex. This model uses the Genetic Algorithm as a means of determining the state transition function of the cells. The results of computational simulations show a similar behavior of the field to the frontal response is achieved, and verify our assumption.
Scientific journal, English - A metamorphic internal image with the complex learning system
J Hakura; K Miwa; H Yokoi; Y Kakazu
1998 SECOND INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED INTELLIGENT ELECTRONIC SYSTEMS, KES '98, PROCEEDINGS, VOL, 3, IEEE, 3, 202-209, 1998, Peer-reviwed, This study presents an autonomous agent to be able to behave appropriately in the complex environment with unsophisticated sensors. To satisfy this aim, an internal cognitive space named metamorphic internal image space is introduced. The metamorphic internal image space is a space that integrates the sensory inputs and the temporal change of the space, so that the agent with it is able to behave by relying only on the image. An agent with the metamorphic internal image is considered to have following two major characteristics:
1. It can learn chain of actions considered as a behavior.
2. It can move with/without the change of sensory input pattern.
A learning mechanism based on a multi-agent system, is introduced for the sake of the realization of metamorphic internal image. The behavior of the multi-agent system can be regarded as a complex system.
Computational experiments show the emergent behavior of the mobile agent with metamorphic internal image based on the complex learning system.
International conference proceedings, English - Extended reactive system using reconstructed environmental information
K Nishikawa; J Hakura; H Yokoi
INTELLIGENT AUTONOMOUS SYSTEMS, I O S PRESS, 535-541, 1998, Peer-reviwed, This paper proposes a mechanism that enables autonomous agents to behave appropriately by means of extended reactive systems. Reactive systems are considered to be suitable for realizing basic behavior for autonomous agents. However, it is difficult to design plausible behavior of the autonomous agents when they are expected to achieve more sophisticated behavior in a complex environment, such as solving Piano Mover's Problem. To achieve more sophisticated behavior together with the basic behaviors, we try to make use of reactive systems with an extension. As an extension, an extra processing system is introduced, named as Information Selection Unit (ISU). It has effects on inputs to the reactive system by integrating sensory inputs and previous outputs of the system. With the learning abilities of the ISU, the autonomous agents are expected to be able to achieve adaptiveness in the complex world, without making change of the given reactive system. The results of the computational simulations show the ability of these agents to achieve adaptive behaviors that are unable to be attained by using a reactive system alone.
International conference proceedings, English - Extraction of swarm intelligence from sequential image of amoeba by evolutionary potential network
Y Sato; H Yokoi; T Mizuno; Y Kakazu
INTELLIGENT AUTONOMOUS SYSTEMS, I O S PRESS, 5, 757-764, 1998, Peer-reviwed, This paper explores a methodology for a control an amoeba-like multiagent robotics system. On account of the difficulty of controlling multiple agents in a coordinated way, the action rules for such agents often have to be designed manually. To resolve this difficulty, this paper proposes an evolutionary computation for the control method of multi-agent system by means of the network of virtual potential field. The swarm intelligence in amoeboid behavior is extracted from sequential images and such extracted features are incorporated into the action rules of robots.
International conference proceedings, English - Control of star fish robot using multi-agent programming system
N Hondo; K Nishikawa; H Yokoi; Y Kakazu
INTELLIGENT AUTONOMOUS SYSTEMS, I O S PRESS, 595-601, 1998, Peer-reviwed, Most robots borrow their physical structure, behavior and decision making mechanism from animals. In this paper, we are concerned with an echinoderm as the basic mechanism of our approach. From the point of view of robotics, the star fish, a representative member of the echinodermata phylum, has a number of interesting features. One pertinent example of those features is its behavior decision making mechanism. The star fish has no a distinct brain. Instead, its behavior is decided by a reciprocal nerve network spread among its legs. We believe that this feature could be applied to the distributed control of a robot. To this purpose, we have developed a real world star fish robot with a number of specific features. In particular, we propose a control mechanism for it, named MAPS, which includes those features.
International conference proceedings, English - Swarming behavior of the autonomous block agents for the block removal problem
M Kinoshita; H Yokoi
INTELLIGENT AUTONOMOUS SYSTEMS, I O S PRESS, 550-555, 1998, Peer-reviwed, This paper describes the autonomous behavior of block agents existing in a spatially constrained environment. The difficulty of this problem is the determination of the behavior of a block agent within an environment requiring mutual action of many block agents. This difficulty is caused by dynamic obstacle avoidance problem resulting from physical collisions among the autonomous motion of block agents. The objective of this research is to build an adaptive decision mechanism of behavior for autonomous block agents when they are given a task. Specifically, this paper shows one case study of the proposed mechanism for the problem of removing blocks from a container. It is assumed that agents are block shaped, have changeable postures, and the positions and dimensions of each block are different. Our approach is uses GA(Genetic Algorithm) based architecture. The results of simulation experiments are presented which indicate the possibility of this architecture in allowing block agents to adapt to dynamic environments.
International conference proceedings, English - Morpho-Functional Machine: Amoeba like robot based on Vibrating Potential Method
H Yokoi; WW Yu; J Hakura
INTELLIGENT AUTONOMOUS SYSTEMS, I O S PRESS, 542-549, 1998, Peer-reviwed, Soft-mechatronics is a new research aria for a developmental robotics approach. This paper reports on methodology and results of our approach for the soft-mechatronics from imitation of mollusc through hard-and-soft-ware fusion technology. The proposed approach for soft-mechatronics here is development of Morpho-Functional Machine by imitating amoeba motion and structure. This paper describes Vibrating Potential Method to control Morpho-Functional Machine, that consists of new field technique named as the Vibrating Potential Field[5] and new parameter tuning method inspired from thermodynamics[4]. The field model derives self organizing gathering behaviors through physical interaction of potential fields. The computer simulation shows typical characteristics, gathering toward energy, thermotaxis, obstacle avoidance, such as swarm intelligence have been emerged. Those characteristics are designed and built as three types of robotics based physical system. This paper shows the possibility of behaviors produced by Morpho-Functional Machine.
International conference proceedings, English - Adaptive electromyographic(EMG) prosthetic hand control using reinforcement learning
WW Yu; H Yokoi; D Nishikawa
INTELLIGENT AUTONOMOUS SYSTEMS, I O S PRESS, 266-271, 1998, Peer-reviwed, There existed researches on EMG signal classification and recognition depending on a desired-output-indicating time-varying vector signal, i.e., using supervised learning method. But sometimes, e.g., in the case of prosthetic arm/hand control, it is difficult or even impossible to supply such kind of desired output signal. In this paper, we apply an AHC based Reinforcement Learning method to learn to classify the series of EMG signal. Two network structures are involved in the Learning Scheme, the first one is for the internal model of the environmental reinforcement, and the second one is for the classified different action patterns. The learning of these two networks are all based on the Temporal Difference theory. Additionally, input EMG pattern is generalized by a feature map network. A output stochastic exploration unit and gradient estimator are proposed for credit discrimination. The classification of the real EMG pattern is preliminarily accomplished.
International conference proceedings, English - A morpho-functional machine: An Artificial Amoeba based on the vibrating potential method
H Yokoi; WW Yu; J Hakura; Y Kakazu
ARTIFICIAL LIFE VI, M I T PRESS, VI, 477-482, 1998, Peer-reviwed, We discuss the design of flexible deformation and adaptive motion in a mechanical system. This paper describes a Morpho-Functional Machine that is an amoeba-like deformable system. A remarkable characteristic of an amoeba is that it can transform from a unicellular mode to a multi-cellular mode depending on the state of the environment. This paper proposes using the Vibrating Potential Method to control the Artificial Amoeba, and uses goal acquisition as an example of searching the environment spatially. The proposed model consists of the new field technique named Vibrating Potential Field and a new parameter tuning method inspired by thermodynamics. The field model creates self organizing gathering behaviors through the physical interaction of potential fields. The computer simulation shows the emergence of typical characteristics, such as gathering toward energy, thermotaxis, obstacle avoidance, and swarm intelligence. Those characteristics are designed and built as an SMA structured Artificial Amoeba based on a physical system, the so-called Morpho-Functional Machine.
International conference proceedings, English - Morpho-functional machine: Robotics approach of amoeba model based on vibrating potential method
H Yokoi; WW Yu; J Hakura; Y Kakazu
FROM ANIMALS TO ANIMATS 5, M I T PRESS, 5, 297-302, 1998, Peer-reviwed, Soft-mechatronics is a new research area for a developmental robotics approach. This paper reports on the methodology and results of our approach to soft-mechatronics via the imitating of mollusc-like characteristics in through both hardware and software fusion technology. The proposed approach for soft-mechatronics here is developing a Morpho-Functional Machine by imitating amoeba motion and structure. This paper describes the Vibrating Potential Method to control the Morpho-Functional Machine, that consists of a new field technique called the Vibrating Potential Field plus a new parameter tuning method inspired from thermodynamics. The field model creates self-organising, gathering behaviour, through physical interaction with potential fields. The computer simulation shows typical characteristics of swarm intelligence, such as, energy gathering, thermotaxis, and obstacle avoidance. Three types of robots are built with these three characteristics. This paper shows the possibility of various behaviours produced by Morpho-Functional Machine.
International conference proceedings, English - Applying the Vibrational Potential Method to Job Shop Scheduling Problems
Kebbe, I; Yokoi, H; Kakazu, Y
Journal of Robotics and Mechatronics, 10, 5, 394-399, 1998, Peer-reviwed
Scientific journal, English - Multilegged Vehicle Using Multireactive Agent
Takita, T; Yokoi, H; Kakazu, Y
Journal of Robotics and Mechatronics, 10, 5, 400-407, 1998, Peer-reviwed
Scientific journal, English - A Study on Reactive System Using Reconstructed Unit of Environmental Information
Nishikawa, K; Hakura, J; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 7, 239-244, Oct. 1997, Peer-reviwed
International conference proceedings, English - Extraction of Flexible Motion from Sequential Amoeba Images
Sato, Y; Yokoi, H; Mizuno, T; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, ASME PRESS, 7, 421-426, Oct. 1997, Peer-reviwed
International conference proceedings, English - Electromyographic (EMG) Pattern Recognition by Reinforcement Learning Method for Prosthetic Arm Control
Yu, W; Yokoi, H; Kakazu, Y; Nishikawa, D
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 7, 503-508, Oct. 1997, Peer-reviwed, There existed researches on EMG signal classification and recognition depending on a desired-output-indicating time-varying vector signal, i.e., using supervised learning methods. But sometimes, e.g., in the case of prosthetic arm/hand control, it is difficult or even impossible to get such kind of desired output signal. In this paper, we apply an AHC based Reinforcement Learning method to learn to classify the series of EMG signal. The learning of the network is based on the Temporal Difference theory. Additionally, input EMG patterns are generalized by a feature map network. One output stochastic exploration unit and gradient estimator are proposed for credit discrimination. The classification of the real EMG pattern is successfully accomplished.
International conference proceedings, English - A Study on Perceptual Mechanism of Autonomous Mobile Robots: Integration of Physical Properties of Robot into Perception
Hakura, J; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 7, 509-514, Oct. 1997, Peer-reviwed
International conference proceedings, English - 強化学習法のための状態グルーピングとオポチュニチ評価に関する研究
兪 文偉; 横井 浩史; 嘉数 侑昇
電気学会誌, 電子・情報・システム部門誌,Trans. IEE of Japan, 電気学会, 117-C, 9, 1300-1307, Sep. 1997, Peer-reviwed
Scientific journal, Japanese - A Study on Dynamic Image Recognition based on Adaptive Template Methods
Fukuda, A; Hondo, N; Sakanashi, H; Yokoi, H; Kakazu, Y; Higuchi, T
Proceedings of the Fifteenth International Joint Conference on Artificial Intelligence(IJCAI'97), 確認中, Aug. 1997, Peer-reviwed
International conference proceedings, English - 波動場により構成された適応分散システムに関する研究（組み合わせ最適化問題への適用）
山田 孝治; 横井 浩史; 嘉数 侑昇
電気学会論文誌C, 電気学会, 117-C, 7, 843-849, Jul. 1997, Peer-reviwed
Scientific journal, Japanese - Emergent Mechanism of Empirical Measurement for Adaptive Agents
Hakura, J; Yokoi, H; Kakazu, Y
Proceedings of 1997 International Technical Conference on Circuits/Systems, Computers and Communications, 1077-1080, Jul. 1997, Peer-reviwed
International conference proceedings, English - 波動場を用いた人工生命体のモデリング
横井 浩史
日本機械学会誌, 一般社団法人日本機械学会, 100, 941, 432-432, Apr. 1997, Peer-reviwed
Scientific journal, Japanese - Study on force feed-back device using 6 D.O.F. Cartesian robot (adaptive control method for human spatial movement)
Hiroshi Yokoi; Yukio Fukui; Juli Yamashita; Makoto Shimojo
Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 63, 204-210, 01 Jan. 1997, This paper reports the 3D force feed-back device for CAD system with the adaptable control for human characteristics. For the problem of unstable motor action of force feed-back device caused by disagreement of impedance between man and machine, the human friendly device is proposed with adaptive control using parameter tuning for device controller. One hypothesis of proportional relation between grasping force and muscle tension is discovered. The experimental result shows the unstable motor actions caused by higher muscle tension. From the hypothesis and experimental results, the system parameters are unfolded on grasping force, and an adaptive control method is described. As an evaluation experiment of proposed device, a comparison is examined among tracing-resistances of virtual surface and real surface (ice, steel, and wood), and shows smooth feeling rather than ice plate. - ６軸直交型ロボットを用いたフォースフィードバックデバイスに関する基礎研究（人間の空間操作特性に対する順応型制御）
横井 浩史; 福井 幸男; 山下 樹里; 下条 誠
日本機械学会，日本機会学会論文集C編, 63, 605, 204-210, Jan. 1997, Peer-reviwed
Scientific journal, Japanese - NMDA receptor clustering in rat prefrontal cortex revealed by in vitro calcium macroimaging
Masatoshi Takita; Hiroshi Yokoi; Takafumi Mizuno
NeuroReport, Lippincott Williams and Wilkins, 8, 2, 551-553, 1997, Peer-reviwed, Living coronal brain slices were prepared from the rat prefrontal cortex (pFC) to determine the topographical distribution of the functional calcium-permeable N-methyl-D-aspartate (NMDA) receptor in vitro using calcium macroimage analysis with fura-2 AM. NMDA (0.25, 0.5, 1 or 2 x 10-4 M for 30 s) bath application showed a dose-dependent [Ca2+](i) increase from the steady-state level in several portions selected from the whole hemisphere slice. This regional response was suppressed by D-2-amino-5-phosphonopentanoic acid (10-4 M) and reinforced by glycine coperfusion (5 x 10-6 M). Image analysis showed that the cluster responsive to NMDA lay locally on the medial or lateral pFC even in the presence of tetrodotoxin.
Scientific journal, English - A study on Force Feed-back Device Using 6 D.O.F. Cartesian Robot (Adaptive control method for human spatial movement)
Yokoi, H; Fukui, Y; Yamashita, J; Shimojo, M
Fuji Technology Press, J. Robotics and Mechatronics, 9, 1, 24-32, 1997, Peer-reviwed
Scientific journal, English - Amoeba - Like Mobility by a Group of Units
Masanori Kudo; Hiroshi Yokoi; Yukinori kakazu
Proceedings of Second International Conference of Multi Agent Systems (ICMAS96), 446, Dec. 1996, Peer-reviwed
International conference proceedings, English - Vibrating Potential Field for Large Scale Traveling Salesman Problem
Yokoi, H; Kakazu, Y; Mizuno, T; Takita, M
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 6, 11-16, Nov. 1996, Peer-reviwed
International conference proceedings, English - Affordance in Autonomous Robot: Grounding Mechanism of Sensory Inputs
Hakura, J; Yokoi, H; Kakazu Y
Distributed Autonomous Robotics Systems 2, 2, 156-167, Oct. 1996, Peer-reviwed
International conference proceedings, English - Amoeba Like Grouping Behavior for Autonomous Robots using Vibrating Potential Field (Obstacle Avoidance on uneven road)
Yokoi, H; Mizuno, T; Takita, M; Kakazu, Y
Distributed Autonomous Robotic Systems 2, Springer, 209, 209-220, Oct. 1996, Peer-reviwed
International conference proceedings, English - A Study on State Grouping and Opportunity Evaluation for Reinforcement Learning Methods
Yu, W; Yokoi, H; Kakazu, Y
Proceedings of the International Conference of Artificial Neural Networks in Engineering, 6, 117-122, Jul. 1996, Peer-reviwed, In this paper, we propose the State Grouping scheme for coping with the problem of scaling up the Reinforcement Learning Algorithm to real, large size application. The grouping scheme is based on geographical and trial-error information, and is made up with state generating, state combining, state splitting, state forgetting procedures, with corresponding action selecting module and learning module. Also, we discuss the Labeling Based Evaluation scheme which can evaluate the opportunity of the stateaction pair, therefore, use better experience to guide the exploration of the state-space effectively. Incorporating the Labeling Based Evaluation and State Grouping scheme into the Reinforcement Learning Algorithm, we get the approach that can generate organized state space for Reinforcement Learning, and do problem solving as well. We argue that the approach with this kind of ability is necessary for autonomous agent, namely, autonomous agent can not act depending on any pre-defined map, instead, it should search the environment as well as find the optimal problem solution autonomously and simultaneously. By solving the large state-size 3-DOF and 4-link-manipulator problem, we show the efficiency of the proposed approach, i.e., the agent can achieve the optimal or suboptimal path with less memory and less time.
International conference proceedings, English - Amoeba Like Self-Oranization Model using Vibrating Potential Field
Hiroshi Yokoi; Takafumi Mizuno; Masatoshi Takita; Jun Hakura; Yukinori Kakazu
Proceeding of the Fifth International Workshop on the Synthesis and Simulation of Living Systems, Ⅴ, 51-58, May 1996, Peer-reviwed
International conference proceedings, English - An Approach to Realization of Affordance-like Cognitive Mechanism
Hakura, J; Yokoi, H; Kakazu, Y
Proceedings of Internarional Workshop on Learning for Autonomous Robots (ROBOLEARN'96), 28-37, May 1996, Peer-reviwed
International conference proceedings, English - A study on autonomous robot with empirical measure
Jun Hakura; Hiroshi Yokoi; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, 6, 823-828, 1996, This paper proposes a new design concept to develop an autonomous robot to have its own empirical measure of the environment. Empirical measure is expected to make the robot into an autonomous and intelligent one without coming across the Frame problems. This paper considers "Invariant" in Affordance theory as an empirical measure. A perception mechanism that would be indispensable to the realization of an empirical measure, is proposed. The mechanism introduces sonar sensing system, perceptual model, information processing system, and learning mechanisms using several ANNs. Computational results show that proposed mechanism has possibilities to satisfy the four conditions.
Scientific journal, English - Obstacle Avoidance Using Vibrating Potencial Method (Self-Organization in a Narrow Path)
Hiroshi Yokoi; Takafumi Mizuno; Masatasi Takita; Yukinori Kakazu
Journal of Robotics and Mechatronics, 8, 4, 356-363, 1996, Peer-reviwed
Scientific journal, English - Framework of information processing using the vibrating potential field - (Theories and applications)
H Yokoi; Y Kakazu
JSME INTERNATIONAL JOURNAL SERIES C-DYNAMICS CONTROL ROBOTICS DESIGN AND MANUFACTURING, JAPAN SOC MECHANICAL ENGINEERS SANSHIN HOKUSEI BLDG, 38, 4, 649-656, Dec. 1995, Peer-reviwed, This paper presents a new information processing model for engineering using a vibrating potential field. In the field of engineering, the conventional information processing models are based on central control processing and parallel distributed processing. Such conventional models are programmed by a sequence of procedures through internal connections between specified processing units, and for this reason it is difficult for all the units to express unity of purpose, enlarge of the system and observe the status of internal connections. However, information exchange between all depends on using field information and information processing of living units is a self-organizing process that can be achieved using field information. Many examples are found in nature where high-performance information processing can be attained without supervision. An analogous model of this self-organized information processing can give a useful control mechanism for PDP. This paper proposes a new information processing model using the vibrating potential field and discusses the results of computer simulations using this model.
Scientific journal, English - 3D-DDM:三次元B-Spline自由曲面の直接変形手法
山下樹里; 福井幸男; 横井浩史; 下条誠
電気学会論文誌, 電気学会, 115, 2, 253-260, Feb. 1995, Peer-reviwed
Scientific journal, Japanese - Amoeba searching behavior model using vibrating potential field
Hiroshi Yokoi; Takafumi Mizuno; Masatoshi Takita; Yukinori Kakazu
Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), 1297-1302, 1995, This paper presents one approach to modeling life using a field technique, so called as vibrating potential field. In recent years, modeling of life is drawn much attention in many fields. The behavior of life is complex and interesting. All life must have some intelligence for making its own life cycle stable and adept to changing environment. It will be very useful if we can draw this life's know how. This study tries to model mathematically the formation of a specific part of living cells. For this purpose, we prepare an adequate mathematical model of physical interactions on many different properties. The mathematical model presents parallel distributed processing system that exchanges information through vibrating potential field (VPF) and life's kinetics. Using VPF and life's kinetics, the computer simulations show the behaviors of artificial life that conserves its own energy level and tunes its configurations or location of its parts.
International conference proceedings, English - Amoeba Searching Behavior Model for traveling salesman problem
Hiroshi Yokoi; Takafumi Mizuno; Masatoshi Takita; Yukinori Kakazu
Intelligent Engineering Systems Through Artificial Neural Networks, ASME, 5, 705-710, 1995, This paper reports one engineering application of spatial searching characteristics of amoeba (multi-cellar) for autonomous parallel distributed processing system. The remarkable characteristic of transformation from unicellular period to multi-cellular through communication becomes one idea for the difficulty of autonomous PDP system with communication. This paper proposes Amoeba Searching Behavior Model, and applies to the Euclidean TSP as an example of spatial searching environment. The proposed model consists of new field technic named as the Vibrating Potential Field and new parameter tuning method inspired from thermo-dynamics. The computational application for Euclidean TSP shows advantages of the model and derives powerful characteristics for intelligent searching mechanism those are heteronomous and autonomous grouping behavior.
International conference proceedings, English - Development of 3D-input device using adaptive control
H Yokoi; J Yamashita; Y Fukui; M Shimojo
1995 IEEE INTERNATIONAL CONFERENCE ON NEURAL NETWORKS PROCEEDINGS, VOLS 1-6, IEEE, Ⅴ, 2709-2714, 1995, Peer-reviwed
International conference proceedings, English - Euclidean TSP using characteristics of slimemold
H Yokoi; T Mizuno; M Takita; Y Kakazu
1995 IEEE INTERNATIONAL CONFERENCE ON EVOLUTIONARY COMPUTATION, VOLS 1 AND 2, I E E E, Ⅱ, 689-694, 1995, Peer-reviwed
International conference proceedings, English - THE BEHAVIOR OF ARTIFICIAL WORMS IN A NARROW PATH BY THE BIONIC MODEL
Y KAKAZU; H YOKOI
MATHEMATICAL AND COMPUTER MODELLING, PERGAMON-ELSEVIER SCIENCE LTD, 21, 1-2, 217-228, Jan. 1995, The aim of this paper is to develop a theory capable of describing the behavior of a group of artificial worms. The worms move through free-formed narrow paths and avoid obstacles in pursuit of a goal. They can move forward, backward, and rotate. The group of worms can divide, and also regroup.
In this paper, the worms reach their goals by using a strategy provided by a bionic model. In this bionic model, both the worms and the goals emit waves. The worms perceive their environment in terms of these waves, and choose their movements accordingly. (One could compare the worms to bats using sonar to avoid trees while pursuing a mosquito).
Here, we illustrate worm behavior through computer simulations. These simulations show all beahviors-specifically pursuit of goals, avoiding obstacles, and group fission and fusion.
Scientific journal, English - THE BEHAVIOR OF ARTIFICIAL WORMS IN A NARROW PATH BY THE BIONIC MODEL
Y KAKAZU; H YOKOI
MATHEMATICAL AND COMPUTER MODELLING, PERGAMON-ELSEVIER SCIENCE LTD, 21, 1-2, 217-228, Jan. 1995, Peer-reviwed, The aim of this paper is to develop a theory capable of describing the behavior of a group of artificial worms. The worms move through free-formed narrow paths and avoid obstacles in pursuit of a goal. They can move forward, backward, and rotate. The group of worms can divide, and also regroup.
In this paper, the worms reach their goals by using a strategy provided by a bionic model. In this bionic model, both the worms and the goals emit waves. The worms perceive their environment in terms of these waves, and choose their movements accordingly. (One could compare the worms to bats using sonar to avoid trees while pursuing a mosquito).
Here, we illustrate worm behavior through computer simulations. These simulations show all beahviors-specifically pursuit of goals, avoiding obstacles, and group fission and fusion.
Scientific journal, English - 場を用いた人工生命
横井 浩史
人工知能の技術と市場の動向に関する調査研究報告書（日本情報処理開発協会）, 65-68, 121-130, 199-200, 1995
Scientific journal, English - 波動表現に基づく情報処理モデルに関する基礎研究（自律機械群の経路探索問題へのアプローチ）
山田孝治; 横井浩史; 嘉数侑昇
日本機械学会論文集C編, The Japan Society of Mechanical Engineers, 60, 580, 124-129, Dec. 1994, Peer-reviwed, A new approach of finding the path to a goal automatically is proposed in this paper. For this problem, our approach uses the vibrating potential method (VPM) to provide the strategy for finding the path. The VPM is a new problem solving system we proposing, and has sufficient unity of fundamental mathematical expression to describe the movement of agents as autonomous machines. In this method, a vibrating potential field (VPF) as an environment is constructed by agents and their interaction energy. These agents interact with each other by the information from the detected wave motion from the environmental surroundings. By the VPM, each agent can decide its movement through detection of wave motion as the environmental surroundings without specific problem oriented programming. In this paper, we set moving-robot agents (RA), obstacle agents (OA) and goal agent (GA) on VPF. We show computer simulations that RA can find the path by two methods. One is position control by local-area sensoring and the other is path planning by detecting global information from GA.
Scientific journal, Japanese - THE CONCEPT OF TOOL-BASED DIRECT DEFORMATION METHOD FOR NETWORKED COOPERATIVE CAD INTERFACE
J YAMASHITA; H YOKOI; Y FUKUI; M SHIMOJO
IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, IEICE-INST ELECTRON INFO COMMUN ENG, E77D, 12, 1350-1354, Dec. 1994, Peer-reviwed, This paper proposes the concept of Tool-Based Direct Deformation Method (TB-DDM) which supports networked CAD (Computer Aided Design) systems with virtual reality technologies. TB-DDM allows designers to sculpt free forms directly with tools; each tool has its deforming characteristics, such as, the area and the shape of deformation. TB-DDM's direct deformation interface is independent of form representations because the system automatically calculates appropriate deformation according to its form representation when a tool ''pushes'' a form. The deformation with TB-DDM is concisely described by the initial shape, types of tools, and their loci; the description enables cooperative CAD systems with narrow bandwidth network to share design process rapidly and to distribute computational load.
Scientific journal, English - AUTONOMOUS GRASP CONTROL OF LINK MECHANISM BY VIBRATING POTENTIAL METHOD
H YOKOI; Y KAKAZU
CONTROL ENGINEERING PRACTICE, PERGAMON-ELSEVIER SCIENCE LTD, 2, 6, 1031-1038, Dec. 1994, Peer-reviwed, Living creatures differ from machines in that they have no pre-fixed objective function. These basic processing elements (creatures or cells) are influenced by their objective functions and change their properties based upon this influence. This recursive structure is the basis of living creatures' autonomous behavior. This paper aims at the development of a new control method based on a decentralized management approach to describing a mathematical model of autonomous machines, called the vibrating potential method (VPM). In the VPM, the system consists of a group of units, and the objective functions of the elementary units are combined so that they become the objective function of the system. A field is employed as the medium for information transmission; its application to the problem of grasping free-form objects is discussed.
Scientific journal, English - A virtual surface modeler for direct and regional free form manipulation
Yamashita J; Yokoi H; Fukui Y; Shimojo M
4th Int.Conf.artificial rearity and tele-existense, Vol.ICAT'94, pp.35-42. 1994., 35-42, Jul. 1994, Peer-reviwed
International conference proceedings, English - Development of 3D-Input Device for Virtual Surface Manipulation
Yokoi H; Yamashita J; Fukui Y; shimojo M
RO-MAN'94. 3rd IEEE Int. workshop on Robotics and Human Communication,, 134-139, Jul. 1994, Peer-reviwed
International conference proceedings, English - Find Path Problem of Autonomous Robots by Vibrating Potential Method
Yamada, K; Yokoi, H; Kakazu Y
Distributed Autonomous Robotic Systems, 303-309, Jul. 1994, Peer-reviwed
International conference proceedings, English - Approach to the autonomous job-shop scheduling problem by Vibrating Potential Method
Hiroshi Yokoi; Yukinori Kakazu; Masayuki Minagawa
IEEE International Conference on Neural Networks - Conference Proceedings, IEEE, 6, 3877-3882, 1994, The scheduling problem is how to allocate a set of job to a set of resources under some constraints. Since the allocation of a set of job relates to the running cost of a factories, solving the scheduling problem is important for the management of factories. This paper aims at developing a new scheduling system based on the decentralized management approach to describing a mathematical model of the autonomic machines. Here, in order to develop a more generalized theory for the control of autonomic machines, the Vibrating Potential Method (VPM) is introduced. The VPM is described by placing each unit's potential function on its own harmonic wave as axis. Each unit receives potential energy from the Vibrating Potential Field (VPF) by convolution and decides its own strategy of motion independently. This paper proposes a new control method using field and discusses its application to the job-shop scheduling problem.
International conference proceedings, English - Development of the virtual shape manipulating system
Yokoi H; Yamashita J; Fukui Y; Shimojo M
4th Int.Conf. Artificial rearity and tele-existane, Vol.ICAT'94, 43-48, Jan. 1994, Peer-reviwed
International conference proceedings, English - Simulation of Cell Division in the Bionic Model
Yokoi, H; Hatakeyama, Y; Kakazu, Y
Intelligent Engineering System Through Artificial Neural Network, 27-32, Nov. 1993, Peer-reviwed
International conference proceedings, English - Segmentation of an X-Ray Image by Colony Formation Model of Artificial Cell
Hatakeyama, Y; Yokoi, H; Kakazu Y
Intelligent Engineering System Through Artificial Neural Network, 381-386, Nov. 1993, Peer-reviwed
International conference proceedings, English - Approach to Packing Problem by Vibrating Potential Method
Yamada, K; Yokoi, H; Kakazu Y
Intelligent Engineering Systems through Artificial Neural Networks, 3, 819-824, Nov. 1993, Peer-reviwed
International conference proceedings, English - 波動場に於ける自律機械群に関する基礎研究（ジョブショップスケジューリング問題へのアプローチ）
横井浩史; 嘉数侑昇
日本機械学会，日本機械学会論文誌Ｃ編, 59, 564, 2584-2590, Aug. 1993, Peer-reviwed
Scientific journal, Japanese - 波動場を用いた自律的情報処理に関する基礎研究（障害物回避問題へのアプローチ）
横井浩史; 嘉数侑昇
日本機械学会，日本機械学会論文誌Ｃ編, The Japan Society of Mechanical Engineers, 59, 564, 2346-2352, Aug. 1993, Peer-reviwed, In this paper, we aim to solve the obstacle-avoidance problem using the vibrating potential method (VPM). The obstacle-avoidance problem is famous inthe field of a navigation of automatically guided vehicles (AGV). There are many kinds of behavior for a group of AGVs such as forward and backward movement, rotation, fission, fusion, avoidance of obstacles and passing through free-form narrow paths. Since these types of behavior are capable of changing according to the environmental surroundings of the AGVs or their goals, the problem can be described using three systems : "Obstacles," "AGVs" and "Goals". For this problem, we use the VPM to obtain a strategy for achieving a goal for each AGV. In the VPM, an environment is constructed by means of a wave motion propagated from the obstacles, AGVs and goals. These subsystems of the obstacle-avoidance problem system interact with each other through the information from the detected wave motion from the environmental surroundings. Using a VPM, each AGV can decide upon its movement through detection of wave motion from the environment surroundings without specific problem-oriented programming. Furthermore, the movement of a group of AGVs is represented in computer simulations for such situation as approaching behavior for each goal, avoiding obstacles and fission and fusion behavior.
Scientific journal, Japanese - Autonomous Design of Gear Train by Vibrating Potential Method
Yokoi, H; Yamada, K; Kakazu, Y
Proceedings of the 2nd Internationl Conference on Advanced Mechatronics, 748-753, Aug. 1993, Peer-reviwed
International conference proceedings, English - An Approach to the Piano Movers Problem by Vibrating Potential Method
Yamada, K; Yokoi, H; Kakazu, Y
The Proc. of JSME International Conference on Advanced Mechatronics, 977-981, Aug. 1993, Peer-reviwed
International conference proceedings, English - Autonomous Design of Gear Train by Vibrating Potential Method
Yokoi, H; Yamada, K; Kakazu, Y
The Proc. of JSME International Conference on Advanced Mechatronics, 748-753, Aug. 1993, Peer-reviwed
International conference proceedings, English - Autonomous Desigun of Gear Train by Vibrating Potentiol Method
Hiroshi YOKOI; Koji YAMADA; yukinori KAKAZU
Internashonal Conference on Advenced Mechatronics, 748-753, Aug. 1993
Scientific journal, English - An Approach to the Avoiding Obstacle Problem by the Vibrating Potential Method
Yokoi, H; Kakazu, Y
Proc. Intelligent Vehicle'93, 235-240, Jul. 1993, Peer-reviwed
International conference proceedings, English - 波動場を用いた情報処理に関する基礎研究（多重波動場モデルの構築）
横井浩史; 嘉数侑昇
日本機械学会,日本機械学会論文誌Ｃ編, 59, 560, 1115-1121, Apr. 1993, Peer-reviwed
Scientific journal, Japanese - AN APPROACH TO THE AUTONOMOUS GRASPING PROBLEM BY THE VIBRATING POTENTIAL METHOD
H YOKOI; Y KAKAZU
IROS 93 : PROCEEDINGS OF THE 1993 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOL 1-3, I E E E, 1913-1918, 1993
International conference proceedings, English - TERRAIN NAVIGATION BY VIBRATING POTENTIAL METHOD
K YAMADA; H YOKOI; Y KAKAZU
1993, INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS: SYSTEMS ENGINEERING IN THE SERVICE OF HUMANS, VOL 5, I E E E, 5, 218-222, 1993, Peer-reviwed
International conference proceedings, English - AN APPROACH TO AUTONOMIC SPATIAL NESTING PROBLEM BY VIBRATING POTENTIAL METHOD
H YOKOI; Y KAKAZU
PARALLEL PROBLEM SOLVING FROM NATURE, 2, ELSEVIER SCIENCE PUBL B V, 499-508, 1992, Peer-reviwed
International conference proceedings, English - Approach to the Traveling Salesman Problem by a Bionic Model
Yokoi, H; Kakazu, Y
IAKE, Heuristics, The Journal of Knowledge Engineering, 5, 2, 13-28, 1992, Peer-reviwed
Scientific journal, English - The Behavior of Aftificial Worms in a narrow path by the Bionic Model
Yukinori KAKAZU; Hiroshi YOKOI
The Behavior of Aftificial Worms in a narrow path by the Bionic Model, ASME Press, 33-38, 1992
Scientific journal, English - AN APPROACH TO AUTONOMIC SPATIAL NESTING PROBLEM BY VIBRATING POTENTIAL METHOD
H YOKOI; Y KAKAZU
PARALLEL PROBLEM SOLVING FROM NATURE, 2, ELSEVIER SCIENCE PUBL B V, 499-508, 1992
International conference proceedings, English - An Approach to Traveling Salesman Problem by a Bionic Model
Hirohsi YOKOI; Yukinori KAKAZU
ASME,Intelligent Engineering System Through Artificial Neural Network, 883-888, 1991
Scientific journal, English - 生命体モデル構築に関する基礎研究-波動場に於ける情報交換-
横井 浩史; 嘉数 侑昇
電子情報通信学会技術報告, 91, 264, 1-8, 1991
Scientific journal, Japanese - 自律的空間配置問題
横井 浩史; 嘉数 侑昇
電子情報通信学会技術報告, 17-21, 1991
Scientific journal, Japanese - 生命体モデル構築に関する基礎研究-機能分化と機能分担-
横井 浩史; 嘉数 侑昇
電子情報通信学会技術報告, 91, 264, 9-16, 1991
Scientific journal, Japanese
MISC
- 国産初の5指独立駆動型筋電義手「BITハンド」
矢吹 佳子; 山野井 佑介; 黒田 勇幹; 井上 祐希; 白 殿春; 横井 浩史
東京 : 日本障害者リハビリテーション協会, Aug. 2024, 新ノーマライゼーション = New normalization, 44, 8, 12-13, Japanese, 2435-2330, AA12879928 - 特徴空間表示機能を用いたパターン識別制御型筋電義手の訓練手法の開発
辻本立樹; 山野井佑介; 黒田勇幹; 姜銀来; 横井浩史; 横井浩史
2023, 日本ロボット学会学術講演会予稿集(CD-ROM), 41st, 202402279795671381 - Development of Integrated Multi-Point Electrodes for FES Using Power Net and Evaluation by Expressed Hand Posture
森本韻; 安田翔太朗; 松尾英治; 山野井佑介; 杉正夫; JIANG Yinlai; 横井浩史
2021, LIFE講演概要集(CD-ROM), 2020/2021, 202102222235666154 - FESにおける刺激の位置から手指姿勢の推定:機械学習を用いた試み
森本韻; 山野井佑介; 杉正夫; 姜銀来; 横井浩史
2021, 日本ロボット学会学術講演会予稿集(CD-ROM), 39th, 202102253447502324 - ワイヤ干渉駆動とそのモジュール化設計
姜銀来; 李文揚; 王軼煒; 東郷俊太; 横井浩史
2021, 日本ロボット学会誌, 39, 9, Japanese, Invited, Introduction scientific journal - Survey on main drive methods used in humanoid robotic upper limbs
Yiwei Wang; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Humanoid robotic upper limbs including the robotic hand and robotic arm are widely studied as the important parts of a humanoid robot. A robotic upper limb with light weight and high output can perform more tasks. The drive system is one of the main factors affecting the weight and output of the robotic upper limb, and therefore, the main purpose of this study is to compare and analyze the effects of the different drive methods on the overall structure. In this paper, we first introduce the advantages and disadvantages of the main drive methods such as tendon, gear, link, fluid (hydraulic and pneumatic), belt, chain, and screw drives. The design of the drive system is an essential factor to allow the humanoid robotic upper limb to exhibit the structural features and functions of the human upper limb. Therefore, the specific applications of each drive method on the humanoid robotic limbs are illustrated and briefly analyzed. Meanwhile, we compared the differences in the weight and payload (or grasping force) of the robotic hands and robotic arms with different drive methods. The results showed that the tendon drive system is easier to achieve light weight due to its simple structure, while the gear drive system can achieve a larger torque ratio, which results in a larger output torque. Further, the weight of the actuator accounts for a larger proportion of the total weight, and a reasonable external placement of the actuator is also beneficial to achieve light weight., American Association for the Advancement of Science (AAAS), 2021, Cyborg and Bionic Systems, 2021, 9817487, 1-12, English, Peer-reviwed, Introduction scientific journal, 2692-7632 - 個性適応システムを有するユニバーサルソケットの有用性評価
矢吹佳子; 黒田勇幹; 山野井佑介; 平井太智; 小野祐真; 中尾聡一郎; 横井浩史
2020, 日本義肢装具学会誌, 36, 0910-4720, 202002217896133657 - 2自由度受動回転機構を有する能動ハンドの開発と評価
矢吹佳子; 高木岳彦; 山野井佑介; 平井太智; 高橋明丈; 横井浩史
2020, 日本義肢装具学会誌, 36, 0910-4720, 202002276992439386 - 先天性前腕欠損者のための幼児用2自由度電動義手の開発
平井太智; 中尾聡一郎; 小野祐真; 黒田勇幹; 矢吹佳子; 山野井佑介; 東郷俊太; 姜銀来; 加藤龍; 横井浩史
2020, 日本ロボット学会学術講演会予稿集(CD-ROM), 38th, 202002258431646054 - 回内・回外機能を有し個性に適応する幼児用筋電義手の開発と評価
中尾聡一郎; 平井太智; 小野祐真; 山野井佑介; 黒田勇幹; 矢吹佳子; 東郷俊太; 姜銀来; 加藤龍; 高木岳彦; 石原正博; 横井浩史
2020, 日本ロボット学会学術講演会予稿集(CD-ROM), 38th, 202002294303653178 - 筋電信号の時変性に適応する教師データ更新手法に関する研究
黒田勇幹; 山野井佑介; 東郷俊太; 姜銀来; 加藤龍; 横井浩史
2020, 日本ロボット学会学術講演会予稿集(CD-ROM), 38th, 202002241016735340 - 筋電制御システムに関する研究と義手への応用
横井 浩史; 東郷 俊太; 姜 銀来; 矢吹 佳子; 村井 雄太
15 May 2019, 日本ロボット学会誌, 37, 4, 301-306, Japanese, Introduction scientific journal - 筋電義手の熟達度に関する研究
鎌田舞花; 矢吹佳子; 黒田勇幹; 山野井佑介; 東郷俊太; 東郷俊太; JIANG Yinlai; 横井浩史; 横井浩史
2019, バイオメカニズム学術講演会予稿集, 40th, 201902233232044912 - 皮質可塑性の制御による幻肢痛の病態解明と治療
柳澤 琢史; 福間 良平; Seymour Ben; 細見 晃一; 清水 豪士; 貴島 晴彦; 平田 雅之; 横井 浩史; 吉峰 俊樹; 神谷 之康; 齋藤 洋一
日本疼痛学会, Mar. 2018, PAIN RESEARCH, 33, 1, 26-31, Japanese, 0915-8588, S416470004 - 皮質可塑性の制御による幻肢痛の病態解明と治療
柳澤 琢史; 福間 良平; Seymour Ben; 細見 晃一; 清水 豪士; 貴島 晴彦; 平田 雅之; 横井 浩史; 吉峰 俊樹; 神谷 之康; 齋藤 洋一
幻肢痛患者10名を対象とした。患者が幻肢を握る・開くことを考えた時の脳磁図を計測した。健常上肢でも同様の運動課題を行い、脳磁図信号から、健常肢運動デコーダを作成した。脳磁計の信号だけから握る・開く動作を弁別し、その推定された動きをするBrain-machine interface(BMI)義手を作成した。患者は幻肢を動かすつもりで義手を制御するよう指示した。BMI訓練前後で、運動種類に対する脳活動の変化(F値)は、デコーダの種類によって大きく変化した。幻肢運動デコーダを用いて訓練後ではF値は対側感覚運動野にて増加し、健常肢運動デコーダでは減弱した。BMI訓練前後において、幻肢運動デコーダを用いた場合には、推定精度が有意に上昇し、健常肢運動デコーダでは低下した。BMI訓練前後において、幻肢運動デコーダでは痛みは増加し、健常肢運動デコーダでは軽減した。これらの痛みの変化量は、幻肢と対側の感覚運動野に推定した電位での運動内容推定精度の変化量と有意に相関した。選択したデコーダによって、全く異なる可塑的変化が誘導され、これに応じて痛みも制御できることが明らかになった。, 日本疼痛学会, Mar. 2018, PAIN RESEARCH, 33, 1, 26-31, Japanese, 0915-8588, 2018221551 - Induction of cortical plasticity reveals the mechanism of the phantom limb pain and develops novel treatment
Takufumi Yanagisawa; Ryohei Fukuma; Seymour Ben; Koichi Hosomi; Takeshi Shimizu; Kishima Haruhiko; Masayuki Hirata; Hiroshi Yokoi; Toshiki Yoshimine; Yukiyasu Kamitani; Yoichi Saitoh
Objectives. Phantom limb pain is neuropathic pain after amputation of a limb and partial or complete deafferentation such as brachial plexus root avulsion. The underlying cause of this pain has been attributed to maladaptive plasticity of the sensorimotor cortex. It has been suggested that experimental reorganization would affect pain. Here, we tested the hypothesis that a training to use brain-machine interface (BMI) based on magnetoencephalographic (MEG) signals will induce some cortical plasticity in the sensorimotor cortex and modulate the phantom limb pain.Methods. This study included 10 phantom limb patients (9 brachial plexus root avulsion and 1 amputee). MEG signals during movements of the phantom hand or intact hand were used to train the decoder inferring movements of each hand. The robotic hand was controlled by the decoder. Patients controlled the robotic hand by moving the phantom hand. The training effects were compared among trainings with the phantom decoder, real hand decoder, and random decoder in a randomized cross-over trial.Results. BMI training with the phantom decoder increased the decoding accuracy of phantom hand movements and pain. In contrast, BMI training with the intact hand decoder reduced accuracy and pain.Discussion. It was suggested that BMI training to modulate the motor representation of phantom hand controlled pain. The sensorimotor cortical plasticity might induce pain., JAPANESE ASSOC STUDY PAIN, 2018, PAIN RESEARCH, 33, 1, 26-31, Japanese, Book review, 0915-8588, 2187-4697, WOS:000514199000004 - BMIによる幻肢痛の病態解明と新たな治療法開発
柳澤 琢史; 福間 良平; Seymour Ben; 細見 晃一; 清水 豪士; 貴島 晴彦; 平田 雅之; 横井 浩史; 吉峰 俊樹; 神谷 之康; 齋藤 洋一
【はじめに】腕神経叢引き抜き損傷や四肢切断後の幻肢痛は、障害部位に起因する痛みだけでなく、脊髄や中枢での異常活動が痛みの原因となっている。特に、感覚運動野では、求心路遮断後の大脳皮質再構築が痛みを生じていると考えられている。しかし大脳皮質での異常な活動に起因する疼痛は制御が難しく、有効な治療法に乏しい。我々はbrain-machine interface(BMI)を用いて皮質活動に可塑的変化を誘導し、難治性疼痛の病態を解明し、新たな治療法につながる成果を得た(Nature Communications、2016)。【方法】大阪大学医学部附属病院に通院する幻肢痛患者10名(腕神経叢引き抜き損傷9名、切断肢1名)に対して、脳磁図BMIを使い、患肢の運動を想起することで働くロボットを制御する訓練を行い、前後での痛みと脳活動の変化を観察した。この際、3種類のDecoderを使い、患肢運動の皮質表象の可塑的変化を制御し、痛みとの関係を検討した。【結果】BMI訓練により、患肢と対側の感覚運動野の活動に有意な可塑的変化が誘導され、その大きさと痛みの変化量が有意に相関した。特に皮質表象が弱められる程、持続痛を中心に痛みが減弱することが示された。【考察】BMI訓練による皮質可塑性誘導は持続痛を改善することが示された。また、皮質運動表象が減弱するほど痛みが低下することが示唆された。(著者抄録), 日本定位・機能神経外科学会, Dec. 2017, 機能的脳神経外科, 56, 41-45, Japanese, 1344-9699, S122260008 - BMIによる幻肢痛の病態解明と新たな治療法開発
柳澤 琢史; 福間 良平; Seymour Ben; 細見 晃一; 清水 豪士; 貴島 晴彦; 平田 雅之; 横井 浩史; 吉峰 俊樹; 神谷 之康; 齋藤 洋一
【はじめに】腕神経叢引き抜き損傷や四肢切断後の幻肢痛は、障害部位に起因する痛みだけでなく、脊髄や中枢での異常活動が痛みの原因となっている。特に、感覚運動野では、求心路遮断後の大脳皮質再構築が痛みを生じていると考えられている。しかし大脳皮質での異常な活動に起因する疼痛は制御が難しく、有効な治療法に乏しい。我々はbrain-machine interface(BMI)を用いて皮質活動に可塑的変化を誘導し、難治性疼痛の病態を解明し、新たな治療法につながる成果を得た(Nature Communications、2016)。【方法】大阪大学医学部附属病院に通院する幻肢痛患者10名(腕神経叢引き抜き損傷9名、切断肢1名)に対して、脳磁図BMIを使い、患肢の運動を想起することで働くロボットを制御する訓練を行い、前後での痛みと脳活動の変化を観察した。この際、3種類のDecoderを使い、患肢運動の皮質表象の可塑的変化を制御し、痛みとの関係を検討した。【結果】BMI訓練により、患肢と対側の感覚運動野の活動に有意な可塑的変化が誘導され、その大きさと痛みの変化量が有意に相関した。特に皮質表象が弱められる程、持続痛を中心に痛みが減弱することが示された。【考察】BMI訓練による皮質可塑性誘導は持続痛を改善することが示された。また、皮質運動表象が減弱するほど痛みが低下することが示唆された。(著者抄録), (一社)日本定位・機能神経外科学会, Dec. 2017, 機能的脳神経外科, 56, 74-78, Japanese, 1344-9699, 2018200167 - Output Device for Brain Machine Interface : Toward Technologies to Enable Mutual Adaptation Between Human and Machine
横井 浩史; 姜 銀来
精密工学会, Nov. 2017, 精密工学会誌 = Journal of the Japan Society for Precision Engineering, 83, 11, 1000-1005, Japanese, 0912-0289, 40021385323, AN1003250X - 「痛みと脳」研究の最前線 皮質可塑性の制御による幻肢痛の病態解明と治療
柳澤 琢史; 福間 良平; ベン・シーモア; 細見 晃一; 貴島 晴彦; 平田 雅之; 横井 浩史; 吉峰 俊樹; 神谷 之康; 齋藤 洋一
日本疼痛学会, Jun. 2017, PAIN RESEARCH, 32, 2, 104-104, Japanese, 0915-8588, 2017238577 - Real-Time Control of a Neuroprosthetic Hand by Magnetoencephalographic Signals from Paralysed Patients (vol 6, 21781, 2016)
Ryohei Fukuma; Takufumi Yanagisawa; Youichi Saitoh; Koichi Hosomi; Haruhiko Kishima; Takeshi Shimizu; Hisato Sugata; Hiroshi Yokoi; Masayuki Hirata; Yukiyasu Kamitani; Toshiki Yoshimine
NATURE PUBLISHING GROUP, Oct. 2016, SCIENTIFIC REPORTS, 6, English, Others, 2045-2322, WOS:000385736100001 - 皮質脳波を用いた体内埋込型ブレイン・マシン・インターフェース
平田雅之; 柳澤琢史; 亀田成司; 菅田陽怜; 福間良平; 鈴木隆文; 安藤博士; 神谷之康; 横井浩史; 吉峰俊樹
2016, 日本ヒト脳機能マッピング学会プログラム・抄録集, 18th, 39, Japanese, 201602201263598395 - 慢性期脳梗塞症例に対する1ヵ月間の機能的電気刺激法を用いたホームエクササイズは脳活動に影響を与えるか PET画像を用いた検討
久保田 雅史; 五十嵐 千秋; 神澤 朋子; 山村 修; 渡部 雄大; 松尾 英明; 嶋田 誠一郎; 馬場 久敏; 辻川 哲也; 岡沢 秀彦; 加藤 龍; 横井 浩史
(公社)日本理学療法士協会, Apr. 2015, 理学療法学, 42, Suppl.2, O-0492, Japanese, 0289-3770, 2018179415 - 10413 Control method of a prosthetic hand using the surface electromyogram in hand pre-shaping and physical quantity sensors for natural operational feeling
SUZUKI Daiki; YAMADA Hiroshi; WAKITA Ko; YAMANOI Yusuke; YOKOI Hiroshi; KATO Ryu
A stationary grasping posture is classified in the control method of an electromyogram prosthetic hand. This grasping posture is static, such as an open hand posture, and one in which the operator of an electromyogram prosthetic hand intentionally continues muscular contraction. In operating prosthetic hand, because an operation image of prosthetic hand is different from the image of normal hand, an operator feels unnaturally. In this paper, authors propose a method that predicts a grasping posture using the surface electromyogram in hand preshaping and physical quantity sensors to solve the problem. Experimental results demonstrate that operators be able to control the prosthetic hand using proposal method more naturally than using conventional method., The Japan Society of Mechanical Engineers, 20 Mar. 2015, 日本機械学会関東支部総会講演会講演論文集, 2015, 21, "10413-1"-"10413-2", Japanese, 110009948194, AA11902161 - 慢性期脳梗塞症例に対する1か月間の機能的電気刺激療法を用いたホームエクササイズは脳活動に影響を与えるか:―PET画像を用いた検討―
久保田 雅史; 岡沢 秀彦; 加藤 龍; 横井 浩史; 五十嵐 千秋; 神澤 朋子; 山村 修; 渡部 雄大; 松尾 英明; 嶋田 誠一郎; 馬場 久敏; 辻川 哲也
【はじめに，目的】機能的電気刺激（functional electrical stimulation：FES）は，運動機能を改善する目的で脳卒中や脊髄損傷後の症例で用いられており，実際に歩行などの運動機能が改善した報告が散見される。近年では，電気刺激に伴い体性感覚皮質や島の賦活が報告されるなど，FESが脳活動に与える影響に注目されている。しかし，実際にFESの治療中及び治療期間前後の脳機能画像を評価した報告は我々が捗猟し得た限りない。ポジトロン断層法（positron emission tomography：PET）は，放射性トレーサーを用いて脳血流量を間接的に測定することで，脳活動の変化を客観的に把握することができる。電気刺激がPET撮像に影響を与えることはなく，fMRIほど動きが制約されないことから，FESの脳機能評価としてPETは有用である。そこで本研究では，慢性期脳梗塞症例に対して1か月間のFESを用いたhome exerciseを実施し，その前後の運動課題中の脳活動をPETを用いて評価し，若干の知見を得たので報告する。【方法】症例は発症3年以上経過した慢性期脳梗塞症例5名である（平均発症期間7.6±3.7年，男性3名，女性2名，平均年齢61.8±20.1歳）。本研究はcross-over designとし，FESを用いたhome exercise 1か月間とFESを用いないhome exerciseを1か月実施する期間を作成し，その順序はランダムに規定した。home exercise開始前及び各時期終了後にPET撮像と身体機能評価を実施した。脳機能画像評価はH<sub>2</sub>[<sup>15</sup>O]-PETにて測定し，頭部の過剰な動きを抑制するために頸椎カラーを装着した。PET撮像は，①安静，②随意運動のみ，③電気刺激のみ，④随意運動と電気刺激の併用の4タスクとし，3分間のタスク中の脳血流を測定した。電気刺激は麻痺側大腿四頭筋に実施し，電極は内側広筋と外側広筋のモーターポイントに貼り付けた。電気刺激はCarrier周波数2000Hz，Burst周波数を100Hz，Duty比50%の双極矩形波とし，疼痛は感じないが十分筋収縮が生じる強度とした。運動タスクは下肢伸展運動とし，最大等速性筋力の10％の負荷量を抵抗とした。下肢伸展運動は4秒間伸展―4秒間屈曲のリズムとし，伸展相に電気刺激が同期するよう設定した。各時期前後には身体機能評価として，Hand held dynamometerを用いた等尺性筋力，バランス機能評価であるBerg balance scale（BBS），歩行機能評価を実施した。1ヶ月間のhome exerciseは座位での膝伸展運動とし（20分間2セット/日，5回/週），FESを用いた時期には運動に合わせて電気刺激を負荷させるようにした。【結果】Home exercise開始前の脳機能画像評価では，随意運動のみでは対側運動野を中心に血流増大が認められ，電気刺激のみでは血流増大は認めず，電気刺激と随意運動の併用では対側感覚野に血流増大領域が拡大していた。比較的麻痺重症例では，随意運動のみでは両側の運動関連領域の血流が増大していたが，電気刺激と随意運動の併用により同側脳血流は減少し，対側運動関連領域に賦活は限局化していた。1か月間のFES併用のhome exercise後のPETでは，介入前と同様な運動タスクであるにも関わらず，随意運動のみで血流増大領域の限局化がみられた。一方，FES非実施home exercise前後ではこの限局化の反応は明確ではなかった。大腿四頭筋等尺性筋力やBBSでは，FES実施home exercise期間でもFES非実施home exercise期間でも増加する傾向を認めたが，各期間で明らかな違いは認められなかった。【考察】随意運動のみと比較して電気刺激を併用することにより即時的に感覚野まで賦活範囲が拡大しており，電気刺激を併用することで感覚入力が増大していることが考えられた。1か月間FESを用いたhome exerciseを実施することで，FESを実施しない時期と比較して明らかな身体機能の変化は見られなかったが，PET画像では随意運動のみで賦活する範囲が限局化していた。これは，限局化した脳活動で同一のタスクが行えるよう変化していることを示唆しているのではないかと推測された。【理学療法学研究としての意義】脳卒中ガイドラインでFESは推奨されているものの，実際の臨床で広く使用されているとは言い難い。その理由としてFESがもたらす効果が十分解明されていないことが考えられる。本研究では，慢性期脳梗塞症例においてもFESを用いたhome exerciseによって短期的に脳賦活パターンに変化が生じたことが示され，理学療法研究として意義が大きいと考えられる。, 公益社団法人 日本理学療法士協会, 2015, 理学療法学Supplement, 2014, 0, Japanese, 130005248222 - Brain machine interfaces using electrocorticograms: development towards clinical application
HIRATA MASAYUKI; Suzuki Takafumi; Yokoi Hiroshi; Yanagisawa Takufumi; Sugata Hisato; Matsushita Kojiro; Shayne Morris; Ando Hiroshi; Morishita Soichiro; Seki Tatsuya; Fukuma Ryohei
Brain machine interfaces (BMIs) using intracranial electroencephalograms (electrocorticograms) are a promising candidate of the clinical application of high performance BMIs. We demonstrated that high frequency band activity is an excellent feature to decode movement onset and type, independent of the severity of motor dysfunction. Using the decoding features, real time control of a robotic arm was successfully performed by the patients that brain surface electrodes were placed to treat intractable epilepsy or intractable pain. We started a clinical trial in severe ALS patients using a wired BMI system involving the temporary placement of newly-developed personalized electrodes. A fully implantable wireless system is indispensable for clinical application of invasive BMIs to reduce infection risk. We are now developing the implantable system, which includes a 128-ch integrated amplifier circuit, 3D personalized high density electrodes, a wireless data transfer system and a wireless battery charger. We aim to put the implantable system to clinical use as soon as possible., Japanese Society for Medical and Biological Engineering, 2015, Transactions of Japanese Society for Medical and Biological Engineering, 53, 0, S145_02-S145_02, Japanese, 130005163770 - K15100 Functional Recovery induced by Phantom Sensation using Mutual Adaptable Biofeedback : Adaptable EMG Prosthetic Hand and Electric Stimulator
Yokoi Hiroshi
This work reports on a biomedical robotic approach for neuroprosthesis based on body image adjustment. A novel concept of functional recovery of motion based on biofeedback to connect the intentions of motion and the sensory input has attracted considerable attention. This study describes adaptable EMG prosthetic hand experiments that show that the sensory motor cortex indicates the human intentions of motion through synchronized proprioceptive sensor inputs. This illusion induces strange activities in the sensory motor area according to the synchronous biofeedback of interference-driven electrical stimulation. The proposed device can be applied for the rehabilitation of paralysis due to stroke; it has functions for changing the stimulation parameters and controlling many channels in order to adapt to various types of paralysis and to support complex movements such as grasping, standing, and walking., The Japan Society of Mechanical Engineers, 07 Sep. 2014, Mechanical Engineering Congress, Japan, 2014, "K15100-1"-"K15100-5", Japanese, 110009944169, AA12588255 - リアルタイム脳磁計による神経義手を用いた求心路遮断性疼痛の病態解明
柳澤 琢史; 福間 良平; 清水 豪士; 加藤 龍; 關 達也; 横井 浩史; 神谷 之康; 吉峰 俊樹; 齋藤 洋一
日本疼痛学会, Jun. 2014, PAIN RESEARCH, 29, 2, 131-131, Japanese, 0915-8588, 2014361090 - 1ヵ月間の集中的な機能的電気刺激療法前後の運動機能と脳機能画像の変化 症例報告
久保田 雅史; 神澤 朋子; 五十嵐 千秋; 山村 修; 嶋田 誠一郎; 松尾 英明; 成瀬 廣亮; 岡沢 秀彦; 加藤 龍; 横井 浩史; 馬場 久敏
(公社)日本理学療法士協会, May 2014, 理学療法学, 41, 大会特別号2, 0914-0914, Japanese, 0289-3770, 2014332677 - ブレイン・マシン・インターフェースへの新展開 MEGでここまでできる リアルタイムMEGを用いた中枢性疼痛の病態解明と新たなニューロモジュレーション
柳澤 琢史; 福間 良平; 清水 豪士; 加藤 龍; 關 達也; 平田 雅之; 横井 浩史; 神谷 之康; 吉峰 俊樹; 齋藤 洋一
日本生体磁気学会, May 2014, 日本生体磁気学会誌, 27, 1, 10-11, Japanese, 0915-0374, 2014350891 - サル硬膜下電位からのリーチングタスクの状態判別率向上を目指した次元圧縮法
坂井郁也; 森下壮一郎; 西村幸男; 渡辺秀典; 加藤龍; 梅田達也; 伊佐正; 横井浩史
2014, 自律分散システム・シンポジウム(CD-ROM), 26th, 201402267796011368 - 上腕電動義手のブレイン-マシン・インタフェース制御のための周期的運動中のサル硬膜下電位からの筋電位推定
森下壮一郎; 佐藤圭太; 渡辺秀典; 西村幸男; 加藤龍; 中村達弘; 伊佐正; 横井浩史; 横井浩史
2014, 計測自動制御学会システム・情報部門学術講演会講演論文集(CD-ROM), 2014, 201502249548263660 - J151034 Development of coupled tendon driven thumb mechanism for myoelectric hand achieves various grasping form
TAKAZAWA Shunsuke; TANAKA Keita; SEKI Tatsuya; MOCHIZUKI Daijiro; NAKAMURA Tatsuhiro; KATO Ryu; YOKOI Hiroshi
Myoelectric hand is required that enabling user to achieve various kinds of Activities of Daily Living (ADL). Above all, grasping behavior which accounts for 85 percent of ADL is necessary to achieve first. In grasping behavior, human controls the five fingers dexterously. In the five fingers' movements, the most important movements are opposition-apposition and adduction-abduction of thumb for grasping behavior. Therefore it is necessary that myoelectric hand has the two movements of thumb. Actually, there are some myoelectric hands which are being marketed. But these are so heavy that wearing those hands are a burden to users. To solve that problem, myoelectric hands used tendon driven which enable to make hands light have been being developed now. But, previous thumb mechanism is short for range of motion and torque. So it does not achieve enough kinds of grasping behavior. In this study, we developed a coupled-tendon driven thumb mechanism which can do opposition-apposition and adduction-abduction. This mechanism does opposition-apposition by using cylindrical guide set on opposition axis to enable to balance two wires. And this one dose adduction-abduction and flexion-extension by towing three links set on the link which moves around opposition axis perpendicularly from palp of hand. A prototype confirmed that proposal mechanism is enough to light to use as myoelectric hand and has range of motion the same as human. Moreover, prototype confirmed that it has more torque of adduction up to 670% than previous mechanism and achieves grasping behavior used in daily living., The Japan Society of Mechanical Engineers, 08 Sep. 2013, Mechanical Engineering Congress, Japan, 2013, "J151034-1"-"J151034-4", Japanese, 110009935444, AA12588255 - J151024 Decision technique of the most suitable placement of the stimulation electrode for limbs control using surface electrical stimulation : Design of a pulse select circuit selecting the most suitable electrodes from many electrodes
SATO Yuki; SUZUKI Minako; KATO Ryu; YOKOI Hiroshi
Precise motor point stimulation is needed for efficient functional electrical stimulation (FES) because the stimulation of the motor point makes the muscle to contract the most. However physical therapists have difficulties of determining the position of motor point, because the position of motor point is different about 20% of muscle length among individuals. Therefore the purpose of this paper is to develop the automated FES electrodes positioning system which can stimulate the motor point precisely. This research deals with this purpose by developing the pulse select circuit, which can allocate FES stimuli to the multiple arbitrary electrodes. Therefore this circuit can search the most efficient pattern of electrodes positions by selecting stimulating electrodes in various patterns. Thus developed circuit can change position and area of stimulation at once: a wide variety of muscles are applicable. Moreover, developed circuit can be applied to other bio-instrumentation system which searches the best stimulation position. The developed pulse select circuit consists of a microcomputer, demultiplexers and photo-MOS relays, and it can select one arbitrary FES output line out of four output lines, and assign the selected output line to multiple arbitrary electrodes., The Japan Society of Mechanical Engineers, 08 Sep. 2013, Mechanical Engineering Congress, Japan, 2013, "J151024-1"-"J151024-5", Japanese, 110009935438, AA12588255 - 学習型筋電ハンドの製作
中村達弘; 加藤龍; 森下壮一郎; 横井浩史
01 Jul. 2013, インターフェース/コンピュータ・サイエンス＆テクノロジ専門誌, 第39, 第7, 62-73, Japanese, Peer-reviwed, Introduction other - SY21 Mutually Adaptable EMG Prosthetic Hand for congenital hand defect
Yokoi Hiroshi
The Japan Society of Mechanical Engineers, 08 Jan. 2013, バイオエンジニアリング講演会講演論文集, 2013, 25, 27-28, Japanese, 110009919889, AA11903175 - 等電位面を用いた筋電計からの電気刺激ノイズ抑制手法
粕谷昌宏; 関雅俊; 川村和也; 小林洋; 藤江正克; 横井浩史
17 Sep. 2012, 日本ロボット学会学術講演会予稿集(CD-ROM), 30th, ROMBUNNO.4C2-2, Japanese, 201202239628596379 - J241021 Somatoseonsory feedback of prosthetic hand by multi vibrator array
MOCHIZUKI Daijiro; NAKAMURA Tatsuhiro; KATO Ryu; YOKOI Hiroshi
The sensory feedback technology of hand posture and gripping force of myoelectric hand prosthesis gives useful information for operations of activities of daily life However, the conventional studies mainly have dealt with only in the tactile feedback, and ignored importance of deep sensation on motor control In this paper, authors focused on feedback of deep sensation related to the finger motion of myoelectric hand prosthesis, and developed deep sensation feedback system using vibrator array affixed to the skin surface of forearm This system is designed as modulating various vibration patterns according to finger angle of robot hand In order to investigate the effectiveness of this system, two kinds of experiments related to identification of hand postures are conducted with injured and healthy persons As a result, six simple postures of robot hand were identified with the probability of more than 70% using proposed feedback system, The Japan Society of Mechanical Engineers, 09 Sep. 2012, Mechanical Engineering Congress, Japan, 2012, "J241021-1"-"J241021-3", Japanese, 110009995073, AA12588255 - 麻痺患者における感覚運動野皮質脳波の変化とBMIへの応用
柳澤 琢史; 平田 雅之; 齋藤 洋一; 貴島 晴彦; 後藤 哲; 福間 良平; 横井 浩史; 神谷 之康; 吉峰 俊樹
【目的】BMIは麻痺患者に対する機能代替だけでなく、脳卒中などによる脳損傷後の機能回復にも有用である事が指摘されている。しかし、脳損傷に伴って皮質活動がどのように変化するか、また、変性した脳信号を用いてBMIが可能であるかは明らかでない。我々は感覚運動野より運動課題施行時の皮質脳波を計測し、麻痺による皮質脳波の変化を定量的に検討し、BMIへの適応可能性を評価した。【方法】当科にて感覚運動野へ硬膜下電極を留置した患者12名(麻痺のないてんかん:5、脳卒中後不全麻痺:4、腕神経叢引き抜き損傷や切断肢による完全麻痺:3)を対象とした。患者が音に合わせて握手及び肘屈曲を行う際の皮質脳波を計測し解析した。完全麻痺患者では運動のイメージを行った。皮質脳波の麻痺による変化を周波数解析及びデコード解析で定量的に検討した。また、脳卒中後不全麻痺患者に皮質脳波BMIを適応し、脳信号だけで義手を制御できるか否かを実際に検証した。【結果】麻痺によらず、皮質脳波のγ帯域(80-150Hz)振幅は各運動に特異的な分布を示した。しかし、麻痺が強い程、2つの運動時の活動分布は相関が高くなる傾向があった(p<0.05、ANOVA)。一方、運動1回毎のγの分布を機械学習する事で、全ての患者で皮質脳波だけから有意に運動種類を推定できた。しかし、麻痺が強い程、運動推定精度は有意に低下した(p<0.05、ANOVA)。最後に、皮質脳波BMIを用いて脳卒中後患者が義手を動かし、物を握り、移動させる事に成功した。【結論】麻痺によらず皮質脳波のγ帯域に運動情報が含まれ、運動種類を推定可能であり、実際に義手制御可能である事が示された。しかし、麻痺が重度となると、異なる運動での皮質活動が重なりあい、BMIに適さない信号となる事が明らかになった。今後、皮質活動の再構築を促す事もBMIによる機能回復には必要となると考える。(著者抄録), 認知神経科学会, Mar. 2012, 認知神経科学, 13, 3, 255-260, Japanese, 1344-4298, 2012220742 - A study for the change of anonymous nature of data from individuals with development of information processing techniques
MORISHITA Soichiro; YOKOI Hiroshi
With the improvement of information processing technology, the data which were not considered to be personal data come to have a property as information on individuals. Specifically, they are the data derived from the living bodies such as base sequence of DNA or brain waves, tracking data of mobile terminals, and so on. According to the guideline of Japan's government, the anonymized data - the data removed the information that can distinguish an individual - are not seen as personal information. On the other hand, studies such as bioinformatics or the life log analysis by using data mining are being promoted, and they improve success. Because I am too enormous, and these are complicated, interpretation finds a meaning from difficult data conventionally. They find meanings from too enormous and complicated data to interpret, the development may allow personal identification from anonymized data sometime soon. For this background, in this paper, we survey current personal information protection measures and anonymity techniques. Then we discuss conceivable problems and the measures for them., The Institute of Electronics, Information and Communication Engineers, 17 Dec. 2011, IEICE technical report. Social Implications of Technology and Information Ethics, 111, 363, 25-28, Japanese, 0913-5685, 110009466345, AA11651731 - Degeneration of ECoG signals in sensorlmotor cortex of paralyzed patients
YANAGISAWA Takufumi; HIRATA Masayuki; SAITOH Youichi; KISHIMA Haruhiko; GOTO Tetsu; FUKUMA Ryohei; YOKOI Hiroshi; KAMITANI Yukiyasu; YOSHIMINE Toshiki
15 Dec. 2011, Functional neurosurgery : proceedings of the annual meeting of the Japan Society for Stereotactic and Functional Neurosurgery, 50, 2, 124-128, Japanese, 1344-9699, 10031136830 - A study for the change of anonymous nature of data from individuals with development of information processing techniques
森下 壮一郎; 横井 浩史
情報処理技術の向上に伴って，従来は個人情報とは見なされなかったデータが個人情報としての性質を帯びるようになる．具体的には，DNA の塩基配列や脳波などの生体由来のデータや，ID タグのトラッキングなどによる行動履歴データである．政府の指針によれば，個人を識別できる情報を取り除く処理，すなわち匿名化が施されたデータは個人情報とは見なされない．一方でデータマイニングによるバイオインフォマティクスやライフログ解析などの研究が進められており，それぞれ成果が上がっている．これらは，あまりに膨大で複雑であるために従来は解釈が困難であったデータから意味を見出すものである．その発展により，ゆくゆくは匿名化が施されたデータでもいずれ個人同定が可能になりかねない．以上の背景を元に本稿では，現状の個人情報保護施策および匿名化の手法について概観し，考え得る問題点とその対策について考察する．With the improvement of information processing technology, the data which were not considered to be personal data come to have a property as information on individuals. Specifically, they are the data derived from the living bodies such as base sequence of DNA or brain waves, tracking data of mobile terminals, and so on. According to the guideline of Japan's government, the anonymized data — the data removed the information that can distinguish an individual — are not seen as personal information. On the other hand, studies such as bioinformatics or the life log analysis by using data mining are being promoted, and they improve success. Because I am too enormous, and these are complicated, interpretation finds a meaning from difficult data conventionally. They find meanings from too enormous and complicated data to interpret. the development may allow personal identification from anonymized data sometime soon. For this background, in this paper, we survey current personal information protection measures and anonymity techniques. Then we discuss conceivable problems and the measures for them., 10 Dec. 2011, 研究報告コンピュータと教育（CE）, 2011, 6, 1-4, Japanese, 110008713575, AN10096193 - 急性期脳卒中患者における歩行中機能的電気刺激治療が内側感覚運動皮質活動に与える影響 近赤外線分光法(NIRS)を用いた検討
久保田 雅史; 山村 修; 横井 浩史; 松尾 英明; 嶋田 誠一郎; 北出 一平; 亀井 健太; 野々山 忠芳; 鯉江 祐介; 成瀬 廣亮; 内田 研造; 馬場 久敏
東海北陸ブロック理学療法士協議会, Oct. 2011, 東海北陸理学療法学術大会誌, 27回, O-060, Japanese, 1348-7493, 2014225771 - ここまで進んだ日本のブレイン・マシン・インタフェース(BMI)研究 皮質脳波を用いたワイヤレス埋込型ブレイン・マシン・インタフェースによる運動・言語機能再建
平田 雅之; 柳澤 琢史; 後藤 哲; 松下 光次郎; 齋藤 洋一; 貴島 晴彦; 影山 悠; モリス・シェイン; 鈴木 隆文; 横井 浩史; 吉田 毅; 佐藤 文博; 澤田 甚一; 佐倉 統; 神谷 之康; 吉峰 俊樹
(一社)日本臨床神経生理学会, Oct. 2011, 臨床神経生理学, 39, 5, 339-339, Japanese, 1345-7101, 2012038756 - A Cognitive Bias Model to Assess the Social Receptivity of Automatic Systems : Case Studies and a Qualitative Explanation
MORISHITA Soichiro; YOKOI Hiroshi
Authors have discussed foreseeability of experts about the malfunction of an automatic machine caused by the event which is out of the coverage of the machine. The expert can make a proper decision based on expertise about the coverage of the automatic machine. On the other hand, non-experts become anxious about the handling of the automatic machine and may underestimate the machine's coverage. When the malfunction that experts cannot foresee occurs under such a situation, the result accords with the forecast by non-experts by chance. Then, the experts are held excessively responsible for the foreseeability. In this paper, we proposed a model which explain this cognitive bias of non-experts. The concept of "unknowable variable" is introduced to the state variables, which express the state of automatic machines. Then we explain that the tentative values are determined by the subjectivity of the person evaluating automatic machines. Moreover, based on the model, we qualitatively show that non-experts are apt to underestimate the coverage of the automatic with a case study approach., The Institute of Electronics, Information and Communication Engineers, 12 May 2011, IEICE technical report, 111, 41, 1-4, Japanese, 0913-5685, 110008725540, AA11651731 - 急性期脳卒中患者における歩行中機能的電気刺激療法の即時効果 三次元動作解析システムを用いた検討
久保田 雅史; 松尾 英明; 山村 修; 横井 浩史; 加藤 龍; 嶋田 誠一郎; 北出 一平; 松村 真裕美; 亀井 健太; 久保田 真弓; 野々山 忠芳; 鯉江 祐介; 成瀬 廣亮; 馬場 久敏
(公社)日本理学療法士協会, Apr. 2011, 理学療法学, 38, Suppl.2, PI2-129, Japanese, 0289-3770, 2011201513 - P2-u06 A study of a method for motion determination of electrical upper arm using state discrimination of activity patterns in cranial nerves of a monkey
Soichiro Morishita; Sato Keita; Daijiro Mochizuki; Tatsuhiro Nakamura; Yukio Nishimura; Hidenori Watanabe; Ryu Kato; Tadashi Isa; Hiroshi Yokoi
ELSEVIER IRELAND LTD, 2011, NEUROSCIENCE RESEARCH, 71, E204-E204, English, Peer-reviwed, Summary international conference, 0168-0102, WOS:000308218101128 - 皮質脳波の生理学的特徴を用いて患者の訓練なく制御できるロボットハンドBMI
柳澤琢史; 平田雅之; 齋藤洋一; 貴島晴彦; 後藤哲; 福間良平; 細見晃一; 横井浩史; 神谷之康; 吉峰俊樹
15 Dec. 2010, 機能的脳神経外科, 49, 2, 161-166, Japanese, 1344-9699, 201102282595247638 - The Internal Security Issues in Automatic Systems Case Studies and a Review from the Viewpoint of Engineering Ethics
MORISHITA Soichiro; YOKOI Hiroshi
When an accident or a malfunction with automatic machines occur, the foreknowledge possibility of the engineer who designed them is often alleged. In general, opinions of experts are taken seriously than opinions of people who do not have expertise. If it is shown with objective evidence that it is unexpected malfunction even for experts, the foreknowledge possibility is denied. The expert can make a proper decision based on expertise about the coverage of the automatic machine. On the other hand, the person who does not have expertise becomes careful about the handling of the automatic machine and may underestimate the coverage. When the malfunction that an expert cannot foresee under such situation occurs, the result accords with the forecast by the person who does not have expertise by chance. Then, the engineers are questioned excessive responsibility. This tendency is in particular remarkable about a computer system. In this paper, the case that a user of the Okazaki City Library was arrested is shown as a case study of this problem. Moreover, with the perspective about a design of the automatic machine and engineering ethics, we discuss it as the internal security issues that authors have considered., The Institute of Electronics, Information and Communication Engineers, 02 Dec. 2010, IEICE technical report, 110, 321, 27-30, Japanese, 0913-5685, 110008675549, AA11651731 - BMI研究の最前線 基礎-臨床、医学-工学の連携 ヒト皮質脳波を用いたBMI臨床応用への統合的アプローチ(Frontier of Brain-machine Interface: Collaboration between Basic and Clinical Neuroscience Integrative BMI approach for functional restoration using human electrocorticograms)
平田 雅之; 柳澤 琢史; 後藤 哲; 松下 光次郎; 鈴木 隆文; 横井 浩史; 佐倉 統; 藤井 直敬; 牛場 潤一; 吉田 毅; 佐藤 文博; 齋藤 洋一; 貴島 晴彦; 神谷 之康; 吉峰 俊樹
日本神経化学会, Aug. 2010, 神経化学, 49, 2-3, 463-463, English, 0037-3796, 2011204299 - リハを支えるテクノロジー最前線 - (4)Brain machine interfaceを利用したロボット
加藤 龍; 横井 浩史
Apr. 2010, Journal of Clinical Rehabilitation, 19, 4, 308-312, Japanese, Introduction other - Development of adaptable sensing feedback for multi-functional prosthetic hand
Hiroshi Yokoi
ELSEVIER IRELAND LTD, 2010, NEUROSCIENCE RESEARCH, 68, E40-E40, English, Summary international conference, 0168-0102, WOS:000208443700184 - Analysis of skill acquisition process for myoelectric hand control
Kahori Kita; Hiroshi Yokoi
ELSEVIER IRELAND LTD, 2010, NEUROSCIENCE RESEARCH, 68, E437-E437, English, Summary international conference, 0168-0102, WOS:000208443703090 - 2C1-5 Brain function analysis on multi-functional myoelectric hand with tactile feedback
KATO Ryu; YOKOI Hiroshi
The Japan Society of Mechanical Engineers, 23 Sep. 2009, The JSME Symposium on Welfare Engineering, 2009, 137-138, Japanese, 110008009577, AA11901522 - 脳信号解読技術を用いた脳機能再建
平田 雅之; 柳澤 琢史; 後藤 哲; 齋藤 洋一; 貴島 晴彦; 福間 良平; 横井 浩史; 鈴木 隆文; 佐倉 統; 神谷 之康; 吉峰 俊樹
(NPO)日本医工学治療学会, Apr. 2009, 医工学治療, 21, Suppl., 99-99, Japanese, 1344-1221, 2009206543 - Selected papers from 9th International Conference on Intelligent Autonomous Systems (ISA-9)
Tamio Arai; Hiroshi Yokoi
ELSEVIER SCIENCE BV, Feb. 2009, ROBOTICS AND AUTONOMOUS SYSTEMS, 57, 2, 121-122, English, Others, 0921-8890, WOS:000263691200001 - EFFECT OF CONDITIONED FEAR ON THE PREFRONTAL DOPAMINE TRANSMISSION DURING EXPLORATION
Masatoshi Takita; Hiroshi Yokoi
SPRINGER TOKYO, 2009, JOURNAL OF PHYSIOLOGICAL SCIENCES, 59, 222-222, English, Summary international conference, 1880-6546, WOS:000271023101404 - ESTIMATION OF RAT LOCOMOTION PROCESS THROUGH MULTIRECORDING OF EPIDURAL POTENTIALS
Kahori Kita; Takeshi Uejima; Toshiyuki Fujii; Masatoshi Takita; Hiroshi Yokoi
SPRINGER TOKYO, 2009, JOURNAL OF PHYSIOLOGICAL SCIENCES, 59, 449-449, English, Summary international conference, 1880-6546, WOS:000271023103137 - 皮質脳波の生理学的特徴を利用したロボット制御用BMIの開発
柳澤琢史; 平田雅之; 齋藤洋一; 貴島晴彦; 後藤哲; 福間良平; 細見晃一; 横井浩史; 神谷之康; 吉峰俊樹
2009, 日本脳神経外科学会総会抄録集(CD-ROM), 68th, ROMBUNNO.3J-O104-02, Japanese, 1347-9040, 201002294319887365 - サイボーグ医療 第8回：サイボーグ義手
横井 浩史; 上嶋 健嗣; 中村 達弘; 北 佳保里; 加藤 龍
Nov. 2008, 計測と制御, 47, 11, 957-966, Japanese, Introduction other - 皮質脳波を用いたBrain-machine interface(BMI)による運動機能再建
柳澤 琢史; 平田 雅之; 齋藤 洋一; 貴島 晴彦; 押野 悟; 後藤 哲; 福間 良平; 細見 晃一; 加藤 天美; 横井 浩史; 神谷 之康; 吉峰 俊樹
(一社)日本脳神経外科学会, Oct. 2008, 日本脳神経外科学会総会CD-ROM抄録集, 67回, 2J-01, Japanese, 1347-9040, 2009109952, 200902268049075035 - Brain-machine interface(BMI)の脳神経外科への応用 皮質脳波を用いたBrain machine interfaceによるリアルタイムロボット制御 現状と今後の展望
平田 雅之; 柳澤 琢史; 後藤 哲; 齋藤 洋一; 福間 良平; 貴島 晴彦; 押野 悟; 細見 晃一; 加藤 天美; 横井 浩史; 鈴木 隆文; 佐倉 統; 神谷 之康; 吉峰 俊樹
(一社)日本脳神経外科学会, Oct. 2008, 日本脳神経外科学会総会CD-ROM抄録集, 67回, 1E-S04, Japanese, 1347-9040, 2009111247 - サイボーグ（BMI/BCI）
横井 浩史
Oct. 2008, 日本ロボット学会誌, 26, 7, 14-15, Japanese, Introduction other - Real time neural decoding for motor control based on the electrocorticograms
HIRATA MASAYUKI; YANAGISAWA TAKUFUMI; GOTO TETSU; SAITO YOICHI; FUKUMA RYOHEI; YOKOI HIROSHI; KAMITANI YUKIYASU; YOSHIMINE TOSHIKI
28 Sep. 2008, 生体・生理工学シンポジウム論文集, 23rd, 45-46, Japanese, 200902281773571571 - 中心溝内皮質脳波を用いたBrain machine interfaceによる運動機能再建
柳澤琢史; 平田雅之; 齋藤洋一; 福間良平; 後藤哲; 加藤天美; 横井浩史; 神谷之康; 吉峰俊樹
24 Sep. 2008, 日本神経回路学会全国大会講演論文集, 18th, 14-15, Japanese, 200902299717667554 - 自律型筋電義手にむけてのアプローチ
北 佳保里; 加藤 龍; 横井 浩史
Jun. 2008, 映像情報メディア学会誌, 62, 6, 832-836, Japanese, Introduction other - 【ブレイン・マシン・インターフェイス】ブレイン・マシン・インターフェイスの臨床応用 皮質脳波を用いた運動機能再建
平田 雅之; 柳澤 琢史; 齋藤 洋一; 後藤 哲; 加藤 天美; 横井 浩史; 神谷 之康; 吉峰 俊樹
皮質脳波はてんかん焦点源同定をはじめとして臨床医学では従来から活用されており、頭皮脳波に比較してSN比・時空間分解能が格段に高いという特徴がある。我々は、この皮質脳波を用いてブレイン・マシン・インターフェイスによる運動機能再建を目指している。本法では皮質脳波から得られる運動内容の空間的・時間的特徴をもとに、Support vector machineという機械学習の手法を用いて運動内容を推定する。また一次運動野の大部分があるとされる中心溝内から皮質脳波を計測することで、高い運動内容推定精度を達成している。これらにより現在リアルタイムにロボットアームをコントロールすることが可能となることが見込まれる。(著者抄録), (株)金芳堂, Apr. 2008, 脳21, 11, 2, 187-192, Japanese, 1344-0128, 2008198266 - サイボーグ医療 第1回：サイボーグの現状と今後
横井 浩史; 千葉 龍介
Apr. 2008, 計測と制御, 47, 4, 351-358, Japanese, Introduction other, 0453-4662, 200902233309530043 - Myoelectric hand using autonomous learning
Kahori Kita; Ryu Kato; Hiroshi Yokoi
Inst. of Image Information and Television Engineers, 2008, Kyokai Joho Imeji Zasshi/Journal of the Institute of Image Information and Television Engineers, 62, 6, 832-836, Japanese, Book review, 1342-6907, 48849085641 - 個性適応機能を有する筋電義手に関する研究
横井浩史; 加藤龍; アレハンドロ・ヘルナンデツ・アリエタ; 新井民夫; 生駒一憲; 宮本環; 牧野均; 伊藤武哉; 大西隆; 兪文偉
(公社)日本義肢装具士協会, Sep. 2007, POアカデミージャーナル, 15, 2, 83-92, Japanese, Peer-reviwed, Introduction other, 0919-8776, 2008082922 - 2A2-F10 Development of Walking Assist Device Exploiting Somatic Reflex of Paralyzed-Leg Patients
YAMAKAWA Akihiro; KATO Ryu; MATSUSHITA Kojiro; YOKOI Hiroshi; ARAI Tamio
Robotics technology nowadays provides tools that can help us overcome several incapacities, as instance, power assisting devices for hemiplegics. In this paper we analyze the difference on the walking of a semi-paralyzed left leg hemiplegic patient with and without assistance provided by a walking assistive device developed at our laboratory. In order to analyze the effects of the assistance, we use electromyography sensors placed on both legs to measure the muscle activation, along with pressure sensors on the feet soles and bending sensors place on the hips and knees joints. Our results show an increase on the walking frequency, as well as, an increment on the muscle activity on the semi-paralyzed leg, against a decrease of muscular activity of the healthy leg. Pressure and bending sensors also show an increase in the legs movement. This results show the beneficial effects of using the assistive device., The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A2-F10(1)"-"2A2-F10(2)", Japanese, 110008695558, AA11902933 - 2A2-C10 A Proposal of EMG-to-Motion Classifier using Self-Organized Clustering
KITA Kahori; KATO Ryu; YOKOI Hiroshi; ARAI Tamio
To discriminate motion using electromyographic (EMG) signals, generally we measure EMG signals and instruct user's desired motion to system directly using a keyboard, and training data is generated. But it's difficult to discriminate motion exactly with this method when the number of motion is increased, because the feature space of each motion's training data will be overlapped. Therefore, in this research, we proposed a method to classify EMG signals using self-organized clustering and create training data. Then, we conducted some experiments of motion discrimination using proposal method., The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A2-C10(1)"-"2A2-C10(2)", Japanese, 110008695522, AA11902933 - 1A2-K09 Development of Walking Assist Machine Using Modular Wire Driven Mechanism
TAKENAKA Shingo; MATSUSHITA Kojiro; YOKOI Hiroshi; ARAI Tamio
In this paper, the walking assist machine for leg paralysis users is proposed. The proposed walking assist machine is designed as a modular package based on wire winding up type pulling mechanism. This modular package allows us to replace it at the any position where we need to be supposed. In the experiment, this modular package installed in the hip part and toe part, and the performance was evaluated. As a result, it was able to be confirmed that a modular package had an alternative function of the bi-articular muscle by flexion of knee joint and ankle joint at same time., The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "1A2-K09(1)"-"1A2-K09(2)", Japanese, 110008695143, AA11902933 - 2A1-M03 A Proposal of Evolutionary Design System Crossing Reality Gap on Locomotion Robot
MATSUSHITA Kojiro; YOKOI Hiroshi; ARAI Tamio
An evolutionary design is suitable to perform optimization of both the morphology and controller of simulated robots for adaptive locomotion. However, the simulated robots do not necessarily achieve in real because the reality gap impedes. Therefore, we purpose to develop an evolutionary design system closing the reality gap by exploit morph-functionality to evaluation of the evolutionary design. Especially, in this paper, we use a three-link locomotion robot to investigate the proposal method., The Japan Society of Mechanical Engineers, 11 May 2007, ロボティクス・メカトロニクス講演会講演概要集, 2007, "2A1-M03(1)"-"2A1-M03(3)", Japanese, 110008695464, AA11902933 - Cerebral reorganization by adaptable robot hand
Hiroshi Yokoi; Ryu Katoh; Alejandro Arieta Hernandez; Tamaki Miyamoto; Katsunori Ikoma; Takashi Onishi; Wenwei Yu; Tamio Arai
ELSEVIER IRELAND LTD, 2007, NEUROSCIENCE RESEARCH, 58, S29-S29, English, Summary international conference, 0168-0102, WOS:000249272800169 - Development of Walking Assist Machine : Adaptive Mechanism and Controller for Walking Characteristics of Users
TAKENAKA Shingo; MATSUSHITA Kojiro; YOKOI Hiroshi; ARAI Tamio
The Japan Society of Mechanical Engineers, 25 Sep. 2006, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 16, 319-320, Japanese, 110006638129, AA1190206X - Development of Walking Assist Device : Adaptive Recognition of Individual Walking States for Patients with Leg Paralysis
YAMAKAWA Akihiro; KATO Ryu; MATSUSHITA Kojiro; YOKOI Hiroshi; ARAI Tamio
The Japan Society of Mechanical Engineers, 25 Sep. 2006, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 16, 321-322, Japanese, 110006638130, AA1190206X - Women in Robotics towards Human Science, Technology and Society at IAS-9
大武美保子; 本間敬子; 横井浩史; 淺間一; 新井民夫
Jul. 2006, 日本ロボット学会誌, 24, 5, 564-569, Japanese, Peer-reviwed, Introduction other - 2P2-A18 Co-adaptation system between human and machine in welfare robotics : Development of adaptive EMG prosthetic hand
KATO Ryu; MATSUMOTO Fumihiko; YOKOI Hiroshi; ARAI Tamio; OHNISHI Takashi
In the case of applying the learning ability to the rehabilitation robot, we should take into account learning ability of user (human). In this paper, we developed a prosthetic hand with an interference driven finger and wrist to grasp the object stably, and a EMG-to-motion classifier using on-line learning method to adjust to the change in human's characteristics at time. Moreover, we conducted experiments to discriminate eight forearm motions, with the results, a stable and highly effective discrimination rate was achieved and maintained even when changes occurred in the mapping. Lastly, we analyzed mutual adaptation between human and adaptable prosthetic hand using ability test and f-MRI, and clarified each adaptation process., The Japan Society of Mechanical Engineers, 2006, ロボティクス・メカトロニクス講演会講演概要集, 2006, "2P2-A18(1)"-"2P2-A18(4)", Japanese, 110008694272, AA11902933 - 1A1-D08 Dynamically Stable Locomotion Acquired by Coupled Evolution of Morphology and Controller of Biped Robot
Matsushita Kojiro; Yokoi Hiroshi; ARAI Tamio
In this paper, we investigated the morphology and controller of biped robots. We viewed them as design components that together can induce dynamically stable bipedal locomotion. We conducted coupled evolution of the morphology and controller of a biped robot, which consists of nine links and eight joints, and is actuated by oscillators without sensor feedback in three-dimensional simulation. As results, both pseudo-passive dynamic walkers and active-control walkers emerged, but the pseudo-passive dynamic walkers showed more dynamic stability than active-control walkers. This is because compliant components in morphology function as noise filters and passive oscillators. Finally, we have concluded that appropriate compliance is a key to achieving dynamical stability during locomotion., The Japan Society of Mechanical Engineers, 2006, ロボティクス・メカトロニクス講演会講演概要集, 2006, "1A1-D08(1)"-"1A1-D08(3)", Japanese, 110008693675, AA11902933 - 2A1-B35 Understanding Morpho-functionality by Building Robot : Robot Design using Plastic Bottles
Matsushita Kojiro; Yokoi Hiroshi; ARAI Tamio
In this paper, we introduce edutainment course, which students design both robot structure and control architecture. The unique characteristic of this course is that robots are built with plastic bottles and RC servo motors connecting with glues. Thus, we have overcome technical difficulties and, then, realized economizing machining time and easy assembling. Therefore, we teach not only control program but also structural design. As results of the edutainment course, students have designed variety of locomotive robots., The Japan Society of Mechanical Engineers, 2006, ロボティクス・メカトロニクス講演会講演概要集, 2006, "2A1-B35(1)"-"2A1-B35(4)", Japanese, 110008693978, AA11902933 - 2P1-B18 Experiment of slope climbing of variable inclination angle for quasi-passive walking robot
TAKARADA Keitaro; AKIMOTO Toshinari; MATSUMOTO Akihiro; YOKOI Hiroshi; ARAI Tamio
We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed it can climb up a slope in a certain condition from some experiments so far. We tried to use this walking robot for different slope inclination angle. First, we discussed the strategy of climbing up slope of variable inclination angle. We verified through presumption and experiments that the simplest way is to change the ankle angle depending on the slope inclination angle. Next, we verified the validity of the strategy by experiments of different slope inclination angle. Finally, we discussed on the treatment of contiguous/noncontiguous change of inclination angle with some experimental results., The Japan Society of Mechanical Engineers, 2006, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2006, 0, _2P1-B18_1-_2P1-B18_3, Japanese, 110008694138 - 2P1-S-045 Slope-climbing experiments of quasi-passive walking robot(Walking Robot 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
Takarada Keitaro; Akimoto Toshinari; Matsumoto Akihiro; Matsushita Kojiro; Yokoi Hiroshi; Arai Tamio
The Japan Society of Mechanical Engineers, 2005, The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec), 2005, 0, 215-215, Japanese, 110006210654 - 416 Slope climbing conditions of quasi-passive walking robot with swinging torso
Takarada Keitaro; Akimoto Toshinari; Matsumoto Akihiro; Matsushita Kojiro; Yokoi Hiroshi; Arai Tamio
我々は,股関節にアクチュエータのない歩行ロボットの上半身をモーターによって左右に振ることで前進歩行するような上半身駆動型準受動歩行ロボットはついて研究している.この準受動歩行ロボットを使って登坂歩行の実験に成功した.この際,斜面の傾斜角に応じて足首の角度を変えることによって登坂する.このロボットの登坂歩行において登坂条件について考察し,実験によって確認したので報告する., 日本機械学会関東支部, 2005, 埼玉ブロック大会(講演会)講演論文集, 2005, 1, 87-88, Japanese, 110006214272, AA12113972 - 進化・学習とロボティクス
横井浩史
Aug. 2004, 日本機械学会誌, 107, 1029, 70, Japanese, Peer-reviwed, Introduction other - Development of a spacial information indicator by using FES : A study on relationship between spacial distance, stimulus intensity and human response
Tokita E; Yokoi H; Kakazu Y
The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 141-141, Japanese, 110004069916, AA11902933 - A study for control of a wearable power assist system : Recognition of human motions utilizing artificial neural networks
Kawai S; Naruse K; Yokoi H; Kakazu Y
The Japan Society of Mechanical Engineers, 18 Jun. 2004, ロボティクス・メカトロニクス講演会講演概要集, 2004, 142-142, Japanese, 110004069922, AA11902933 - Using Electromyogram to Analyze Skill Acquiring Patterns in Reaching Tasks(Sensing and Data Fusion,Session: MA1-A)
Kita Kahori; Katoh Ryu; Yu Wenwei; Yokoi Hiroshi; Kakazu Yukinori
The Japan Society of Mechanical Engineers, 2004, The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2004, 0, 20-20, English, 1348-8961, 110004301639, AA1208830X - The effect of Pitch Accenting om Japanese Text-to-Speech Understanding(Cyber Net Robot 2,Session: TP1-D)
Yu Wenwei; Arai Takahiro; Yokoi Hiroshi; Kakazu Yukinori
The Japan Society of Mechanical Engineers, 2004, The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2004, 0, 49-49, English, 1348-8961, 110004301728, AA1208830X - A study of feature detection from blurred image
Kawaoto S; Yokoi H; Kakazu Y
The Japan Society of Mechanical Engineers, 2004, 日本機械学会ロボティクス メカトロニクス講演会'04講演論文集, 142-143, Japanese, 110004069924, AA11902933 - Analysis on Relation between Pet Robot Motion and its Impression using Statistical Method
Saito M.; Yu W.; Naruse K.; Yokoi H.; Kakazu Y.
ペットロボットであるAIBOの動作の特徴とその動作が与える印象との関連性について, 質問紙法による調査を行い, その調査結果を統計的な手法を用いて分析する。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 135-135, Japanese, 110002506657, AA11902933 - Modelling Skill Acquiring Process using Electomyogram Analysis : A case study of arm reaching task
Kita K.; Yu W.; Katoh R.; Yokoi H.; Kakazu Y.
本研究では, 人間の運動時に計測される表面筋電位を用いてその運動習熟過程のモデル化を試みる。そのため運動の一例として上肢到達運動を取り上げ, 検証実験によりその習熟過程の解析を行う。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 135-135, Japanese, 110002506662, AA11902933 - Adaptive Control in a Two Agent Game using Genetic Algorithms
Kawachi Y.; Yu W.; Ishioka T.; Yokoi H.; Kakazu Y.
動的環境問題の一つである2エージェントゲーム(Cat-and-Mouse Task)において, 遺伝的アルゴリズムを用いた適応的手法の有効性を示し, 異なる手法との比較・検討を行う。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 135-135, Japanese, 110002506660, AA11902933 - Acquisition of Learning Ability Based on Modification of Relationship Between System Elements
Ishioka T.; Yu W.; Yokoi H.; Kakazu Y.
他との相互作用の強さを自律的に変更することが可能な要素により構成したシステムは, 要素の挙動を固定してもシステム全体としては動的に適応可能であり, 学習問題を解き得ることを示す。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 135-135, Japanese, 110002506659, AA11902933 - 2P2-3F-A7 Prosthetic hand control with tactile sensory feedback
Hernandez Arieta Alejandro; Katoh R.; Yu W.; Yokoi H.; Kakazu Y.
In the present research, we look for a proper tactile feedback souree for a prosthetic hand controller. We decided to use a conductive pressure-sensitive silicon gum sheet as the presure-voltage transducer which allows us to monitor the subtle pressure variation between the fingers and the objects in a soft object grasping taks., The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 136-136, English, 110002506663, AA11902933 - Group Formation of Agents with 2-dimensional State and Subjective Evaluation
Naruse K.; Yokoi H.; Kakazu Y.
本研究では, 仮想空間に構築したエージェントからなる人工社会において, エージェントが好悪の感情のような主観的評価に基づく2者関係によって相互作用を行うネットワークを構築し, その性質を解明することを目的とする。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 135-135, Japanese, 110002506658, AA11902933 - A Study on Development of the Autonomous Snowplow with Remote Control
Sato T.; Makino T.; Naruse K.; Yokoi H.; Kakazu Y.
本研究では, 自律的に除雪作業を行うことができる除雪機の開発を目的としている。本報告では, 除雪機の遠隔操作を中間目的に設定し, その実現可能性を検討した。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 109-109, Japanese, 110002506513, AA11902933 - Control of Mob System using by Learning Classifier with Adaptive Reward System
Kinoshita M.; Kawakami T.; Yokoi H.; Kakazu Y.
ラーニングクラシファイアシステムによる群ロボットの行動制御を目的とする。クラシファイアシステムでは報酬系の作り方が適用問題におけるタスクの達成に大きく影響する。本研究では適応的に報酬系を切替え, 郡ロボットの目標を達成する。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 109-109, Japanese, 110002506515, AA11902933 - An Analysis of Human Motion for Control of a Wearable Power Assisting System
Kawai S.; Naruse K.; Yokoi H.; Kakazu Y.
介助動作の補助を目的とした, 装着型腰部パワーアシスト装置を装着した際の動作を解析し, 非装着時の動作と比較することで, 自然な持ち上げ動作となるような装置のアシストについて検討する。, The Japan Society of Mechanical Engineers, 2003, ロボティクス・メカトロニクス講演会講演概要集, 2003, 82-82, Japanese, 110002506354, AA11902933 - Analysis of Influence Factors to Individual Characteristics in Constructing Intelligent Assisting Device : Influence of Muscular Force Change on EMG-to-Motion Classifier
KATO Ryu; YU Wenwei; YOKOI Hiroshi; KAKAZU Yukinori
Learning of bio-signal-to-motion classifiers would be influenced by the factors like muscular forces and postures of the motion-related body part. In this paper, we analyzed the influence of muscular force on individual characteristics (that is means map relation between a signal and discriminating motion) using a bio-signal information criterion, which is based on the concept of conditional information entropy. This criterion was possible to reflect more correctly the degree of complexity between clusters formed by bio-signal data compared with other criterion like DB measure and KL information criterion. An experiment on forearm motion discrimination under five muscular force levels (based on 10,20,30,50,70%MVC) was conducted to verify the influence. Results indicated that change in muscular force influences individual characteristics. In the case of muscular force with 10,50%MVC, it was found through evaluation by entropy that muscular force is not enough, since information for discriminating motion was less. Consequently, we concluded that the muscular force with 20 or 30%MVC was suitable, and it was important to feed back their muscular force level to user in order to abolish individual variation., The Japan Society of Mechanical Engineers, 14 Nov. 2002, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 12, 361-364, Japanese, 110002496714, AA1190206X - Movement Control of Erastic Network Robot
FUJII Masaru; YOKOI Hiroshi; KAKAZU Yukinori
This paper describes the research on movement control of an elastic network. An elastic network is a robot which has arranged the spring of a shape memory alloy (SMA) in the shape of a network in the shape of a lattice. reinforcement learning is used for control of movement in this research. reinforcement learning of a discrete value, and continuous value reinforcement learning is compared and each feature is clarified. As a result, although based also on the degree of a sampling, although re-learning is quick, optimal movement control cannot be performed in reinforcement learning of a discrete value. However, in reinforcement learning of a continuous value, although it was easy to obtain the optimal solution compared with reinforcement learning of a discrete value, it turns out that re-learning is late, The Japan Society of Mechanical Engineers, 14 Nov. 2002, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 12, 339-342, Japanese, 110002496697, AA1190206X - Evolutionary acquisition of behavior using a robot model based on spring-mass system
UEHARA Kazutoshi; YOKOI Hiroshi; KAKAZU Yukinori
In research of evolutionary robotics, the issue about the relation between morphology and behavior is seldom progressing. In this paper, as a basis of this research, a series of experiments which investigates the characteristics of evolution in behavior are made. Genetic algorithms (GA) are run with different designs of chromosomes and fitness functions. From the results, it is observed that individuals which move with various patterns of behavior are emerged according to the settings of GA. This observation suggests that the design of the fitness function is important to generate well-ordered behavior., The Japan Society of Mechanical Engineers, 14 Nov. 2002, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 12, 321-324, Japanese, 110002496680, AA1190206X - Design and Analysis of Endoskeleton-type Wearable Power Assist Device
NARUSE Keitaro; YOKOI Hiroshi; KAKAZU Yukinori
The objective of this paper is to develop a wearable power assist device for muscle support in daily life, which should be compact and light weight. For realizing such a device, we propose a mechanical device with no rigid frame, instead utilizing a body structure of an individual, which is called an endoskelton-type wearable power assist device. We propose the principle of the endoskelton-type device, and then we examine the effect of the device and the burden to the individual's L5/S1 disc. Following the discussion, we develop the device and verify the effectiveness., The Japan Society of Mechanical Engineers, 14 Nov. 2002, FAN Symposium : Intelligent System Symposium-fuzzy, AI, neural network applications technologies, 12, 43-44, Japanese, 110002496486, AA1190206X - 外骨格式装置型腰部パワーアシスト機構の開発
成瀬 継太郎; 横井 浩史; 嘉数 侑昇
01 Oct. 2002, 精密工学会大会学術講演会講演論文集, 2002, 2, 276-276, Japanese, 10009984492, AN1018673X - DPGを用いた群ロボット制御系 : 場での相互作用における自己組織化モデル
高橋 伸幸; 横井 浩史; 嘉数 侑昇
01 Oct. 2002, 精密工学会大会学術講演会講演論文集, 2002, 2, 274-274, Japanese, 10009984484, AN1018673X - Development of Low-invasive Measurement System for Prosthetic Control : SOM Classification of Rat Motor and Sensory Patterns
KAWASHIMA Takahiro; OIKAWA Masahiro; YOKOI Hiroshi; TAKITA Masatoshi; KAKAZU Yukinori
09 Sep. 2002, 生体・生理工学シンポジウム論文集, 17, 351-352, Japanese, 10016389401, AN10442953 - A Novel Learning Method for Electromyographic Prosthetic Hand
YU Wenwei; YOKOI Hiroshi; KAKAZU Yukinori
09 Sep. 2002, 生体・生理工学シンポジウム論文集, 17, 39-42, Japanese, 10016388714, AN10442953 - 振動引き込みモデルを用いた群ロボット制御系による障害物回避問題
高橋 伸幸; 横井 浩史; 嘉数 侑昇
01 Mar. 2002, 精密工学会大会学術講演会講演論文集, 2002, 1, 160-160, Japanese, 10008499965, AN1018673X - 脳の領野間の双方向結合に着目した学習モデルに関する研究
堀内 誠致; 兪 文偉; 横井 浩史; 嘉数 侑昇
01 Mar. 2002, 精密工学会大会学術講演会講演論文集, 2002, 1, 157-157, Japanese, 10008499949, AN1018673X - Vision Feedback System for Control of Morphogenesis Machine
IIDA Takayuki; ISHIDA Takashi; YOKOI Hiroshi; KAKAZU Yukinori
25 Jan. 2002, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 14, 257-260, Japanese, 10016387751, AA11461532 - Autonomous robots control by an asynchronous distributed system
FUJII Masaru; NAGAI Takashi; YOKOI Hiroshi; KAKAZU Yukinori
25 Jan. 2002, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 14, 239-243, Japanese, 10016387737, AA11461532 - A Study on Differentiate Behavior Acquired by Distributed Autonomous Robot
ISHIOKA Takuya; IIJIMA Daisuke; YU Wenwei; YOKOI Hiroshi; KAKAZU Yukinori
25 Jan. 2002, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 14, 47-51, Japanese, 10016387459, AA11461532 - Analysis of individual characteristics on forearm motions using biomedical information evaluation
KATOH Ryu; YU Wenwei; NARUSE Keitaro; YOKOI Hiroshi; KAKAZU Yukinori
25 Jan. 2002, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 14, 149-152, Japanese, 10016387596, AA11461532 - Investigation of vision feedback system for morphogenesis machine
Iida T.; Ishida T.; Yokoi H.; Kakazu Y.
形態形成機械 (Morphogenesis Machine) は, 電磁流体力学 (Magnetohydrodynamics, MHD) の理論に基づき, 構造材的に自由度の高い流体金属滴を駆動や形態形成させる機能を持つ。本稿では, Morphogenesis Machine構築のために必要な, 流体金属滴の次時刻の振る舞いを制御するVision Feedback Systemについて述べ, 異なるフィードバックにより発生する流体金属滴への制御性の違いを検証し, 本システムの可能性を考察する。, The Japan Society of Mechanical Engineers, 2002, ロボティクス・メカトロニクス講演会講演概要集, 2002, 53-53, Japanese, 110002505135, AA11902933 - Development of wearable power assisting system with EMG based control
Naruse Keitaro; Yokoi Hiroshi; Kakazu Yukinori
本報告では, 日常作業における筋力補助を目的とした装着型のパワーアシスト機構の開発を目的とする。使用者の自然な動作の補助を行うためには, 使用者が発生している力を推定し, 行っているタスクに応じてアシスト力を決定しなければならない。そのため, ここでは表面筋電位信号を利用した制御を提案する。しかし, この信号は個人差が大きいため使用者の特性を学習する機構について考察を行う。, The Japan Society of Mechanical Engineers, 2002, ロボティクス・メカトロニクス講演会講演概要集, 2002, 23-23, Japanese, 110002504769, AA11902933 - A Study on Diversity and Substitutability by Distributed Autonomous Robot
Ishioka T.; Yu W.; Yokoi H.; Kakazu Y.
多数の学習エージェントからなる系では, 各エージェントは多様な振る舞いを学習し得る。特に自律分散ロボットシステムにおいては, 実体を持つエージェントは同じ位置に存在出来ないことから, 必然的に異なった経験を積む。本研究では, 自律分散ロボットが学習を経ることでどのように多様化し, またそれに伴ってエージェントの代替可能性がどのように変化するかを確かめる。実験は, 一次元的に結合された自律分散遊泳ロボットによって行なわれ, 提案した測定方法が代替可能性を表し得ることを示す。, The Japan Society of Mechanical Engineers, 2002, ロボティクス・メカトロニクス講演会講演概要集, 2002, 24-24, Japanese, 110002504779, AA11902933 - A Study on Movement Analysis of Symmetric Body Robot
Hayasaka Ryuichi; Yokoi Hiroshi; Kakazu Yukinori
本研究は, 形状記憶合金を用いた柔軟なアクチュエータをもつ放射相称型ロボットを対象にその動作特性の解析を行う。ロボットは形状変化の自由度が高く, 柔軟な動きの相互作用によって動作する。このようなロボットは複雑な動作が可能であるが, それゆえに状態空間が非常に大きく, 目的を実現する行動をあらかじめ人間が設計することが困難である。このような問題に対し, ロボットの動作コマンドとそれによる行動との関係を自己組織化マップを用いて視覚化することで, ロボットの行動生成のルールを決定する可能性を示す。, The Japan Society of Mechanical Engineers, 2002, ロボティクス・メカトロニクス講演会講演概要集, 2002, 70-70, Japanese, 110002505354, AA11902933 - 1A1-J8 Fundamental Study for Motorized Wheekchair Control Using EMG
Tanaka A.; Kakazu Y.; Yokoi H.
The Japan Society of Mechanical Engineers, 08 Jun. 2001, ロボティクス・メカトロニクス講演会講演概要集, 2001, 14-14, Japanese, 110002502250, AA11902933 - 2P1-F6 Developing of Multi Agent System with Emotional Model
Nakamura A.; Ishida T.; Kakazu Y.; Yokoi H.
The Japan Society of Mechanical Engineers, 08 Jun. 2001, ロボティクス・メカトロニクス講演会講演概要集, 2001, 59-59, Japanese, 110002502974, AA11902933 - 2P1-E3 A Study on Emergent Flexible Robot SMA-Net
Hattori K.; Nagai T.; Yokoi H.; Kakazu Y.
The Japan Society of Mechanical Engineers, 08 Jun. 2001, ロボティクス・メカトロニクス講演会講演概要集, 2001, 58-58, Japanese, 110002502952, AA11902933 - 1P1-F6 Model Identification for Restructurable Control System Considering Fault Tolerance
Kuwashima Y.; Kurotaki M.; Kagazu Y.; Yokoi H.
The Japan Society of Mechanical Engineers, 08 Jun. 2001, ロボティクス・メカトロニクス講演会講演概要集, 2001, 25-25, Japanese, 110002502460, AA11902933 - アメーバのように動くロボット
横井浩史
2001, 子供の科学(誠文堂新光社), 64, 12, 44-45, Japanese, Peer-reviwed, Introduction other - A study on perceptional mechanism using behavior based feature extraction method
ITO Hiroki; YOKOI Hiroshi; KAKAZU Yukinori
Oct. 2000, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 10, 213-214, Japanese, 10016715652, AA1190206X - 振動引き込みモデルによる多粒子ロボット制御
高橋 伸幸; 横井 浩史; 嘉数 侑昇
01 Sep. 2000, 精密工学会大会学術講演会講演論文集, 2000, 2, 462-462, Japanese, 10009887518, AN1018673X - Development of EMG classifier adapting to operator's characteristics : Quantification of the attainment of motor skill from frequency of data using
NISHIKAWA Daisuke; YU Wenwei; MARUISHI Masaharu; WATANABE Ichiro; YOKOI Hiroshi; MANO Yukio; KAKAZU Yukinori
In the case of classifying human's motion from electromyogram (EMG), it needs to estimate an attainment of operator's motor skill. This is because it is used to judgement of the adequate number of motion for the operator and to judgement of a necessity of the operator's training. However, previous works have not consider the attainment of motor skill. Accordingly, this paper proposes a quantification algorithm of the attainment of motor skill and appends it in our proposed EMG classifier. Experimental results reported that the attainment of motor skill enables to evaluate the operator's current motor skill. Moreover, comparing the attainment and a classification rate enables to discuss the sufficiency of information amount from the EMG signals., The Japan Society of Mechanical Engineers, 31 Jul. 2000, The proceedings of the JSME annual meeting, 2000, 1, 377-378, Japanese, 110002522310, AA11461871 - A Study on Construction of Distributed Multi Modules to Extract Features
HORIUCHI Masanori; YU Wenwei; YOKOI Hiroshi; KAKAZU Yukinori
21 Jan. 2000, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 12, 167-172, Japanese, 10015796839, AA11461532 - 1A1-36-047 EMG を用いた力覚提示装置の力センサシステム開発
喜田 秀夫; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
ヴァーチャル・リアリティの感覚提示システムの一つである力覚提示装置を開発する際, 人間の動力学的特性が筋肉の緊張・弛緩, また各個人により変化するという問題がある。本研究では, 個人の動特性に適応した力覚提示装置として人間からの力覚入力を受け取る力センサとして生体信号である表面筋電位(Electromyogram : EMG)から人間の力を推定するシステムを構築し, その評価を行う。, 一般社団法人日本機械学会, 2000, ロボティクス・メカトロニクス講演会講演概要集, 2000, 36-36, Japanese, 110002503450, AA11902933 - 1A1-32-040 結合振動子系を用いた SMA Net Robot 制御に関する研究
佐藤 裕一; 横井 浩史; 水野 敬文; 嘉数 侑昇
本研究では, 柔構造ロボットのアクチュエータシステムとして注目されるSMA(形状記憶合金)ネットアクチュエータの制御システムを提案する。提案する制御システムは, 粘菌性アメーバの刺激反応系に見られる化学物質濃度の引き込みを模倣した制御法であり, 局所的に結合された振動子の自己組織化により情報伝播と行動生成をおこなう自律性の高い制御システムである。, 一般社団法人日本機械学会, 2000, ロボティクス・メカトロニクス講演会講演概要集, 2000, 35-35, Japanese, 110002503436, AA11902933 - 1P1-36-053 視覚情報の変化に伴う肘関節の空間位置分解能の特性
林 徹; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
本研究では, より現実性の高い装着型の力覚提示装置の開発を目指す。そこで, 錯覚を起こしやすくするため, 軽量で操作者に負担をかけず場所を取らないことを重視するが, 軽量であることから力覚提示の力の大きさや反応の速度に問題を残す。この問題を解決するために, その装置の粗さからくる感覚提示の誤差を人間がどの程度判断できるかに注目し, 結果として装置の誤差がどれくらい許されるのかについて検証するため, 人間の空間の位置感覚を調べる。, 一般社団法人日本機械学会, 2000, ロボティクス・メカトロニクス講演会講演概要集, 2000, 51-52, Japanese, 110002503716, AA11902933 - 2P1-41-052 自律移動ロボットのための連想記憶型ナビゲーションシステム
鈴木 育男; 横井 浩史; 嘉数 侑昇
我々は, 環境中を柔軟に移動できる自律移動ロボットのためのナビゲーションシステムの構築を目指している。本研究では, ナビゲーションシステムに, カオスニューロン素子を基本素子としたリカレントニューラルネットワークによる連想記憶の利用を提案する。そのうえで, 提案したナビゲーションシステムを計算機(シミュレーション)実験で検証・考察する。そして, 実環境における実機実験によって本システムの有効性を示す。, 一般社団法人日本機械学会, 2000, ロボティクス・メカトロニクス講演会講演概要集, 2000, 83-83, Japanese, 110002504241, AA11902933 - 2P2-76-099 生体信号を教師信号とした機械学習に関する基礎研究
石若 裕子; 横井 浩史; 嘉数 侑昇
機械学習の教師信号を生体信号から獲得し, 個人適応型システムの構築を目的とした基礎研究について報告する。生体信号としてEEGとEMGを測定し, 心理評価を元に快・不快信号を取りだし, 強化学習の報酬とする。実際にケペラを用いてロボット制御を行い, 必要な生体信号の評価を行う。, 一般社団法人日本機械学会, 2000, ロボティクス・メカトロニクス講演会講演概要集, 2000, 106-106, Japanese, 110002504596, AA11902933 - Development of Amoeba-Like Flexible Robot
NAGAI Takashi; YOKOI Hiroshi; KAKAZU Yukinori
Oct. 1999, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 9, 356-357, Japanese, 10016716779, AA1190206X - Attention and Cognition of Patterns using Neural Networks
堀内 誠致; 横井 浩史; 嘉数 侑昇
28 Sep. 1999, 全国大会講演論文集, 59, 31-32, Japanese, 110002894391, AN00349328 - Amoeba Chemotaxis Model Using Coupled Oscillator System.
高橋 伸幸; 横井 浩史; 嘉数 侑昇
28 Sep. 1999, 全国大会講演論文集, 59, 169-170, Japanese, 110002894459, AN00349328 - Reports on Experiment Course of Design and Construction of Autonomous Robots for Computer Information Science Major Students
成瀬 継太郎; 横井 浩史; 嘉数 侑昇
28 Sep. 1999, 全国大会講演論文集, 59, 107-108, Japanese, 110002894429, AN00349328 - 自律移動ロボット群の集団挙動の複雑さに関する研究
西田 陽介; 木下 正博; 横井 浩史; 嘉数 侑昇
01 Sep. 1999, 精密工学会大会学術講演会講演論文集, 1999, 2, 41-41, Japanese, 10004434772, AN1018673X - A Study on Character Extraction Mechanism for Selective Attention
NAKANO Itaru
09 Mar. 1999, 全国大会講演論文集, 58, 159-160, Japanese, 110002893509, AN00349328 - A Study on The Development of an Amoeba-Like Reconfigurable Robot
NAGAI Takashi; YOKOI Hiroshi; KAKAZU Yukinori
18 Jan. 1999, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 11, 253-258, Japanese, 10015796330, AA11461532 - Autonomous Acquisition of Target Approaching Behavior for Distributed Controlled Swimming Robot
IIJIMA Daisuke; YU Wenwei; YOKOI Hiroshi; KAKAZU Yukinori
18 Jan. 1999, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 11, 219-224, Japanese, 10015796283, AA11461532 - Acquisition of periodic pattern using Chaos Neural Network
木下 靖文; 横井 浩史; 嘉数 侑昇
05 Oct. 1998, 全国大会講演論文集, 57, 309-310, Japanese, 110002892631, AN00349328 - A Study on Adaptive Pattern Recognition of Sequential Input
八島 大亮; 横井 浩史; 嘉数 侑昇
05 Oct. 1998, 全国大会講演論文集, 57, 343-344, Japanese, 110002892648, AN00349328 - A Study on Symmetric Body Robot : Gait Acquisition by Multi-Agent System
NISHIKAWA Koji; HONDO Naohiro; HAKURA Jun; YOKOI Hiroshi; KAKAZU Yukinori
20 Jan. 1998, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 10, 303-306, Japanese, 10015795820, AA11461532 - Propelling Behavior Control of Floating Robot Based on Sequential Action Memorizing Method
IIJIMA Daisuke; YOKOI Hiroshi; KAKAZU Yukinori
10 Nov. 1997, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 7, 639-642, Japanese, 10016718650, AA1190206X - A Study on Automatic Target Recognition in Sequential Images by Artificial Cell Method
SATO Yuichi; YOKOI Hiroshi; KAKAZU Yukinori
10 Nov. 1997, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 7, 443-446, Japanese, 10016718296, AA1190206X - A Study on Artificial Ameba Model using Vibrating Potential Representation.
山田孝治; 横井浩史; 嘉数ゆき昇
Mar. 1997, 日本機械学会通常総会講演会講演論文集, 74th, 1, 380-381, Japanese, 200902105763179484 - Acquiring a Common Sense and the Cooperative Behavior Based on IPD
ISHIDA Takashi; YOKOI Hiroshi; KAKAZU Yukinori
16 Jan. 1997, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 9, 281-284, Japanese, 10015795223, AA11461532 - A study in construction method of potential fields for tracking the object in sequential images
SATOU Yuuiti; YOKOI Hiroshi; KAKAZU Yukinori
16 Jan. 1997, 自律分散システム・シンポジウム資料 = SICE Symposium on Decentralized Autonomous Systems, 9, 219-224, Japanese, 10015795100, AA11461532 - Systematic task processing in the multi- agent system monkey banana problem. Character of action strategy and utilization of the pheromone type communication. ( Ministry of Education S ).
鈴木恵二; 横井浩史; 山田孝治
1997, 感覚と行動の統合による機械知能の発現機構の研究 平成8年度, 205-208, Japanese, 200902135229001617 - Problem sofver of Bionic model using field interaction. n‐TSP approach.
山田孝治; 鈴木恵二; 横井浩史; 嘉数ゆき昇
Nov. 1996, 日本ロボット学会学術講演会予稿集, 14th, 3, 1187-1188, Japanese, 200902186500161696 - A Perception Mechanism for Autonomous Mobile Robots : Perception under Multi-Robot Environment
HAKURA Jun; YOKOI Hiroshi; KAKAZU Yukinori
18 Oct. 1996, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 6, 362-365, Japanese, 10016719511, AA1190206X - A Learning Field Model for Multi-Link Robot : An approach to object tracking
兪 文偉; 横井 浩史; 嘉数 侑昇
18 Oct. 1996, インテリジェント・システム・シンポジウム講演論文集 = FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence, 6, 161-164, English, 10016719042, AA1190206X - A Study on Information Processing Model using Vibrating Potential Representation. An Approach to n‐TSP.
山田孝治; 横井浩史; 嘉数ゆき昇
Jun. 1996, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1996, Vol B, 925-926, Japanese, 200902199108836108 - A Model of Organizational Behavior of Slime Mold Using the Information Formed by Field
工藤 雅則; 横井 浩史; 嘉数 侑昇
マルチエージェント系による組織的行動の仕組みに関する基礎研究として粘菌という生物のアメーバ様運動のモデル化を試みる.アメーバ様運動の実現には体の各部が柔軟に変位しつつ系としてまとまりを持った運動の実現を如何に図るかが課題となる.このことをここでは簡単に系の整合性を図るという.横井ら[2]はVPMを用いたが,事前に試行錯誤を伴う問題向きパラメータの設定が必要であった.そこで,(a)実行時,動的に整合性を計算する仕組み,且つ(b)エージェントの情報処理量の軽減という2つの目的を持ち,粘菌の細胞集合[1]に見られる"場における情報生成"という概念をVPMに採用し拡張する.この様にマルチエージェント系によるアメーバ様運動の実現を計画し,現在システムを実装中である.本稿ではその概要を報告する., 06 Mar. 1996, 全国大会講演論文集, 52, 13-14, Japanese, 110002867082, AN00349328 - Adaptive Distributed System of Artificial Cells Using Vibrating Potential Method - An application to nTSP
Koji Yamada; Hiroshi Yokoi; Yukinori Kakazu
1996 - Bionic Model Using Vibrating Potential Field : An Approach to Traveling Salesman Problem
Hiroshi Yokoi; Takafumi Mizuno; Masatoshi Takita; Yukinori Kakazu
研究会報告 第2回人工生命ワークショップ, Sapporo Gakuin University, 30 Nov. 1995, Social information, 5, 1, 149-167, Japanese, 0917-673X, 110000478660, AN10375313 - Autonomy and Heteronomy in Cell Behavior : Studies of Mechanism of Tacitic Behaviors in Amoeboid Cells
Takafumi Mizuno; Hiroshi Yokoi; Masatoshi Takita
研究会報告 第2回人工生命ワークショップ, Sapporo Gakuin University, 30 Nov. 1995, Social information, 5, 1, 133-142, Japanese, 0917-673X, 110000478658, AN10375313 - Neuroplasticity and Brain Hetronomous / Autonomous : Neurochemical Aspects of Physiological Functions in Rat Prefrontal Cortex
Masatoshi takita; Hiroshi Yokoi; Takafumi Mizuno
研究会報告 第2回人工生命ワークショップ, Sapporo Gakuin University, 30 Nov. 1995, Social information, 5, 1, 143-147, Japanese, 0917-673X, 110000478659, AN10375313 - 波動場を用いた最適化手法（生命体モデルの構築とその応用）
横井浩史
Nov. 1995, 日本機械学会，GAの実用化事例, 95, 11, 1-8, Japanese, Peer-reviwed, Introduction other - A study on Agent synthesis for VPM.
山田孝治; 横井浩史; 嘉数ゆき昇
Jul. 1995, ファジィシステムシンポジウム講演論文集, 11th, 457-458, Japanese, 1341-9080, 200902159380650054 - Robot Path Planning by Vibrating Potential Method.
山田孝治; 横井浩史; 嘉数ゆき昇
Jun. 1995, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1995-B, 1341-1342, Japanese, 200902119267497442 - Autonomous Information Processing using Vibrating Potential Field. An approach to the combinatorial optimization problem.
横井浩史; 山田孝治; 嘉数ゆき昇
Oct. 1994, インテリジェント・システム・シンポジウム講演論文集, 4th, 417-422, Japanese, 200902191673997742 - A-Life based on Vibrating Potential Field.
山田孝治; 横井浩史; 嘉数ゆき昇
Sep. 1994, ロボティクス・自動化システムシンポジウム講演論文集, 5th, 61-62, Japanese, 200902171278476384 - Bionic Modeling. Adaptation to Combinatorial Optimization Problem Environment.
横井浩史; 山田孝治; 嘉数ゆき昇
Aug. 1994, 日本機械学会全国大会講演論文集, 72nd, Vol 5, 86-88, Japanese, 200902143030611141 - A Study on a Problem Solving System based on Vibrating Potential Representation.
山田孝治; 横井浩史; 嘉数ゆき昇
Aug. 1994, 日本機械学会全国大会講演論文集, 72nd, Vol 4, 571-572, Japanese, 200902168983718523 - A Study on Autonomous on the Vibrating Potential Field. (An approach to the combinatiorial optimization problem.)
横井浩史; 山田孝治; 嘉数ゆき昇
Jun. 1994, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1994-B, 1236-1241, Japanese, 200902109430361167 - Path Generations on Artificial Worms with the Multiple Vibrating Potential Fields.
羽倉淳; 横井浩史; 嘉数ゆき昇; 山田孝治
Jun. 1994, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1994-A, 805-808, Japanese, 200902194673910697 - An Approach to Spacial Nesting Problem based on Vibrating Potential Representation.
山田孝治; 横井浩史; 嘉数ゆき昇
Mar. 1994, 日本機械学会通常総会講演会講演論文集, 71st, Pt 1, 135-136, Japanese, 200902179458145280 - Basic research on information processing based on wave information.Piano carrier problem based on the multi‐wave field.
山田孝治; 横井浩史; 嘉数ゆき昇
1994, システムシンポジウム講演論文集, 20th, 503-506, Japanese, 200902149254817002 - An approach to the combinatorial optimization problem using vibrating potential field.
横井浩史; 山田孝治; 嘉数ゆき昇
1994, 計測自動制御学会学術講演会予稿集, 33rd, Domestic Session, 15-18, Japanese, 200902165752453030 - A Study on Bionic Model. Multy Agent in the Geometrical Constraints.
横井浩史; 山田孝治; 嘉数ゆき昇
Sep. 1993, インテリジェント・システム・シンポジウム講演論文集, 3rd, 375-380, Japanese, 200902119786546795 - Find Path Problem of Autonomous Machines on Vibrating Potential Field.
山田孝治; 横井浩史; 嘉数ゆき昇
Sep. 1993, インテリジェント・システム・シンポジウム講演論文集, 3rd, 381-384, Japanese, 200902142351709350 - Packing Problem on Vibrating Potential Field. Description of Form and Evaluation Methods.
山田孝治; 横井浩史; 嘉数ゆき昇
Jul. 1993, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1993, 1084-1085, Japanese, 200902175826842195 - A Study on the behavioral records of Autonomous Vehicle.
山田孝治; 横井浩史; 嘉数ゆき昇
Mar. 1993, 情報処理学会全国大会講演論文集, 46th, 2, 2.11-2.12, Japanese, 200902134878745300 - A Study on Autonomous Machines on the Vibrating Potential Field. The Objective Function for a Group Problem.
横井浩史; 山田孝治; 嘉数ゆき昇
Mar. 1993, 日本機械学会通常総会講演会講演論文集, 70th, Pt 3, 531-533, Japanese, 200902156989744811 - Research on memory mechanism with waves as media.
山田孝治; 横井浩史; 嘉数ゆき昇
Mar. 1993, 知能システムシンポジウム資料, 17th, 99-102, Japanese, 200902157347495245 - A Study on Autonomic Machines in the Vibrating Potential Field. An Approach to Design of Power Transmission.
横井浩史; 嘉数ゆき昇; 山田孝治
Sep. 1992, 日本機械学会全国大会講演論文集, 70th, Pt E, 544-546, Japanese, 200902038444136501 - Constructing Structure by Discretely Stored Objects on the Vibrating Potential Field.
山田孝治; 横井浩史; 嘉数ゆき昇
Sep. 1992, 情報処理学会全国大会講演論文集, 45th, 2, 2.61-2.62, Japanese, 200902041798762419 - Recall Operation of Discretely Stored Objects on the Vibrating Potential Field.
山田孝治; 横井浩史; 嘉数ゆき昇
Sep. 1992, 電子情報通信学会大会講演論文集, 1992, Shuki Pt 6, 6.93, Japanese, 1349-1369, 200902098843827332 - Knowledge Representation and Recall Operation using Vibrating Potential Field.
山田孝治; 横井浩史; 嘉数ゆき昇
Jun. 1992, 日本機械学会ロボティクス・メカトロニクス講演会講演論文集, 1992-B, 7-10, Japanese, 200902089167843380 - A Study on Autonomic Machines in the Vibrating Potential Field : An Approach to Autonomic Building Block Problem
横井 浩史; 嘉数 侑昇
積み木問題は記号処理の立場から多くのアプローチがなされてきた代表的な計画問題の一つである.そこでのアプローチは,問題を簡略化するために問題に含まれる物理的制約条件を無視し,記号論による探索問題を対象としていた.しかしながら,無視された物理的制約条件の中には,問題を解くうえで不可欠な要素が存在する.例すば,個々の積木の形状,積木間の相互作用,および,重力の影響などである.ここでは,これらの要素を考慮したうえで積木問題へのアプローチを試みる.そこで,複数の積木(ここではユニットと呼ぶこととする)の物理的相互作用と情報処理を分散処理システムとして実現するために,自律機械群のモデルとして表現することを試みる.また,このモデルを利用して,積木問題へのアプローチふ図る.具体的には,各ユニットの行動を制限するルールを波動場によって表現し,このルールを用いることにより,問題の解空間を探索する., 24 Feb. 1992, 全国大会講演論文集, 44, 207-208, Japanese, 110002888334, AN00349328 - A study on expression of memorized information by parallel connected units
横井 浩史; 嘉数 侑昇
工学的視点から記憶に関する多くの研究がなされてきたが、ここでは新しく、ユニット間結合を考慮した生命体モデルによって与えられるネットワークによる並列接続ユニット構造を考え、記憶情報を並列接続ユニット構造内の調和振動の重ね合わせによって表現することを試みる。知識情報処理を行なうネットワークの代表的なものとしてニューラルネットワークがある、ニューラルネットワークは、生体の能力の分散的情報処理機構を参考にして構築されたものであり、高度な記号列認識機能を持つ有効な情報処理手法である。ところで、生体の情報処理においては絶対的な距離情報が重要な位置を占めているが、ニューラルネットワークではこれを扱うことは困難である。そこで、この位置情報をも処理対象とすることを目的としてネットワーク内に伝播する情報を波動によって表現することを試みる。さらにこれらの情報を表現するフレームとして、これまでに構築してきた生体モデルを用いる。ここで、情報を波動によって表現することは、外界(環境)の三次元情報を中枢神経系内で一次元情報の位相差結合に落とすことであり、生命体モデルとは、生体内の部分機能を数理的にモデル化を行なったものである。生命体モデルに於てユニットとは、一つの機能単位としていて、それぞれのユニットはそのユニットが持つ諸機能の一つとして場の状態に応じて結合子を生成/消滅させる機能を有する。結合子はユニットから他のユニットヘの結合と情報伝播の媒体として生命体モデル内に表現されている。, 25 Feb. 1991, 全国大会講演論文集, 42, 122-123, Japanese, 110002886804, AN00349328 - 生命体モデル構築に関する基礎研究 : 波動場に於ける結合の記述
横井 浩史; 嘉数 侑昇
従来,生命体の特異的な構造・状態を積極的に維持する能力を有するところに注目して生命体の機能を数理モデルで表現することを試みてきた.それらは,要素同士の相互作用が不特定要素間に作用するモデルのみを対象としていた.しかし,現実には特定要素同士の結合及び結合の切断という操作が必要となるケースが多い.この様な問題定義の下にここでは問題向きにこれまで示してきた数理モデルを拡張することを試みる., 04 Sep. 1990, 全国大会講演論文集, 41, 95-96, Japanese, 110002880412, AN00349328 - A study on an adaptation modeling of bionic to the environment
横井 浩史; 嘉数 侑昇
本研究では、歪場内の特定の性質を持ったプリミティブの相互作用によりシステムの外界からの侵入者に対しての抗体を生成する過程を追跡するための数理モデルを構築することを目的とする。ここでは、情報の伝達を場の歪振動によると仮定し理論を構築する。, 16 Oct. 1989, 全国大会講演論文集, 39, 2238-2239, Japanese, 110002895805, AN00349328
Books and other publications
- 新ノーマライゼーション = New normalization
矢吹佳子; 山野井佑介; 黒田勇幹; 井上祐希; 白殿春; 横井浩史
国産初の5指独立駆動型筋電義手「BITハンド」, 日本障害者リハビリテーション協会, 25 Aug. 2024 - ロボット工学ハンドブック第3版 第Ⅳ編：ロボット応用 4.3筋電義手
横井浩史,矢吹佳子
Scholarly book, Japanese, Others, 第Ⅳ編：ロボット応用 4.3筋電義手, 713-717, コロナ社, 15 Mar. 2023, 9784339046793 - 筋電義手と機能回復への応用事例，『わたしたちに音楽がある理由』
横井 浩史; 横井 和恵; 矢吹 佳子
Scholarly book, Japanese, Contributor, 第12章 音楽的コミュニケーション, 音楽之友社, 17 Jun. 2020 - 第8節 義肢ロボット開発の最新技術と今後の製品化展望，『医療機器への応用が見込まれる最先端技術とその事業化』
横井浩史; 矢吹佳子; 村井雄太; 雍旭,景暁バイ; 東郷俊太; 白殿春; 朱笑笑; 姜銀来
Scholarly book, Japanese, Contributor, 技術情報協会, 31 May 2018, 9784861047145 - 第2章「電気刺激による運動と感覚の再生」『オーグメンテッド・ヒューマン Augmented Human―AIと人体科学の融合による人機一体、究極のIFが創る未来』
横井浩史; 矢吹佳子; 東郷俊太; 姜銀来; 加藤龍; 杉正夫
Scholarly book, Japanese, Contributor, 第2章「電気刺激による運動と感覚の再生」, 株式会社エヌ・ティー・エス, 12 Jan. 2018 - 「第Ⅳ編人工の手編，６章義手」手の百科事典
横井浩史; 矢吹佳子
Dictionary or encycropedia, Japanese, Contributor, 第Ⅳ編人工の手編，６章 義手, 朝倉書店, 25 Jun. 2017, 9784254102673 - "Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand by Using Thermoplastic Styrene Elastomer", Intelligent Autonomous Systems 14, Advances in Intelligent Systems and Computing 531
Yoshiko Yabuki; Kazumasa Tanahashi; Suguru Hoshikawa; Tatsuhiro Nakamura; Ryu Kato; Yinlai Jiang; Hiroshi Yokoi
Scholarly book, English, Joint work, Development of New Cosmetic Gloves for Myoelectric Prosthetic Hand by Using Thermoplastic Styrene Elastomer, Springer, Mar. 2017, 9783319480350 - "Development of a Myoelectric Hand Incorporating a Residual Thumb for Transmetacarpal Amputees", Intelligent Autonomous Systems 14, Advances in Intelligent Systems and Computing 531
Yuta Murai; Suguru Hoshikawa; Shintaro Sakoda; Yoshiko Yabuki; Masahiro Ishihara; Tatsuhiro Nakamura; Takehiko Takagi; Shinichiro Takayama; Yinlai Jiang; Hiroshi Yokoi
Scholarly book, English, Joint work, Development of a Myoelectric Hand Incorporating a Residual Thumb for Transmetacarpal Amputees, Springer, Mar. 2017, 9783319480350 - "One-Handed Wearable sEMG Sensor for Myoelectric Control of Prosthetic Hands", Wearable Sensors and Robots
Yinlai Jiang; Shintaro Sakoda; Masami Togane; Soichiro Morishita; Hiroshi Yokoi
Scholarly book, English, Joint work, One-Handed Wearable sEMG Sensor for Myoelectric Control of Prosthetic Hands, 01 Oct. 2016 - Engineering Approach for Functional Recovery Based on Body Image Adjustment by Using Biofeedback of Electrical Stimulation ,Chapter 12 Clinical Systems Neuroscience
Hiroshi Yokoi; Yuki Sato; Minako Suzuki; Yoshiko Yabuki; Tatsuhro Nakamura; Takashi M ori; Soichiro Morishita,Ryu Kato; Osamu Yamamura; Masafumi Kubota; Tomoko Kamisawa; Chiaki Igarashi; Tadashi Isa; Tatsuya Umeda; Hidenori Watanabe; Yukio Nishimura; Katsunori Ikoma; Tamaki Miyamoto
Scholarly book, English, Contributor, Chapter 12, Springer Japan 2015, 2015, 9784431550365 - ロボティクスによる上肢運動機能再建のためのBMI
森下 壮一郎; 横井 浩史
Scholarly book, Japanese, Joint work, 別冊「医学のあゆみ」BMI(Brain-Machine Interface)の現状と展望 第15章, 医歯薬出版株式会社, Jan. 2014 - 福祉技術ハンドブック－健康な暮らしを支えるために
横井浩史; 加藤龍; 中村達弘; 森下壮一郎
Scholarly book, Japanese, Contributor, 朝倉書店, 24 Oct. 2013, 9784254201529 - 「C部門5編生体医工学 1-3-4筋電義手」電気学会125年史（1888-2013）
横井浩史
Scholarly book, Japanese, Contributor, C部門5編生体医工学 1-3-4筋電義手, 一般社団法人電気学会, Oct. 2013 - "Chapter 10，fMRI analysis of prosthetic hand rehabilitation using a brain–machine interface" Advances in Therapeutic Engineering
Hiroshi Yokoi; Keita Sato; Souichiro Morishita; Tatsuhiro Nakamura; Ryu Kato; Tatsuya Umeda; Hidenori Watanabe; Yukio Nishimura; Tadashi Isa; Katsunori Ikoma; Tamaki Miyamoto; Osamu Yamamura
English, Joint work, Chapter 10，fMRI analysis of prosthetic hand rehabilitation using a brain–machine interface, Taylor&Francis Group an informa business, Dec. 2012 - Technological Advancements in Biomedicine for Healthcare Applications
Hiroshi Yokoi; Ryu Kato; Takashi Mori; Osamu Yamamura; Masafumi Kubota
English, Joint work, Chapter 19 Functional Electrical Stimulation Based on Interference-Driven PWM Signals for Neuro-Rehabilitation, Interdisciplinary Applications, Ed: Go R.(IGI Global, USA, ), Oct. 2012 - Technological Advancements in Biomedicine for Healthcare Applications
Masayuki Hirata; Takufumi Yanagisawa; Kojiro Matsushita; Hisato Sugata; Yukiyasu Kamitani; Takafumi Suzuki; Hiroshi Yokoi; Tetsu Goto; Morris Shayne; Youichi Saitoh; Haruhiko Kishima; Mitsuo Kawato; Toshiki Yoshimine
English, Joint work, Chapter 36, Brain–Machine Interface Using Brain Surface Electrodes: Real-Time Robotic Control and a Fully Implantable Wireless System, Interdisciplinary Applications. Ed: Go R.(IGI Global, USA.), Oct. 2012 - ロボットテクノロジー
横井浩史; 他執
Japanese, Editor, ９章 義手・義足, オーム社, 26 Aug. 2011 - ヘルスケアとバイオ医療のための先端デバイス機器
横井 浩史; 山浦 博志; 岡崎 達朗; 加藤 龍 他共著
Japanese, Joint work, パワースーツ：身体の運動機能補助に関する研究動向調査, シーエムシー出版, Apr. 2009 - Artificial Life Models in Hardware (Ed. Andrew Adamatzky and Maciej Komosinski)
Hiroshi Yokoi; Kojiro Matsushita
English, Joint work, Self-regulatory Hardware: Evolutionary Design for Mechanical Passivity on a Pseudo Passive Dynamic Walker, Springer-Verlag, 2009 - ブレインマシンインターフェース
横井浩史; 他共著; 脳を活かす
Japanese, Joint work, オーム社, 22 Sep. 2007 - 僕らのマイコンロボット
横井浩史; 松下光次郎
Japanese, Joint work, CQ出版, 01 Jun. 2006 - バイオメカニクス（生体力学の原理と応用）
嘉数侑昇; 横井浩史
Japanese, Supervisor, NTS出版, 15 Jun. 2001 - 遺伝アルゴリズムの理論（自然・人工システムにおける適応）
嘉数侑昇; 皆川雅章; 三上貞芳; 横井浩史; 高取則彦; 鈴木恵二; 川上敬
Japanese, Joint work, 森北出版, 01 May 1999 - 人工生命の方法論
上田完次; 下原勝憲; 伊庭斉志; 畝見達夫; 柴田崇徳; 田浦俊春; 土居洋文; ヤリ・ワーリオ; 横井浩史
Japanese, Joint work, 工業調査会, Nov. 1995
Lectures, oral presentations, etc.
- 周径可変のソケットの設計開発と短断端への適用事例
井上 祐希; 黒田 勇幹; 矢吹 佳子; 山野井 佑介; 出井 裕司; 白 殿春; 横井 浩史
Poster presentation, Japanese, 第 40回日本義肢装具学会学術大会, Peer-reviewed
09 Nov. 2024
09 Nov. 2024- 10 Nov. 2024 - Analysis of Typical Features Using an Angle-to-sEMG Decoder Model
Zehao Liu; Hai Jiang; Yusuke Yamanoi; Peiji Chen; Xiaobei Jing; Guanglin Li; Hiroshi Yokoi; Xu Yong
Poster presentation, English, The 2024 17th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI 2024)
26 Oct. 2024
26 Oct. 2024- 28 Oct. 2024 - Postural Synergy Analysis of Continuous Hand Movements for Application to Prosthetic Hands
Hai Jiang; Yusuke Yamanoi; Peiji Chen; Xu Yong; Guanglin Li; Hiroshi Yokoi; Xiaobei Jing
Poster presentation, English, The 2024 17th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI 2024)
26 Oct. 2024
26 Oct. 2024- 28 Oct. 2024 - パターン認識型筋電義手操作訓練のための潜在特徴空間フィードバックシステムの開発
辻本立樹; 山野井佑介; Jiang Hai; 黒田勇幹; 井上祐希; 矢吹佳子; Jiang Yinlai; 横井浩史
Poster presentation, Japanese, 第6回日本再生医療とリハビリテーション学会学術大会
26 Oct. 2024
26 Oct. 2024- 26 Oct. 2024 - 受動的把持機能を有する幼児・小児用装飾義手及び個性適応型筋電義手の開発
矢吹 佳子; 井上 祐希; 辻本 立樹; 中村 裕哉; 横井 浩史
Poster presentation, Japanese, 第6回日本再生医療とリハビリテーション学会学術大会
26 Oct. 2024
26 Oct. 2024- 26 Oct. 2024 - 物体形状の変化に適合するための CM 関節部を有する多指ハンドに関する研究
中村 裕哉; 井上 祐希; 矢吹 佳子; 横井 浩史
Oral presentation, Japanese, 第42回日本ロボット学会学術講演会
04 Sep. 2024
03 Sep. 2024- 06 Sep. 2024 - リニアアクチュエータを用いたモータポイント追従型機能的電気刺激装置の開発
海老原心; 劉 越; 杉正夫; 横井浩史; 姜銀来
Oral presentation, Japanese, 第42回日本ロボット学会学術講演会
03 Sep. 2024
03 Sep. 2024- 06 Sep. 2024 - 汎用性の高いバネ・ワイヤー・プーリー系重力補償機構の提案
WANG Yiwei; 東郷俊太; 横井浩史; 姜銀来
Oral presentation, Japanese, 第42回日本ロボット学会学術講演会
03 Sep. 2024
03 Sep. 2024- 06 Sep. 2024 - ワイヤとギアを組み合わせた干渉駆動による肩関節の開発
亀田優大; 東郷俊太; 横井浩史; 姜銀来
Oral presentation, Japanese, 第42回日本ロボット学会学術講演会
03 Sep. 2024- 06 Sep. 2024 - Model-based Tension And State Estimation For Sensorless Tendon-Driven Mechanisms
Josef Da Silva Bernardo Neto; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Oral presentation, English, The IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), Invited
10 Jul. 2024 - 靱帯及び腱で拘束した人体模倣肩関節機構に関する研究
梅澤 亮; 姜 銀来; 横井 浩史; 東郷 俊太
第36回自律分散システム・シンポジウム
16 Feb. 2024 - 剛性可変な拮抗筋関節構造に対する仮想軌道に基づく繰り返し制御の適用
梅田 佳歩; 姜 銀来; 横井 浩史; 東郷 俊太
第24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(SI2023)
14 Dec. 2023 - SHAPを用いた多自由度筋電肩義手の上肢機能評価
永山 泰弘; 姜 銀来; 横井 浩史; 東郷 俊太
第24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(SI2023)
14 Dec. 2023 - RGBカメラによる物体姿勢推定を用いた7自由度ロボットアームの到達把持運動の自動制御法の開発
白 書霆; 郭 家振; 姜 銀来; 横井 浩史; 東郷 俊太
第24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(SI2023)
14 Dec. 2023 - 手掌部手首分離機能を備えた筋電義手の開発
井上祐希; 黒田勇幹; 山野井佑介; 矢吹佳子; 横井浩史
Oral presentation, 第30回日本義肢装具学会学術大会, Peer-reviewed
29 Oct. 2023
28 Oct. 2023- 29 Oct. 2023 - 子供用縄跳び手先具の開発と評価
武藤輝樹; 井上祐希; 矢吹佳子; 横井浩史
Poster presentation, 日本義肢装具学会第39回学術大会, Peer-reviewed
29 Oct. 2023
28 Oct. 2023- 29 Oct. 2023 - 機構的特異点の性質を用いたピンチ力増大機構を持つ幼児用筋電義手の開発
飯塚達也; 黒田勇幹; 矢吹佳子; 井上祐希; 山野井佑介; 横井浩史
Oral presentation, LIFE2023
20 Sep. 2023
19 Sep. 2023- 21 Sep. 2023 - PCA と 3 層ニューラルネットワークを組み合わせた識別器による筋電義手の性能向上へのアープローチ
酒井健瑠; 黒田勇幹; 矢吹佳子; 山野井佑介; 横井浩史
Oral presentation, LIFE2023
20 Sep. 2023
19 Sep. 2023- 21 Sep. 2023 - 人体の関節における液体潤滑を模倣した指関節構造の開発
工藤 陸; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, 第41回日本ロボット学会学術講演会
12 Sep. 2023 - 足部形状・姿勢に依存した人体模倣足部の粘弾性変化
橋本 悟; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, 第41回日本ロボット学会学術講演会, Peer-reviewed
12 Sep. 2023 - Dynamic Label;Smoothingを用いた生体信号分類のための領域汎化
陳 培基; 東郷 俊太; 横井 浩史; 姜 銀来
第41回日本ロボット学会学術講演会
12 Sep. 2023 - ギヤを用いた3自由度干渉駆動機構の開発
東 直希; 横井 浩史; 東郷 俊太; 姜 銀来
Oral presentation, 第41回日本ロボット学会学術講演会
12 Sep. 2023 - 人体の筋骨格構造を模倣したロボット手首および前腕の開発
小畑 承経; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, 第41回日本ロボット学会学術講演会
12 Sep. 2023 - 手掌部手首分離機能を備えた筋電義手の制御方法の検討
井上 祐希; 羽場 周平; 黒田 勇幹; 山野井 佑介; 矢吹 佳子; 横井 浩史
Oral presentation, 第41回日本ロボット学会学術講演会
12 Sep. 2023 - Sensorless Tension Estimation in Tendon-Driven Mechanism Using Stainless Steel Wire
Da Silva Bernardo; Neto Josef; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Oral presentation, 第41回日本ロボット学会学術講演会
Sep. 2023 - Comparison of Bipolar and Monopolar Electrode Configurations for FES on Biceps Brachii
Kiyoka Arai; Masao Sugi; Hiroshi Yokoi; Lin Wang; Yinlai Jiang
Oral presentation, English, the 45th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Peer-reviewed
24 Jul. 2023 - 小児手掌形成不全者に対する機械学習を用いた筋電義手の適用に関する研究
井上 祐希,横井 浩史
Oral presentation, Japanese, 第38回日本義肢装具学会学術大会, 第38回日本義肢装具学会学術大会, 新潟，朱鷺メッセ新潟コンベンションセンター, Peer-reviewed
09 Oct. 2022 - 未来時間を考慮した仮想軌道に基づく繰り返し制御法
梅田 佳歩,姜 銀来,横井 浩史,東郷 俊太
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会, 第40回日本ロボット学会学術講演会, 東京大学本郷キャンパス
05 Sep. 2022 - 伸縮機構を備えたロボティック・フィンガーの開発
柿野 和真,山野井 佑介,東郷 俊太,横井 浩史,姜 銀来
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会
05 Sep. 2022 - ワイヤ干渉駆動機構と重力補償機構を用いた等身大ヒト型脚ロボットの開発
橋本 悟,岡田 琉意,小林 隼矢,姜 銀来,横井 浩史,東郷 俊太
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会, 第40回日本ロボット学会学術講演会, 東京大学本郷キャンパス
05 Sep. 2022 - 靭帯型拘束法を用いたワイヤ牽引転がり関節の設計と評価
梅澤 亮,姜 銀来,横井 浩史,東郷 俊太
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会, 第40回日本ロボット学会学術講演会, 東京大学本郷キャンパス
05 Sep. 2022 - 合成繊維ワイヤの牽引に適したドラム同期型無限巻取り機構の開発
工藤 陸,島田 孝太,小畑 承経,姜 銀来,横井 浩史,東郷 俊太
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会, 東京大学本郷キャンパス
05 Sep. 2022 - 3M3Dワイヤ干渉駆動に基づくヒューマノイド腰関節の開発
Yiwei Wang,李 文揚,東郷 俊太,横井 浩史,姜 銀来
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会, Invited, 第40回日本ロボット学会学術講演会, 東京大学本郷キャンパス
05 Sep. 2022 - ワイヤ干渉駆動モジュールを用いた出力重量比の高い人型ロボットアームの開発
李 文揚,Yiwei Wang,東郷 俊太,横井 浩史,姜 銀来
Oral presentation, Japanese, 第40回日本ロボット学会学術講演会
05 Sep. 2022 - 筋電義手のための感覚フィードバックシステムにおける知覚特性の比較 -提示刺激・変調特性の比較-
高橋明丈; 横井浩史
Oral presentation, Japanese, 第42回バイオメカニズム学会, Domestic conference
28 Nov. 2021 - 機能的電気刺激を用いた上腕三頭筋のMP位置の移動と筋収縮力の探索
平井 隆志; 姜 銀来; 杉 正夫; 東郷 俊太; 横井 浩史
Oral presentation, Japanese, 第42回バイオメカニズム学術講演会, オンライン, Domestic conference
27 Nov. 2021 - 折り返しワイヤ干渉駆動機構を用いた７自由度筋電肩義手の開発
中村 優子; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第42回バイオメカニズム学術講演会, Domestic conference
27 Nov. 2021 - ヒトの捕球姿勢の分類と筋電義手ハンドへの応用
東島 涼香; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第42回バイオメカニズム学術講演会, オンライン, Domestic conference
27 Nov. 2021 - 個性適応型学習機能を有した多自由度筋電義手の臨床適応と性能評価
黒田勇幹; 山野井佑介; 島田岳佳; Hai Jiang; 矢吹佳子; Dianchun Bai; 髙木岳彦; Yinlai Jiang; 横井浩史
Poster presentation, Japanese, 第37回日本義肢装具学会学術大会, 日本義肢装具学会, Peer-reviewed, Domestic conference
17 Oct. 2021 - 回内外と掌背屈運動を活かす分離型ソケットの開発
千田知広; 島田岳佳; 黒田勇幹; 矢吹佳子; 山野井佑介; 横井浩史; 髙木岳彦
Poster presentation, Japanese, 第37回日本義肢装具学会学術大会, 日本義肢装具学会, Domestic conference
17 Oct. 2021 - 小児手掌欠損者に対する筋電義手の開発
井上祐希; 島田岳佳; 高橋明丈; 千田知広; 大谷俊介; 黒田勇幹; 山野井佑介; 矢吹佳子; 髙木岳彦; 横井浩史
Poster presentation, Japanese, 第37回日本義肢装具学会学術大会, 日本義肢装具学会, Domestic conference
17 Oct. 2021 - 可動指を変えた幼児用2自由度電動義手の開発
大谷俊介; 平井太智; 黒田勇幹; 矢吹佳子; 山野井佑介; 東郷俊太; 姜銀来; 横井浩史
Poster presentation, Japanese, 第37回日本義肢装具学会学術大会, 日本義肢装具学会, Domestic conference
17 Oct. 2021 - 超小型対立回転機構を用いた手掌筋電義手，能動指義手の開発
矢吹佳子; 山野井佑介; 黒田勇幹; 島田岳佳; 大谷俊介; 千田知広; 溝口恒雄; 髙木岳彦; 髙山真一郎; 横井浩史
Oral presentation, Japanese, 第37回日本義肢装具学会学術大会, Domestic conference
16 Oct. 2021 - ワイヤ劣駆動ロボットフィンガによる薄板小物体把持のための関節トルク比と過伸展機構の検討
大谷 俊介; 姜 銀来; 東郷 俊太; 横井 浩史; 山野井 佑介
Oral presentation, Japanese, 第39回日本ロボット学会学術講演会, 日本ロボット学会, オンライ, Domestic conference
08 Sep. 2021 - 筋電肩義手のための全軸干渉型ロボットアームの開発
君塚 進; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第39回日本ロボット学会学術講演会, 日本ロボット学会, Domestic conference
Sep. 2021 - 動的安定把持実現のための電動義手用２層弾性グローブの開発
小畑 承経; 熊谷 あやね; 矢吹 佳子; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第39回日本ロボット学会学術講演会, Domestic conference
Sep. 2021 - 多軸干渉駆動機構のためのワイヤ滑り関節機構の開発
関 美咲; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第39回日本ロボット学会学術講演会, 日本ロボット学会, Domestic conference
Sep. 2021 - 拮抗筋構造型ロボット関節に対する仮想軌道に基づく繰り返し制御
藤井 裕子; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第39回日本ロボット学会学術講演会, 日本ロボット学会, Domestic conference
Sep. 2021 - 小児用のAI義肢開発 ～より直感的な筋電義手操作に向けて～
高木岳彦; 横井浩史
Oral presentation, 第124回日本小児科学会学術集会，京都
16 Apr. 2021 - ドラム押付型ワイヤ無限巻取り機構における最大牽引力とトルクリミッタの検証
島田 孝太; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 2021年度精密工学会春季大会学術講演会, 2021年度精密工学会春季大会学術講演会, オンライン開催, Domestic conference
16 Mar. 2021 - ヒト指末節骨の形態的特徴に基づいた人工指による精密把持性能の評価
熊谷 あやね; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第41回バイオメカニズム学術講演会, 第41回バイオメカニズム学術講演会, オンライン開催
05 Dec. 2020 - 体幹筋電から上肢運動の動作意図を抽出するシステムの開発
宮崎 健太; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第41回バイオメカニズム学術講演会, 第41回バイオメカニズム学術講演会, オンライン開催
05 Dec. 2020 - 個性適応システムを有するユニバーサルソケットの有用性評価
矢吹 佳子; 黒田 勇幹; 山野井 佑介; 平井 太智; 小野 祐真; 中尾 聡一郎; 横井 浩史
Oral presentation, Japanese, 第36回日本義肢装具学会学術大会，H-2-5，東京大学/WEBハイブリッド開催, Domestic conference
01 Nov. 2020 - ADLにおける機能向上のための対立回転機構を用いた幼児用義手の開発
高橋明丈; 矢吹佳子; 山野井佑介; 黒田勇幹; 小野祐真; 中尾聡一郎; 平井太智; 横井浩史
Oral presentation, Japanese, 第36回日本義肢装具学会 (The Japanese Society of Prosthetics and Orthotics), 第36回日本義肢装具学会 (The Japanese Society of Prosthetics and Orthotics), ハイブリッド開催
31 Oct. 2020 - 供用筋電義手ソケットの開発
黒田 勇幹; 矢吹 佳子; 山野井 佑介; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第36回日本義肢装具学会, 第36回日本義肢装具学会, ハイブリッド開催
31 Oct. 2020 - 2自由度受動回転機構を有する能動ハンドの開発と評価
矢吹 佳子; 高木 岳彦; 山野井 佑介; 平井 太智; 高橋 明丈; 横井 浩史
Oral presentation, Japanese, 第36回日本義肢装具学会学術大会, Domestic conference
31 Oct. 2020 - 回内・回外機能を有し個性に適応する幼児用筋電義手の開発と評価
中尾 聡一郎; 平井 太智; 小野 祐真; 山野井 佑介; 黒田 勇幹; 矢吹 佳子; 東郷 俊太; 姜 銀来; 加藤 龍; 高木 岳彦; 石原 正博; 横井 浩史
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, 第38回日本ロボット学会学術講演会, オンライン開催
09 Oct. 2020 - 先天性前腕欠損者のための幼児用２自由度電動義手の開発
平井 太智; 中尾 聡一郎; 小野 祐真; 黒田 勇幹; 矢吹 佳子; 山野井 佑介; 東郷 俊太; 姜 銀来; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, 第38回日本ロボット学会学術講演会, オンライン開催
09 Oct. 2020 - 肩義手のための腕の手先位置のフィードバックシステムに適した振動刺激の検討
中村 優子; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, 第38回日本ロボット学会学術講演会, オンライン開催
09 Oct. 2020 - 磁気センサを応用した柔軟な圧力センサの開発
島田 孝太; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, 第38回日本ロボット学会学術講演会, オンライン開催
09 Oct. 2020 - 筋電信号の時変性に適応する教師データ更新手法に関する研究
黒田 勇幹; 山野井 佑介; 東郷 俊太; 姜 銀来; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第38回日本ロボット学会学術講演会, 第38回日本ロボット学会学術講演会, オンライン開催
09 Oct. 2020 - サイズ変更に適応可能なソケットを用いた子供用筋電義手の開発
矢吹 佳子; 小野 祐真; 平井 太智; 黒田 勇幹; 山野井 佑介; 横井 浩史
Poster presentation, Japanese, 日本機械学会ロボティクス・メカトロニクス講演会2020（ROBOMECH2020 in KANAZAWA）, Domestic conference
29 May 2020 - 筋電義手の熟達度に関する研究
鎌田 舞花; 矢吹 佳子; 黒田 勇幹; 山野井 佑介; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第40回バイオメカニズム学術講演会, 中京大学春日キャンパス, Domestic conference
01 Dec. 2019 - ワイヤ干渉機構を用いたシリコーンハンドの開発
佐藤 文隆; 姜 銀来; 横井 浩史; 東郷 俊太
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 (SSI2019)，, 千葉大学西千葉キャンパス, GS07-01(1080), Domestic conference
23 Nov. 2019 - 全軸ワイヤ干渉駆動機構を用いたロボットアームの開発
君塚 進; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第37回日本ロボット学会学術講演会, 早稲田大学早稲田キャンパス, Domestic conference
06 Sep. 2019 - 全軸干渉機構における最適干渉行列の設計理論
東郷 俊太; 君塚 進; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第37回日本ロボット学会学術講演会, 早稲田大学早稲田キャンパス, Domestic conference
06 Sep. 2019 - ３自由度干渉駆動関節モジュールの解析
李 文揚; 姜 銀来; 陳 鵬; 東郷 俊太; 横井 浩史
Oral presentation, Japanese, 第37回日本ロボット学会学術講演会, 早稲田大学早稲田キャンパス, Domestic conference
04 Sep. 2019 - 多点電極式機能的電気刺激装置の開発
永渕 将; 毛 程宇; 田澤 龍之介; 畠沢 祐輝; 東郷 俊太; 姜 銀来; 杉 正夫; 横井 浩史
Oral presentation, Japanese, 第37回日本ロボット学会学術講演会, 早稲田大学早稲田キャンパス, Domestic conference
03 Sep. 2019 - 繰り返し計算に基づく仮想軌道制御の力場適
藤井 裕子; 姜 銀来; 横井 浩史; 東郷 俊太
Poster presentation, Japanese, 第13回Motor Control研究会, 東京大学農学部弥生講堂, Domestic conference
24 Aug. 2019 - 義手用装飾手袋の材質と物体把持性能に関する調査研究
矢吹 佳子; 馮 翔; 鎌田 舞花; 小畑 承経; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第35回日本義肢装具学会学術大会, 仙台国際センター
14 Jul. 2019 - 筋電義手への応用を目的とした筋電を含む感覚情報を得る自律エージェントの開発と検討
黒田 勇幹; 東郷 俊太; 姜 銀来; 横井 浩史
Poster presentation, Japanese, 第12回進化計算シンポジウム 2018（ポスター）, 休暇村志賀島（福岡県福岡市）, Domestic conference
09 Dec. 2018 - 二相性のバースト変調矩形波を用いた表面電気刺激による肘関節の発揮トルクの時間的遷移
粕谷 美里; 桑原 昂士; 東郷 俊太; 姜 銀来; 杉 正夫; 横井 浩史
Poster presentation, Japanese, 計測自動制御学会 システム・情報部門 学術講演会 2018（ポスター）, 富山国際会議場, Domestic conference
26 Nov. 2018 - 残存指を活用できる手部筋電義指システムの設計法の構築
村井 雄太; 星川 英; 矢吹 佳子; 東郷 俊太; 姜 銀来; 加藤 龍; 横井 浩史
Poster presentation, Japanese, 計測自動制御学会 システム・情報部門 学術講演会 2018（ポスター）, 富山国際会議場, Domestic conference
26 Nov. 2018 - ワイヤ駆動ロボットハンドのためのトルクリミッタ機能を有する無限巻き取り機構の開発
小畑 承経; 村井 雄太; 志村 駿; 東郷 俊太; 姜 銀来; 横井 浩史
Poster presentation, Japanese, 計測自動制御学会 システム・情報部門 学術講演会 2018(ポスター), 富山国際会議場, Domestic conference
26 Nov. 2018 - fNIRSを用いた筋電義手使用時の脳活動に関する研究
水落 千彰; 矢吹 佳子; 東郷 俊太; 姜 銀来; 横井 浩史
Poster presentation, Japanese, ニューロリハビリシンポジウム2018（ポスター）, 機械振興会館, Domestic conference
17 Nov. 2018 - 心電ノイズ除去による筋電肩義手の誤動作の低減
松本 一朗; 君塚 進; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第39回バイオメカニズム学術講演会, 筑波大学, Domestic conference
10 Nov. 2018 - 筋電義手に適した義手用手袋の開発
矢吹 佳子; 佐藤 洋二; 佐藤 哲也; 馮 翔; 鎌田 舞花; 小畑 承経; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第34回日本義肢装具学会学術大会, 名古屋国際会議場, Domestic conference
10 Nov. 2018 - 個性に適応する幼児用筋電義手の開発と評価
矢吹 佳子; 黒田 勇幹; 村井 雄太; 日吉 祐太郎; 叶 鶴松; 雍 旭; 景 暁バイ; 東郷 俊太; 姜 銀来; 横井 浩史
Poster presentation, Japanese, 第36回日本ロボット学会学術講演会（ポスター）, Domestic conference
07 Sep. 2018 - 体幹部の表面筋電位を用いた直感操作型肩義手システムの開発
君塚 進; 日吉 祐太郎; 叶 鶴松; 田中 洋平; 東郷 俊太; 姜 銀来; 横井 浩史
Poster presentation, Japanese, 第36回日本ロボット学会学術講演会（ポスター）, 中部大学春日井キャンパス, Domestic conference
07 Sep. 2018 - ワイヤ干渉駆動関節モジュールの分類と比較
李 文揚; 陳 鵬; 矢吹 佳子; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第36回日本ロボット学会学術講演会, 中部大学春日井キャンパス, Domestic conference
05 Sep. 2018 - 導電性高分子を用いた感覚フィードバックシステムに関する基礎研究
毛利 保寛; 矢吹 佳子; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第38回バイオメカニズム学術講演会, Domestic conference
04 Nov. 2017 - 残存部位を有する手部欠損者用に適合する単自由度筋電義手システム
村井雄太; 矢吹佳子; 東郷俊太; 姜銀来; 横井浩史
Oral presentation, Japanese, 第33回日本義肢装具学会学術大会, Domestic conference
08 Oct. 2017 - 筋電義手用手袋の開発とその評価―センサ機能を持つ装飾手袋の実現―
矢吹佳子; 棚橋一将; 鈴木悠汰; 毛利保寛; 日吉祐太郎; 村井雄太; 東郷俊太; 姜銀来; 加藤龍; 横井浩史
Oral presentation, Japanese, 第33回日本義肢装具学会学術大会, Domestic conference
08 Oct. 2017 - 上腕切断患者に対するTargeted Muscle Reinnervation—神経の選定と再支配、より効率的な多自由度筋電義手操作のために—
高木岳彦; 児玉 三彦; 加藤 龍; 山野井 佑介; 西野 亘; 大桐 洋亮; 横井 浩史; 高山 真一郎; 正門 由久; 渡辺 雅彦
Oral presentation, 第28回日本末梢神経学会学術集会
25 Aug. 2017 - 多点計測手法を用いた肩周辺筋群の独立筋活動パターンの解析および適切な計測箇所の特定
君塚 進; 叶 鶴松; 日吉 祐太郎; 田中 洋平; 東郷 俊太; 姜 銀来; 横井 浩史
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 - Transfer entropyを用いた下肢協調運動における協調性の定量的評価
野櫻 舞; 粕谷 美里; 東郷 俊太; 姜 銀来; 杉 正夫; 横井 浩史
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 - 筋電義手用グローブの開発と評価
矢吹 佳子; 棚橋 一将; 村井 雄太; 毛利 保寛; 叶 鶴松; 中村 達弘; 東郷 俊太; 姜 銀来; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第37回バイオメカニズム学術講演会, 富山, Domestic conference
12 Nov. 2016 - 人と機械の融合システム技術
横井浩史
Public discourse, Japanese, 第102回 身体性システム科学から理解するリハビリテーション・ロボティクス, Invited, 一般社団法人 日本ロボット学会, 秋葉原，日本, http://www.rsj.or.jp/seminar/s102/, Domestic conference
31 Oct. 2016 - 肘と手指を同時制御可能な生体信号制御型電動義手の開発-身体負担が小さく日常生活動作が可能な上肢電動義手の製作-
大桐洋亮; 山野井佑介; 山田洋; 西野亘; 加藤龍; 矢吹佳子; 横井浩史
Oral presentation, Japanese, 第34回日本ロボット学会学術講演会(RSJ2016), Domestic conference
07 Sep. 2016 - 安定な精密つまみを実現する低自由度ハンドの構築
馮翔; 叶鶴松; 横井浩史; 姜銀来; 東郷俊太
Oral presentation, Japanese, 第32回ライフサポート学会大会(LIFE2016), Domestic conference
06 Sep. 2016 - 多点計測手法を用いた肩周りの筋群における独立筋活動パターンの解析
君塚進; 叶鶴松; 日吉祐太郎; 谷直行; 馮翔; 田中洋平; 森下壮一郎; 東郷俊太; 姜銀来; 横井浩史
Oral presentation, Japanese, 第32回ライフサポート学会大会(LIFE2016), Domestic conference
05 Sep. 2016 - 乳幼児・小児筋電義手のためのワイヤレス端末を用いた外部観測制御用補助システム
日吉 祐太郎; 村井 雄太; 高花 謙一; 矢吹 佳子; 森下 壮一郎; 姜 銀来; 高山 真一郎; 横井 浩史
Oral presentation, Japanese, 第32回ライフサポート学会大会(LIFE2016), Domestic conference
Sep. 2016 - 先天性前腕欠損（横軸形成障害）のための乳幼児用筋電義手の開発 乳幼児の多様な断端部形状に適応可能なセンサー一体型ソケットの開発
高花 謙一; 村井 雄太; 日吉 祐太郎; 叶 鶴松; 矢吹 佳子; 姜 銀来; 加藤 龍; 高木 岳彦; 高山 真一郎; 横井 浩史
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会2016 in Yokohama, Domestic conference
May 2016 - 先天性前腕欠損（横軸形成障害）のための乳幼児用筋電義手の開発 乳幼児の手を模した超小型軽量単自由度ロボットハンドの開発
村井 雄太; 高花 謙一; 日吉 祐太郎; 叶 鶴松; 矢吹 佳子; 姜 銀来; 加藤 龍; 高木 岳彦; 高山 真一郎; 横井 浩史
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会2016 in Yokohama, Domestic conference
May 2016 - 運動トレーニングシステムのための表面電気刺激による情報提示手法の検討
桑原 昂士; 大平 美里; 杉 正夫; 森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 2016年度精密工学会春季大会講演論文集, Domestic conference
Mar. 2016 - 近接覚センサを用いた歩行支援機使用時の歩行観察
藤本 茜子; 前田 賢太郎; 姜 銀来; 横井 浩史
Poster presentation, Japanese, SSI2016, Domestic conference
2016 - 基本的なADLsを実現させる2自由度筋電義手の構造設計
星川 英; 加藤 龍; 中村 達弘; 關 達也; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第33回日本ロボット学会学術講演会, 東京, Domestic conference
04 Sep. 2015 - Bilateral Trainingを利用した表面筋電位からの把持姿勢識別及び把持力推定手法
山野井 佑介; 森下 壮一郎; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第33回日本ロボット学会学術講演会, 日本ロボット学会, 東京, Domestic conference
04 Sep. 2015 - 乳幼児向け個性適応制御筋電義手訓練システムの試作
村井雄太; 迫田辰太郎; 日吉祐太郎; 高木岳彦; 高山真一郎; 横井浩史
Oral presentation, Japanese, 第33回日本ロボット学会学術講演会, Domestic conference
04 Sep. 2015 - 多点電極による刺激位置選択可能な機能的電気刺激システムの開発
大平 美里; 佐藤 佑樹; 森下 壮一郎; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 日本神経回路学会全国大会(JNNS), 日本神経回路学会全国大会(JNNS), 東京, Domestic conference
03 Sep. 2015 - 機能的電気刺激により誘発される筋活動と運動のモデル化のための相関係数に基づく距離を用いたクラスタ分析
野櫻 舞; 森下 壮一郎; 大平 美里; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 日本神経回路学会全国大会(JNNS), 日本神経回路学会全国大会(JNNS), 東京, Domestic conference
03 Sep. 2015 - fNIRSを用いた周期的タスク中の脳活動情報の抽出に関する研究
森下 壮一郎; 上平 倫太郎; 迫田 辰太郎; 中村 達弘; 姜 銀来; 加藤 龍; 横井 浩史
Poster presentation, Japanese, 日本神経回路学会全国大会(JNNS), 東京, Domestic conference
03 Sep. 2015 - 感覚フィードバックを伴う機能的電気刺激を用いた運動機能回復応用に関する研究:健常者における脳活動の時間的推移に関する検証
大平 美里; 神澤 朋子; 森下 壮一郎; 姜 銀来; 山村 修; 横井 浩史
Oral presentation, Japanese, 第27回自律分散システム・シンポジウム, 東京, Domestic conference
23 Jan. 2015 - fNIRSによる機能的電気刺激に対する脳活動の時間的推移に関する検証
大平 美里; 神澤 朋子; 森下 壮一郎; 姜 銀来; 山村 修; 横井 浩史
Oral presentation, Japanese, 脳と心のメカニズム第15回冬のワークショップ, 北海道, Domestic conference
07 Jan. 2015 - 脳活動と筋電時系列に着目した自己成長型筋電義手の開発
粕谷 昌宏; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 脳と心のメカニズム第15回冬のワークショップ, 北海道, Domestic conference
07 Jan. 2015 - 表面電気刺激時の発揮筋張力の表面筋電図を用いた推定における電気刺激部位と筋電計測部位の検討
齋藤 晴紀; 清水 雄貴; 杉 正夫; 横井 浩史
Oral presentation, Japanese, 2015年度精密工学会春季大会講演論文集, Domestic conference
2015 - すべり関節のための自動回復機能を有する関節機構の開発
高澤 駿介; 横井 浩史
Oral presentation, Japanese, The 11th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers, Domestic conference
29 Nov. 2014 - Modeling of the relation between muscle activity and joint motion induced by FES
Mai Nozakura; Hiroshi Yokoi
Poster presentation, Japanese, The 11th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers（TOWERS), Domestic conference
29 Nov. 2014 - 機能的電気刺激における電極位置が筋収縮に与える影響
佐藤 佑樹; 横井 浩史
Oral presentation, Japanese, The 11th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers, Domestic conference
29 Nov. 2014 - The influence of stimulation position on muscle contraction The influence of stimulation position on muscle contraction with The influence of stimulation position on musfle contraction with FES
Yuki Sato; Hiroshi Yokoi
Poster presentation, Japanese, The 11th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers（TOWERS), Domestic conference
29 Nov. 2014 - Development and evaluation of 1-DOF myoelectric hands for a partial hand amputee
Yuta Murai; Hiroshi Yokoi
Poster presentation, Japanese, The 11th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers（TOWERS), Domestic conference
29 Nov. 2014 - Development of a pivot joint which has automatic recovering mechanism
Shunsuke Takazawa; Hiroshi Yokoi
Poster presentation, Japanese, The 11th IEEE Transdisciplinary-Oriented Workshop for Emerging Researchers（TOWERS), Domestic conference
29 Nov. 2014 - 個人に適応した電極位置を探索する電気刺激装置の開発
佐藤 佑樹; 大平 美里; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第35回バイオメカニズム学術講演会, Domestic conference
09 Nov. 2014 - エラストマーゲルを用いた筋電義手のための装飾用グローブの開発
矢吹佳子; 星川英; 雍旭; 景暁バイ; 中村達弘; 棚橋一将; 石原正博; 關達也; 加藤龍; 横井浩史
Oral presentation, Japanese, 第30回日本義肢装具学会学術大会講演集, 日本義肢装具学会, 岡山, Domestic conference
18 Oct. 2014 - 筋電義手による自然な物体把持のための把持姿勢及び把持力推定手法
山野井佑介; 加藤龍; 横井浩史
Oral presentation, Japanese, 第15回日本電気生理運動学会大会抄録集(JSEK2014), 横浜, Domestic conference
06 Sep. 2014 - プリシェイピング中に計測される表面筋電位を用いた物体の把持姿勢の識別
鈴木大輝; 山野井佑介; 加藤龍; 横井浩史
Oral presentation, Japanese, 第15回日本電気生理運動学会大会(JSEK2014)抄録集, Domestic conference
06 Sep. 2014 - 効果的な筋活動を促す電極配置再可能にする気刺激装の開発
佐藤佑樹; 大平美里; 加藤龍; 横井浩史
Oral presentation, Japanese, 第15回日本電気生理運動学会大会(JSEK2014)抄録集, Domestic conference
06 Sep. 2014 - 部分最適線形判別析による筋電位からのリーチングタスク中運動状態部分最適線形判別
坂井郁也; 森下壮一郎; 關達也; 渡辺秀典; 西村幸男; 加藤龍; 伊佐正; 横井浩史
Oral presentation, Japanese, 第15回日本電気生理運動学会大会(JSEK2014)抄録集, Domestic conference
06 Sep. 2014 - 基本3種の把持姿勢をとる2自由度筋電義手の指形状に応じた機能の評価
星川英; 加藤龍; 森下壮一郎; 中村達弘; 關達也; 姜銀来; 横井浩史
Oral presentation, Japanese, 第30回ファジィシステムシンポジウム論文集, 高知, Domestic conference
02 Sep. 2014 - ロボットハンドのすべり関節のための自動回復機能を有する靭帯機構の開発
高澤駿介; 關達也; 加藤龍; 横井浩史
Oral presentation, Japanese, 第32回日本ロボット学会学術講演会予稿集, Domestic conference
Sep. 2014 - 脳‐身体運動相互作用モデル構築―機能的電気刺激に誘発された脳活動の周期性解析－
大平 美里; 森下 壮一郎; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 第20回創発システムシンポジウム, 長野, Domestic conference
31 Aug. 2014 - 運動機能回復のためのFESニューロリハビリテーションにより誘発される脳活動パターン評価―自己相関解析による周期性検出―
大平 美里; 森下 壮一郎; 姜 銀来; 横井 浩史
Oral presentation, Japanese, The 8th Annual Meeting of The Japanese Society for Motor Control, Domestic conference
08 Aug. 2014 - 1か月間の集中的な機能的電気刺激療法前後の運動機能と脳機能画像の変化
久保田 雅史; 神澤 朋子; 五十嵐 千秋; 山村 修; 嶋田 誠一郎; 松尾 英明; 成瀬 廣亮; 岡沢 秀彦; 加藤 龍; 横井 浩史; 馬場 久敏
Oral presentation, Japanese, 第49回日本理学療法学術大会, 横浜, Domestic conference
30 May 2014 - 脳卒中患者に対する電気刺激を併用した下肢伸展運動課題が脳活動に与える影響
五十嵐 千秋; 久保田 雅史; 神澤 朋子; 山村 修; 岡沢 秀彦; 加藤 龍; 横井 浩史; 嶋田 誠一郎; 馬場 久敏
Oral presentation, Japanese, 第49回日本理学療法学術大会, 横浜, Domestic conference
30 May 2014 - 慢性期脳卒中患者における機能的電気刺激療法の効果:H2[15O] PETによる検討
神澤 朋子; 山村 修; 辻川 哲也; 岡沢 秀彦; 濱野 忠則; 久保田 雅史; 五十嵐 千秋; 内田 研造; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第55回日本神経学会学術大会, 福岡, Domestic conference
23 May 2014 - 部分最適線形判別分析によるサル硬膜下電位からの運動状態判別
坂井 郁也; 森下 壮一郎; 渡辺 秀典; 西村 幸男; 加藤 龍; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 第92回パターン計測部会研究会, 第92回パターン計測部会研究会, Domestic conference
08 May 2014 - 選択的線形回帰モデルを用いた表面筋電位からの把持姿勢識別及び把持力推定
山野井 佑介; 鈴木 大輝; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第92回パターン計測部会研究会, 第92回パターン計測部会研究会, Domestic conference
08 May 2014 - 慢性期脳卒中患者における機能的電気刺激療法施行下の脳機能画像評価：異なる運動タスク間の比較
神澤 朋子; 山村 修; 辻川 哲也; 岡沢 秀彦; 濱野 忠則; 久保田 雅史; 五十嵐 千秋; 内田 研造; 鈴木 美奈子; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第３９回日本脳卒中学会総会, 大阪, Domestic conference
14 Mar. 2014 - 感覚フィードバック付き運動機能回復支援機器の開発～マーカー発見を目指したfNIRSによる脳活動計測
大平 美里; 神澤 朋子; 上平 倫太郎; 野櫻 舞; 佐藤 祐樹; 森下 壮一郎; 姜 銀来; 杉 正夫; 山村 修; 横井 浩史
Oral presentation, Japanese, 第1回身体性システム領域全体会議, 岩手, Domestic conference
09 Mar. 2014 - The Effect of Functional Electrical Stimulation on H2[15O]PET in the Post-Stroke Patients
Tomoko Kamisawa; Osamu Yamamura; Masafumi Kubota; Chiaki Igarashi; Tetsuya Tsujikawa; Kenzo Uchida; Minako Suzuki; Ryu Kato; Hiroshi Yokoi; Tadanori Hamano; Yasunari Nakamoto; Hidehiko Okazawa
Oral presentation, English, International Workshop on Molecular Functional Imaging for Brain and Gynecologic Oncology, International conference
03 Mar. 2014 - サル硬膜下電位からのリーチングタスクの状態判別率向上を目指した次元圧縮法
坂井 郁也; 森下 壮一郎; 西村 幸男; 渡辺 秀典; 加藤 龍; 梅田 達也; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 計測自動制御学会 第26回自律分散システム・シンポジウム予稿集, 東京, Domestic conference
Jan. 2014 - 駆動力配分メカニズムを用いた五指多自由度筋電義手の把持機能評価
關 達也; 中村達弘; 加藤龍; 森下壮一郎; 横井浩史
Oral presentation, Japanese, 計測自動制御学会 第26回自律分散システム・シンポジウム予稿集, Domestic conference
Jan. 2014 - 自己成長型教育システムのための端末アプリケーションの開発―マルチユーザ化およびコンテンツ評価機構の実装―
森下壮一郎; 毛利尚武; 矢野眞和; 横井浩史
Oral presentation, Japanese, 計測自動制御学会, 第26回自律分散システム・シンポジウム予稿集, 東京, Domestic conference
Jan. 2014 - 機能的電気刺激における筋疲労の表面筋電図を用いた評価
清水 雄貴; 杉 正夫; 大平 美里; 森下 壮一郎; 中村 達弘; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第35回バイオメカニズム学術講演会予稿集, Domestic conference
2014 - 多点電極による表面電気刺激の電極配置探索法の検討
佐藤 佑樹; 鈴木 美奈子; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 計測自動制御学会 システム・情報部門 学術講演会2013 (SSI2013), 滋賀, Domestic conference
Nov. 2013 - 運動機能の再建に向けた多チャンネル型表面電気刺激装置の開発
鈴木 美奈子; 佐藤 佑樹; 加藤 龍; 横井 浩史; 山村 修; 神澤 朋子; 久保田 雅史; 五十嵐 千秋
Oral presentation, Japanese, 計測自動制御学会 システム・情報部門 学術講演会2013 (SSI2013), Domestic conference
Nov. 2013 - Immediate Effects of FES on Kinetics and Oxygenation in Cortices during Gait in Stroke Patients
Masafumi Kubota; Osamu Yamamura; Tomoko Kamisawa; Chiaki Igarashi; Hideaki Matsuo; Hiroaki Naruse; Seiichiro Shimada; Ryu Kato; Hiroshi Yokoi; Kenzo Uchida; Hisatoshi Baba
Oral presentation, English, The 6th AWP&12th ACPT Combined Congress, International conference
08 Sep. 2013 - Safety studies of newly developed functional electrical stimulation device
Chiaki Igarashi; Masafumi Kubota; Hiroaki Naruse; Seiichiro Shimada; Osamu Yamamura; Tomoko Kamisawa; Ryu Kato; Hiroshi Yokoi; Hisatoshi Baba
Oral presentation, English, The 6th AWP & 12th ACPT Combined Congress, International conference
08 Sep. 2013 - 表面電気刺激を用いた四肢制御のための刺激電極の最適配置決定手法―多点電極の中から最適な電極を選出する刺激選択回路の設計―
佐藤 佑樹; 鈴木 美奈子; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本機械学会2013年度年次大会予稿集, 岡山, Domestic conference
Sep. 2013 - 多様な把持形態が実現可能な筋電義手のためのワイヤ干渉駆動型母指機構の開発
高澤 駿介; 田中 啓太; 關 達也; 望月 大二郎; 中村 達弘; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本機械学会2013年度年次大会, 岡山, Domestic conference
Sep. 2013 - 表面電気刺激における四肢制御のための刺激電極の最適配置決定手法―多点電極の中から最適な電極を選出する刺激選択回路の設計―
佐藤 佑樹; 鈴木 美奈子; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第14回日本電気生理運動学会大会, 大阪, Domestic conference
Jul. 2013 - Robotics rehabilitation projects based on mutual adaptation
Hiroshi Yokoi
Invited oral presentation, English, 16th International Graphonomics Society Conference (IGS2013), International Graphonomics Society, Nara, Japan, International conference
Jun. 2013 - 個性適応型筋電義手に関する研究（乳幼児への適用事例）
横井 浩史
Invited oral presentation, Japanese, 日本機械学会第25回バイオエンジニアリング講演会, 日本機械学会
Jan. 2013 - 運動機能再建の新展開
横井浩史
Invited oral presentation, Japanese, 第39回日本マイクロサージャリー学会学術集会, 第39回日本マイクロサージャリー学会学術集会
Dec. 2012 - 個性適応技術を用いた運動機能の代替と回復の方法
横井 浩史
Public symposium, Japanese, 産業技術連携推進会議ライフサイエンス部会医療福祉技術分科会第14回医療福祉技術シンポジウム, 地方独立行政法人東京都立産業技術研究センター, 東京都
Sep. 2012 - 機能的電気刺激が誘発する筋疲労の推定に関する研究
鈴木 美奈子; 關 達也; 加藤 龍; 森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 第30回ロボット学会学術講演会,第30回ロボット学会学術講演会
Sep. 2012 - 多様な把持形態が可能な筋電義手を実現するためのワイヤ駆動型母指ＣＭ関節の開発
高澤 駿介; 田中 啓太; 關 達也; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第30回ロボット学会学術講演会,第30回ロボット学会学術講演会
Sep. 2012 - 等電位面による筋電計からの電気刺激ノイズ抑制手法
粕谷 昌宏; 関 雅俊; 川村 和也; 小林 洋; 藤江 正克; 横井 浩史
Oral presentation, Japanese, 第30回日本ロボット学会 学術講演会,第30回日本ロボット学会 学術講演会
Sep. 2012 - ロバスト統計に基づくサルのECoGからの上腕電動義手の動作決定
森下 壮一郎; 佐藤 圭太; 西村 幸男; 渡辺 秀典; 加藤 龍; 南部 篤; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 第35回日本神経科学大会,第35回日本神経科学大会
Sep. 2012 - Mutual Adaptation among Man and Machine: EMG controlled prosthetic hand with five fingers and neuro-rehabilitation
Hiroshi Yokoi
Invited oral presentation, English, 第49回日本リハビリテーション医学会学術総会, 第49回日本リハビリテーション医学会学術総会
May 2012 - M推定の応用によるBMI電動義手安定動作に関する研究
森下 壮一郎; 佐藤 圭太; 三浦 渉尊; 西村 幸男; 渡辺 秀典; 加藤 龍; 南部 篤; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 計測自動制御学会 計測部門,第87回パターン計測部会研究会
Apr. 2012 - ブレインマシンインターフェースによる電動義手制御のための隠れマルコフモデルによる変則的動作検出
三浦 渉尊; 森下 壮一郎; 佐藤 圭太; 西村 幸男; 渡辺 秀典; 加藤 龍; 南部 篤; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 計測自動制御学会 計測部門,第87回パターン計測部会研究会
Apr. 2012 - Brain-Machine Interfaces and Neurorehabilitation
Hiroshi Yokoi
Invited oral presentation, English, Conference on Systems Neuroscience and Rehabilitation: SNR2012, Conference on Systems Neuroscience and Rehabilitation: SNR2012, Saitama,Japan, International conference
Mar. 2012 - 脳表脳波を用いたBMIの臨床応用
吉峰俊樹; 平田雅之; 松下光次郎; 柳沢琢史; 鈴木隆文; 神谷之康; 横井浩史; 後藤哲; モリス シェイン; 菅田陽怜; 影山悠; 貴島晴彦; 斎藤洋一; 川人光男
Oral presentation, Japanese, 電子情報通信学会集積回路研究会(ICD),電子情報通信学会集積回路研究会(ICD)
Mar. 2012 - 持続型電気刺激を用いた自発運動の再生法
横井 浩史; 森 崇; 加藤 龍; 山村 修; 久保田 雅史
Oral presentation, Japanese, 日本ＦＥＳ研究会,第18回日本ＦＥＳ研究会学術講演会
Feb. 2012 - 自己成長型教育システムのための端末アプリケーションの開発−インタフェースおよびデータ構造の検討
森下 壮一郎; 毛利 尚武; 矢野 眞和; 横井 浩史
Oral presentation, Japanese, 第24回自律分散システムシンポジウム,第24回自律分散システムシンポジウム
Jan. 2012 - 自己成長型教育システムのための端末アプリケーションの開発−インタフェースおよびデータ構造の検討
森下 壮一郎; 毛利 尚武; 矢野 眞和; 横井 浩史
Oral presentation, Japanese, 第24回自律分散システムシンポジウム,第24回自律分散システムシンポジウム
Jan. 2012 - 多点振動子アレイを用いた義手の体性感覚フィードバック
望月 大二郎; 中村 達弘; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本機械学会2012年度年次大会,日本機械学会2012年度年次大会
2012 - Development of advanced prosthetic hand using BMI
Masahiro Kasuya; Masatoshi Seki; Kazuya Kawamura; Yo Kobayashi; Masakatsu G. Fujie; Hiroshi Yokoi
Public symposium, English, 「脳と心のメカニズム」夏のワークショップ2012, 「脳と心のメカニズム」夏のワークショップ2012
2012 - 乳幼児および小児のための多自由度筋電義手の開発
田中 啓太; 中川 慎也; 關 達也; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本機械2012年度年次大会,日本機械2012年度年次大会
2012 - 疲労回復を考慮した筋疲労度の定量的推定
杉 正夫; Yewguan Soo; 加藤 龍; 横井 浩史; 太田 順
Oral presentation, Japanese, 第12回日本電気生理運動学会（JSEK）大会抄録集, Domestic conference
2012 - 卓上作業支援システムの為の表面筋電図を用いた指さしジェスチャ認識
三反畑 努; 杉 正夫; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 2012年度精密工学会春季大会講演論文集, Domestic conference
2012 - 情報処理向上に伴う個人に由来するデータの匿名性の変化に関する一考察
森下 壮一郎; 横井 浩史
Oral presentation, Japanese, IEICE technical Report
Dec. 2011 - ブレイン・マシン・インターフェースを用いた脳機能再建：計算機脳科学にもとづいた脳神経外科新規治療ブレイン・マシン・インターフェースを用いた脳機能再建：計算機脳科学にもとづいた脳神経外科新規治療
平田雅之; 柳澤琢史; 松下光次郎; 後藤哲; Morris Shayne Jason; 影山悠; 菅田陽怜; 貴島晴彦; 齋藤洋一; 鈴木隆文; 横井浩史; 神谷之康; 川人光男; 吉峰俊樹
Oral presentation, Japanese, 日本脳神経外科学会第70回学術総会,日本脳神経外科学会第70回学術総会
Oct. 2011 - 機能的電気刺激を用いた麻痺肢の運動補助に関する研究
鈴木 美奈子; 森 崇; 静井 章朗; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第29回日本ロボット学会 学術講演会,第29回日本ロボット学会 学術講演会
Sep. 2011 - 手指リハビリテーション支援装置の随意制御のための表面筋電位を用いた動作意図の推定に関する研究
中川 慎也; 關 達也; 加藤 龍; 横井 浩史; 山村 修
Oral presentation, Japanese, 第29回日本ロボット学会 学術講演会,第29回日本ロボット学会 学術講演会
Sep. 2011 - 硬膜下電位からのサル捕食運動中の状態判別とロボットアーム動作決定
佐藤 圭太; 森下 壮一郎; 西村 幸男; 渡辺 秀典; 加藤 龍; 南部 篤; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 第29回日本ロボット学会 学術講演会,第29回日本ロボット学会 学術講演会
Sep. 2011 - 自力簡易装着を実現する伸展運動支援機構の開発
酒井 康行; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第29回日本ロボット学会 学術講演会,第29回日本ロボット学会 学術講演会
Sep. 2011 - 拘縮指の伸展姿勢を維持するための治具を用いた手指リハビリテーション支援装置の装着法
酒井 康行; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 2011年度精密工学会秋季大会学術講演会,2011年度精密工学会秋季大会学術講演会
Sep. 2011 - 手指リハビリテーションのための筋電制御型手指パワーアシスト装置の開発
加藤 龍; 中川 慎也; 横井 浩史
Oral presentation, Japanese, 2011年度精密工学会秋季大会学術講演会,2011年度精密工学会秋季大会学術講演会
Sep. 2011 - 自力簡易装着を可能とする手指伸展運動支援装置の開発
酒井康行; 中川慎也; 加藤龍; 横井浩史
Oral presentation, Japanese, バイオメカニズム学会,第32回バイオメカニズム学会
Sep. 2011 - A cognitive bias model to assess the social receptivity of automatic systems:case studies and a qualitative explanation
森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 電子情報通信学会技術研究報告
May 2011 - サルの脳神経活動パターンからの動作識別と上腕電動義手の制御に関する研究
森下 壮一郎; 佐藤 圭太; 中村 達広; 梅田 達也; 渡辺 秀典; 加藤 龍; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 第12回日本電気生理運動学会,第12回日本電気生理運動学会
Mar. 2011 - 筋電制御型手指パワーアシスト装置による手指リハビリテーション
加藤 龍; 中川 慎也; 横井 浩史; 山村 修
Oral presentation, Japanese, 第12回日本電気生理運動学会,第12回日本電気生理運動学会
Mar. 2011 - 筋電義手システムにおける無駄時間要素が操作性に及ぼす影響について
中村 達弘; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 生活生命支援医療福祉工学系学会,生活生命支援医療福祉工学系学会連合大会2011
2011 - 把持の多様性と高い把持力を実現する指を跨ぐワイヤ干渉駆動系を用いた五指型筋電義手の開発
關 達也; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 生活生命支援医療福祉工学系学会,生活生命支援医療福祉工学系学会連合大会2011
2011 - 先天性前腕欠損を対象とした幼児用多自由度筋電義手の開発
佐久間 遥; 關 達也; 中村 達弘; 加藤 龍; 横井 浩史; 本多 敏
Oral presentation, Japanese, 生活生命支援医療福祉工学系学会,生活生命支援医療福祉工学系学会連合大会2011
2011 - 多点振動子アレイによる義手の体性感覚フィードバック
望月 大二郎; 中村 達弘; 加藤 龍; 森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 生活生命支援医療福祉工学系学会,生活生命支援医療福祉工学系学会連合大会2011
2011 - 母指の麻痺を改善するリハビリテーション支援装置の開発
安藤 啓祐; 酒井 康行; 中川 慎也; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 生活生命支援医療福祉工学系学会,生活生命支援医療福祉工学系学会連合大会2011
2011 - 自動機械システムにおける内的セキュリティ問題 -ケーススタディおよび技術者倫理の観点からの検討-
森下 壮一郎; 横井 浩史
Oral presentation, Japanese, THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS/IEICE Technical Report
Dec. 2010 - 自動機械システムにおける内的セキュリティ問題 -ケーススタディおよび技術者倫理の観点からの検討-
森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 信学技報 SITE2010-47,電子情報通信学会
Dec. 2010 - The internal security issues in automatic systems: case studies and a review from the viewpoint of engineering ethics
森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 電子情報通信学会技術研究報告
Dec. 2010 - 手指リハビリテーションのための筋電制御型手指パワーアシスト装置の開発
中川 慎也; 酒井 康行; 關 達也; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第31回バイオメカニズム学術講演会
Nov. 2010 - 表面電気刺激を用いた下肢麻痺者の歩行補助に関する研究－補助とリハビリテーションを目的とした小型刺激装置の開発－
森 崇; 關 達也; 加藤 龍; 森下 壮一郎
Oral presentation, Japanese, 第31回バイオメカニズム学術講演会
Nov. 2010 - An integrative BMI approach for functional restoration using human electrocorticogram
M. Hirata; T. Yanagisawa; T. Goto; K. Matsushita; T. Suzuki; H. Yokoi; O. Sakura; T. Yoshida; F. Sato; J. Sawada; Y. Saitoh; H. Kishima; J. Ushiba; Y. Kamitani; T. Yoshimine
Oral presentation, English, Neuroscience
Nov. 2010 - 皮質脳波を用いたワイヤレス埋込型ブレイン・マシン・インターフェースによる運動・言語機能再建
平田 雅之; 柳澤 琢史; 後藤 哲; 松下 光次郎; 齋藤 洋一; 貴島 晴彦; 原田 悠; モリス シェイン; 鈴木 隆文; 横井 浩史; 吉田 毅; 佐藤 文博; 澤田 甚一; 佐倉 統; 神谷 之康; 吉峰 俊樹
Oral presentation, English, 日本脳神経外科学会,日本脳神経外科学会第69回学術総会
Oct. 2010 - ヒト皮質脳波を用いたBMI臨床応用への統合的アプローチ
平田 雅之; 柳澤 琢史; 後藤 哲; 松下 光次郎; 鈴木 隆文; 横井 浩史; 佐倉 統; 藤井 直敬; 牛場 潤一; 吉田 毅; 佐藤 文博; 齋藤 洋一; 貴島 晴彦; 神谷 之康; 吉峰 俊樹
Oral presentation, Japanese, NEURO2010,NEURO2010
Oct. 2010 - Development of adaptable sensing feedback for multi-functional prosthetic hand
横井 浩史
Oral presentation, Japanese, 日本神経科学大会他,Neuro2010(第33回日本神経科学大会他), 日本神経学会
Sep. 2010 - Integrative BMI approach for functional restoration using human electrocorticograms
Masayuki Hirata; Takufumi Yanagisawa; Tetsu Goto; Kojiro Matsushita; Takafumi Suzuki; Hiroshi Yokoi; Osamu Sakura; Naotaka Fujii; Junichi Ushiba; Takeshi Yoshida; Fumihiro Sato; Youichi Saitoh; Haruhiko Kishima; Yukiyasu Kamitani; Toshiki Yoshimine
Oral presentation, English, 日本神経科学大会他,Neuro2010(第33回日本神経科学大会他)
Sep. 2010 - Development of adaptable sensing feedback for multi-functional prosthetic hand
横井 浩史
Oral presentation, Japanese, 日本神経科学大会他,Neuro2010(第33回日本神経科学大会他)
Sep. 2010 - 硬膜下電位を用いたサルの捕食運動の識別
佐藤 圭太; 中村 達弘; 森下 壮一郎; 梅田 達也; 渡辺 秀典; 加藤 龍; 伊佐 正; 横井 浩史
Oral presentation, Japanese, 第28回日本ロボット学会学術講演会,第28回日本ロボット学会学術講演会
Sep. 2010 - 五指型筋電義手のためのワイヤ干渉駆動メカニズム-多指を跨ぐ二関節筋構造の提案-
關 達也; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第28回日本ロボット学会学術講演会,第28回日本ロボット学会学術講演会
Sep. 2010 - 日常生活を想定した五指型筋電義手の開発-五指による把持動作の違いが操作性に与える影響-
山岸 大亮; 關 達也; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第28回日本ロボット学会学術講演会,第28回日本ロボット学会学術講演会
Sep. 2010 - 高弾性生地を用いた機能性衣料による歩行補助
静井 章朗; 森 崇; 加藤 龍; 森下 壮一郎; 横井 浩史
Oral presentation, Japanese, 第28回日本ロボット学会学術講演会,第28回日本ロボット学会学術講演会
Sep. 2010 - Classification analysis of Monkey ECoG data for reaching motion
Keita Sato; Tatsuhiro Nakamura; Soichiro Morishita; Tatsuya Umeda; Hidenori Watanabe; Ryu Kato
Oral presentation, English, SICE第82回パターン計測部会研究会資料,SICE第82回パターン計測部会研究会
Jul. 2010 - Mutual Adaptation among Man and Machine
Hiroshi Yokoi
Invited oral presentation, English, 第2回日独ラウンドテーブル, 日本学術振興会, Tokyo,Japan, International conference
Feb. 2010 - Mutually Adaptable Prosthetic Hand and Power Assist System for BMI
Hiroshi Yokoi
Invited oral presentation, English, 第2回日英ブレイン・マシン・インターフェース国際ワークショップ, 日本学術振興会, London,England, International conference
Feb. 2010 - Mutual Adaptation among Man and EMG Intelligent Prosthetic Hand Based on Conditional Entropy Learning Method
Hiroshi Yokoi
Invited oral presentation, English, ISNN2010（Seventh International Symposium on Neural Networks）, ISNN, International conference
Jan. 2010 - EMG Intelligent Prosthetic Hand
Hiroshi Yokoi
Invited oral presentation, English, Brussels Hand/Upper Limb International Symposium, Hand/Upper Limb International Symposium, Brussels, Belgium, International conference
Jan. 2010 - Reflex Walking Assist System
Hiroshi Yokoi
Invited oral presentation, English, Brussels Hand/Upper Limb International Symposium, Hand/Upper Limb International Symposium, Brussels, Belgium, International conference
Jan. 2010 - 理工学の立場から ロボットハンド最前線
横井 浩史
Oral presentation, Japanese, 第17回高度先進リハビリテーション医学研究会講演集,第17回高度先進リハビリテーション医学研究会
2010 - 動作の「過渡」及び「定常」状態の筋電位信号を用いたハイブリッド指動作識別
近藤 玄大; 加藤 龍; 横井 浩史; 新井 民夫
Public symposium, Japanese, 第16回創発システム・シンポジウム, 富山
2010 - Classification of Rat Locomotion using Epidural Electrodes -Toward the Development of Low-Invasive Brain Machine Interface-
Kahori Kita; Takeshi Uejima; Masatoshi Takita; Hiroshi Yokoi
Oral presentation, English, Mobiligence
Nov. 2009 - Tactile-Feedback with Surface Electrical Stimulation by Phantom-sensation
Hyun-chul Souk; 加藤 龍; 中村 達弘; 北 佳保里; 横井 浩史; 新井 民夫
Oral presentation, English, 第30回バイオメカニズム学会,第30回バイオメカニズム学術講演会(SOBIM2009)
Nov. 2009 - Classification of Rat Locomotion using Epidural Electrodes -Toward the Development of Low-Invasive Brain Machine Interface-
Kahori Kita; Takeshi Uejima; Masatoshi Takita; Hiroshi Yokoi
Oral presentation, English, Mobiligence, Awajisima
Nov. 2009 - 重度障害者用ブレイン・マシン・インターフェースの開発 新しいかたちの人生への復帰支援
平田 雅之; 柳澤 琢史; 後藤 哲; 福間 良平; 齋藤 洋一; 貴島 晴彦; 横井 浩史; 牛場 潤一; 鈴木 隆文; 神谷 之康; 吉峰 俊樹
Oral presentation, Japanese, 日本脳神経外科学会,第68回日本脳神経外科学会学術総会
Oct. 2009 - 個性適応技術を用いた福祉機器の開発に関する研究
横井 浩史
Invited oral presentation, Japanese, 第11回産業医科大学リハビリテーション医療研究会, 産業医科大学リハビリテーション医療研究会
Sep. 2009 - リハビリとロボット技術～ロボット技術で変わるリハビリテーション～
横井 浩史
Invited oral presentation, Japanese, 石川県産業大学講座・技術セミナー
Sep. 2009 - 筋電位型義手の発展を目指して
横井 浩史
Invited oral presentation, Japanese, 第27回日本ロボット学会学術講演会(RSJ2009), 日本ロボット学会
Sep. 2009 - 運動補助のための高弾性生地の配置決定問題へのアプローチ
岡崎 達朗; 北 佳保里; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会(RSJ2009)
Sep. 2009 - Brain function analysis on multi-functional myoelectric hand with tactile feedback
加藤 龍; 横井 浩史
Public symposium, Japanese, 福祉工学シンポジウム講演, 福祉工学シンポジウム講演論文集 2009
Sep. 2009 - 習熟度を考慮した自己組織的動作識別法の構築
北 佳保里; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第27回日本ロボット学会学術講演会(RSJ2009)
Sep. 2009 - Estimation of rat locomotion process through multirecording of epidural potentials
Kahori Kita; Takeshi Uejima; Toshiyuki Fujii; Masatoshi Takita; Hiroshi Yokoi
Oral presentation, English, XXXVI International Congress of Physiological Sciences
Jul. 2009 - Mutually Adaptable EMG Devices for Prosthetic Hand with Bio-feed back Signal Transfer
Hiroshi Yokoi
Invited oral presentation, English, 第5回国際マイクロサージャリ－学会学術集会, マイクロサージャリ－学会, International conference
Jun. 2009 - 個性適応技術を応用した筋電義手の開発
横井 浩史
Invited oral presentation, Japanese, 東北医学会, 東北医学会
Jun. 2009 - 硬膜外神経活動計測を用いた低侵襲BMIの実現可能性の検討
加藤龍; 上嶋健嗣; 横井浩史; 瀧田正寿
Oral presentation, Japanese, 生理学研究所 第3回 Motor Control 研究会,生理学研究所 第3回 Motor Control 研究会
May 2009 - 個性適応型筋電義手の日常生活への応用とその評価
横井 浩史
Invited oral presentation, Japanese, 第112回中部日本整形外科災害外科学会, 中部日本整形外科災害外科学会
Apr. 2009 - 上肢麻痺者のためのFESを用いた運動補助に関する基礎研究
有水 精英; 横井 浩史
Oral presentation, Japanese, 2009年度精密工学会春季大会学術講演会講演論文集,2009年度精密工学会春季大会学術講演会
Mar. 2009 - 運動補助のための高弾性生地の配置決定問題へのアプローチ
山浦 博志; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 2009年度精密工学会春季大会学術講演会講演論文集,第27回日本ロボット学会学術講演会(RSJ2009)
Mar. 2009 - 筋電義手における深部感覚提示に関する研究
ソク ヒョンチョル; 横井浩史
Oral presentation, Japanese, 2009年度精密工学会春季大会学術講演会講演論文集,2009年度精密工学会春季大会学術講演会
Mar. 2009 - Low-Invasive Brain-Machine Interface based on Epidural Neural Recording
Takeshi Uejima; Toshiyuki Fujii; Masatoshi Takita; Hiroshi Yokoi
Public symposium, English, International Workshop on Robotics for Young Researchers, Boston, USA
Mar. 2009 - Development of Avian Flu Infected Poultry Detection System Using Multi-modal Sensing
Toshiyuki Fujii; Hiroshi Yokoi; Tatsuya Tada; Koutaro Suzuki; Kenji Tsukamoto
Public symposium, English, International Workshop on Robotics for Young Researchers, Boston, USA
Mar. 2009 - 準受動四脚移動ロボットの開発 -1駆動関節によるトロット歩容の実現-
松下 光次郎; 横井 浩史; 新井 民夫
Public symposium, Japanese, 第14回ロボティクスシンポジア
2009 - A Model of Muscle Fatigue for Quantitative Estimation
Yewguan SOO; Masao SUGI; Hiroshi YOKOI; Tamio ARAI; Ryu KATO; Jun OTA
Oral presentation, Japanese, 第27回日本ロボット学会学術講演会予稿集, Domestic conference
2009 - 筋電データを活用した卓上作業者支援システムの構築
西野 正孝; 杉 正夫; 蘇 友源; 太田 順; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 2009年度精密工学会春季大会講演論文集, Domestic conference
2009 - 個性適応型筋電義手に関する研究 Mutually Adaptable EMG Prosthetic hand
横井 浩史
Invited oral presentation, Japanese, 日本マイクロサージャリー学会, 日本マイクロサージャリー学会
Nov. 2008 - 個性適応型ロボットを用いた手指機能の再建のアプローチ －fMRIによる大脳感覚野と運動野の変化についての考察－
横井 浩史
Invited oral presentation, Japanese, 第19回日本末梢神経学会学術集会, 日本末梢神経学会
Sep. 2008 - サイボーグ義手の開発動向
横井 浩史
Invited oral presentation, Japanese, 第54回国際学生会議フォーラム, 国際学生会議, Tokyo,Japan, International conference
Sep. 2008 - 硬膜外電位計測によるラットの運動状態推定の基礎研究
上嶋 健嗣; 藤井 俊行; 瀧田 正寿; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会(RSJ2008)
Sep. 2008 - 筋電位を用いた動作識別のための訓練データの自律生成法
北 佳保里; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会(RSJ2008)
Sep. 2008 - 筋電義手によるピアノ演奏のための指姿勢識別 -最適なセンサ配置の検討-
近藤 玄大; 加藤 龍; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会(RSJ2008)
Sep. 2008 - パーティクルフィルタを用いたカメラによる鶏追跡システムの開発
藤井 俊行; 横井 浩史; 多田 達哉; 鈴木 耕太郎; 塚本 健司
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会(RSJ2008)
Sep. 2008 - 個性適応機能を有する感覚フィードバック用電気刺激装置の開発
李 元吉; Alejandro Hernandez; 北 佳保里; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会(RSJ2008)
Sep. 2008 - 筋電義手使用による運動機能再建の評価
加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会(RSJ2008)
Sep. 2008 - 筋電義手による移動物体把持
中村 達弘; 北 佳保里; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会 (RSJ2008)
Sep. 2008 - 高弾性生地による持ち上げ動作補助に関する研究
岡崎 達朗; 北 佳保里; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会学術講演会(RSJ2008)
Sep. 2008 - 2050年のロボット社会に向けた展望，人間中心のロボット活用社会，サイボーグ(BMI/BCI)
加藤 龍; 横井 浩史
Oral presentation, Japanese, 日本ロボット学会,第26回日本ロボット学会講演会併設行事「一般公開セッション：ロボット分野アカデミックロードマップ」
Sep. 2008 - ロボットに学ぶ身体と知能
横井 浩史
Others, Japanese, 特別講演, 山口県立博物館
Aug. 2008 - FMRI Change of phantom limb with a robot arm
Hiroshi Yokoi
Invited oral presentation, English, International Conference on Biomag 2008, Biomag, Sapporo,Japan, International conference
Aug. 2008 - 個性適応型筋電義手に関する研究
横井 浩史
Invited oral presentation, Japanese, 北海道大学医学部特別講義, 北海道大学医学部
Jul. 2008 - 機能的電気刺激を用いた感覚フィードバックと運動機能補助に関する研究
横井 浩史
Invited oral presentation, Japanese, 移動知合同班会議, 移動知
Jul. 2008 - ワイヤー干渉駆動系を用いた義手用ロボットハンドの設計と制御
横井 浩史
Invited oral presentation, Japanese, 第17回新潟移植再生研究会, 新潟移植再生研究会
Jun. 2008 - ロボティクスの未来技術～BMI技術を用いた直観的操作～
横井 浩史
Invited oral presentation, Japanese, 日本ロボット学会(RSJ), 北海道ロボット技術研究専門委員会(HRT研究会) 第一回運営委員会・設立記念技術講演会～北海道地域での連携融合RT拠点形成を目指して～, 日本ロボット学会，北海道ロボット技術研究専門委員会(HRT研究会)
Jun. 2008 - 個性適応型筋電義手の日常生活への応用とその評価
横井 浩史
Invited oral presentation, Japanese, 第5回学術講演会, 京都府立医科大学研究開発センター
May 2008 - 人・機械融合システムに関する技術開発と将来展望
横井 浩史
Invited oral presentation, Japanese, KRIワークショップ’08, KRI
May 2008 - ワイヤー干渉駆動型ロボットハンドの設計と制御
横井 浩史
Invited oral presentation, Japanese, 第51回手の外科学会学術集会, 手の外科学会
Apr. 2008 - 表面筋電図を用いた個人的疲労感の定量化
杜 儒霖; 加藤 龍; 北 佳保里; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 精密工学会,精密工学会春季大会学術講演会
2008 - 硬膜外電位計測による運動意図推定技術の研究
上嶋 健嗣; 藤井 俊行; 瀧田 正寿; 横井 浩史
Oral presentation, Japanese, Motor Control研究会,第2回生理研Motor Control研究会
2008 - 適応機能を有する筋電義手を用いた運動機能再建に関する研究
加藤 龍; 横井 浩史
Oral presentation, Japanese, Motor Control研究会,第2回生理研Motor Control研究会
2008 - 歩行困難者補助のための 反射運動系のモデル化に関する研究
加藤 龍; 横井 浩史
Public symposium, Japanese, 第2回移動知一般公開シンポジウム, 移動知
2008 - 東大IRT拠点におけるIRT環境研究
佐藤 知正; 新井 民夫; 横井 浩史; 太田 順; 田浦 健次郎; 森 武俊; 杉 正夫; 横山 大作; 下坂 正倫; 森下 広; 福井 類
Oral presentation, Japanese, 第26回日本ロボット学会学術講演会予稿集, Domestic conference
2008 - 筋電義手のためのねじりバネ式ワイヤ駆動システムの開発
柴田 大介; 横井 浩史
Oral presentation, Japanese, 第2回義手を語る会,第2回義手を語る会
Dec. 2007 - 遺伝的アルゴリズムを用いた5指ハンドにおける持ち替え動作の生成
清水 広明; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第2回義手を語る会,第2回義手を語る会
Dec. 2007 - 筋電義手による移動物体把持の基礎研究
中村 達弘; 北 佳保里; 加藤 龍; 横井 浩史
Oral presentation, Japanese, 第2回義手を語る会,第2回義手を語る会
Dec. 2007 - Developmental Cognitive Machine Lab
Hiroshi Yokoi
Invited oral presentation, English, 身体性人工知能・ロボティクスに関する国際シンポジウム, Zurich, Switzerland, International conference
Nov. 2007 - Cerebral reorganization by adaptable robot hand
Hiroshi Yokoi
Invited oral presentation, English, Neuro2007, 日本神経学会
Sep. 2007 - 人と機械の融合システムと倫理
横井 浩史
Invited oral presentation, Japanese, 日本人間工学会第48回, 日本人間工学会
Jun. 2007 - 個性適応型筋電義手の開発とその適応評価のための脳機能解析
加藤 龍; Alejandro Hernandez A; 横井 浩史
Oral presentation, Japanese, Motor Control 研究会,生理学研究所 第1回 Motor Control 研究会
Jun. 2007 - 自己組織化クラスタリングを用いた表面筋電位からの動作識別
北 佳保里; 加藤 龍; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会(ROBOMEC2007)
May 2007 - モジュラ型ワイヤ駆動方式を用いた歩行補助機の開発
竹中 慎吾; 松下 光次郎; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演(ROBOMEC2007)
May 2007 - リアリティギャップを克服する移動体の進化設計システムの提案
松下 光次郎; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会(ROBOMEC2007)
May 2007 - 下肢麻痺者の体性反射を利用した歩行補助システムの開発
山川 明浩; 加藤 龍; 松下 光次郎; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 日本機械学会,日本機械学会ロボティクス・メカトロニクス講演会(ROBOMEC2007)
May 2007 - 個性適応型筋電義手の開発とその適応効果
横井 浩史
Invited oral presentation, Japanese, 第1回義手を語る会, 第1回義手を語る会
Feb. 2007 - 東大IRT拠点におけるIRT環境研究
佐藤 知正; 新井 民夫; 横井 浩史; 太田 順; 田浦 健次郎; 森 武俊; 杉 正夫; 横山 大作; 下坂 正倫; 森下 広
Oral presentation, Japanese, 第25回日本ロボット学会学術講演会予稿集, Domestic conference
2007 - Development of Walking Assist Machine : Adaptive Mechanism and Controller for Walking Characteristics of Users
竹中 慎吾; 松下 光次郎; 横井 浩史; 新井 民夫
Public symposium, Japanese, インテリジェントシステム・シンポジウム, インテリジェントシステム・シンポジウム講演論文集
Sep. 2006 - Development of Walking Assist Device : Adaptive Recognition of Individual Walking States for Patients with Leg Paralysis
山川 明浩; 加藤 龍; 松下 光次郎; 横井 浩史; 新井 民夫
Public symposium, Japanese, インテリジェントシステム・シンポジウム講演, インテリジェントシステム・シンポジウム講演論文集
Sep. 2006 - Slope climbing conditions of quasi-passive walking robot with swinging torso
宝田 恵太郎; 秋元 俊成; 松元 明弘; 松下 光次郎; 横井 浩史; 新井 民夫
Oral presentation, Japanese, 埼玉ブロック大会(講演会)講演論文集 2005,埼玉ブロック大会(講演会)講演論文集
Nov. 2005 - Slope-climbing experiments of quasi-passive walking robot(Walking Robot 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)
宝田 恵太郎; 秋元 俊成; 松元 明弘; 松下 光次郎; 横井 浩史; 新井 民夫
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2005,ロボティクス・メカトロニクス講演会
Jun. 2005 - アメーバ状ロボットの駆動と制御に関する研究(メゾ・マイクロスケール流体機能,F04 流体工学部門企画)
横井 浩史
Oral presentation, Japanese, 年次大会講演資料集 2004,年次大会講演/一般社団法人日本機械学会
Sep. 2004 - Development of a spacial information indicator by using FES:A study on relationship between spacial distance, stimulus intensity and human response
時田 英二; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2004,ロボティクス・メカトロニクス講演会
Jun. 2004 - A study for control of a wearable power assist system : Recognition of human motions utilizing artificial neural networks
河合 智; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2004,ロボティクス・メカトロニクス講演会
Jun. 2004 - A study of feature detection from blurred image
川音 真吾; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2004,ロボティクス・メカトロニクス講演会
Jun. 2004 - Group Formation of Agents with Emotion-like Inner States
成瀬 継太郎; 木下 正博; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 電子情報通信学会技術研究報告. HIP, ヒューマン情報処理
Jun. 2003 - A Study on Using Potential Field for Multiple Agent Cooperative Operation
牧野 勤; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 情報処理学会論文誌. 数理モデル化と応用,情報処理学会
May 2003 - An Analysis of Human Motion for Control of a Wearable Power Assisting System
河合 智; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - A Study on Development of the Autonomous Snowplow with Remote Control
佐藤 哲史; 牧野 勤; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Evolutionary Acquisition of Behavior using Robot Model based on Spring-mass System
上原 一寿; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Control of Mob System using by Learning Classifier with Adaptive Reward System
木下 正博; 川上 敬; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Analysis on Relation between Pet Robot Motion and its Impression using Statistical Method
齋藤 正宜; 兪 文偉; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Group Formation of Agents with 2-dimensional State and Subjective Evaluation
成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Acquisition of Learning Ability Based on Modification of Relationship Between System Elements
石岡 卓也; 兪 文偉; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Adaptive Control in a Two Agent Game using Genetic Algorithms
河内 佑美; 兪 文偉; 石岡 卓也; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Modelling Skill Acquiring Process using Electomyogram Analysis:A case study of arm reaching task
北 佳保里; 兪 文偉; 加藤 龍; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Prosthetic hand control with tactile sensory feedback
Hernandez Arieta Alejandro; 加藤 龍; 兪 文偉; 横井 浩史; 嘉数 侑昇
Oral presentation, English, ロボティクス・メカトロニクス講演会講演概要集 2003,ロボティクス・メカトロニクス講演会
2003 - Design and Analysis of Endoskeleton-type Wearable Power Assist Device
成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェントシステム・シンポジウム, インテリジェントシステム・シンポジウム講演論文集
Nov. 2002 - Evolutionary acquisition of behavior using a robot model based on spring-mass system
上原 一寿; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェントシステム・シンポジウム, インテリジェントシステム・シンポジウム講演論文集
Nov. 2002 - Movement Control of Erastic Network Robot
藤井 卓; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェントシステム・シンポジウム, インテリジェントシステム・シンポジウム講演論文集
Nov. 2002 - Analysis of Influence Factors to Individual Characteristics in Constructing Intelligent Assisting Device:Influence of Muscular Force Change on EMG-to-Motion Classifier
加藤 龍; 兪 文偉; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェントシステム・シンポジウム, インテリジェントシステム・シンポジウム講演論文集
Nov. 2002 - DPGを用いた群ロボット制御系:場での相互作用における自己組織化モデル
高橋 伸幸; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集,精密工学会大会学術講演会
Oct. 2002 - 外骨格式装置型腰部パワーアシスト機構の開発
成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集,精密工学会大会学術講演会
Oct. 2002 - A Novel Learning Method for Electromyographic Prosthetic Hand
兪 文偉; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 生体・生理工学シンポジウム, 生体・生理工学シンポジウム論文集
Sep. 2002 - Development of Low-invasive Measurement System for Prosthetic Control:SOM Classification of Rat Motor and Sensory Patterns
川島 貴弘; 及川 雅洋; 横井 浩史; 瀧田 正寿; 嘉数 侑昇
Public symposium, Japanese, 生体・生理工学シンポジウム, 生体・生理工学シンポジウム論文集
Sep. 2002 - A Study on Using Potential Field for Introducing Multiple Agent Cooperative Operation
牧野 勤; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 情報処理学会研究報告. MPS, 数理モデル化と問題解決研究報告
Sep. 2002 - 脳の領野間の双方向結合に着目した学習モデルに関する研究
堀内 誠致; 兪 文偉; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集 2002,精密工学会大会学術講演会
Mar. 2002 - 振動引き込みモデルを用いた群ロボット制御系による障害物回避問題
高橋 伸幸; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集 2002,精密工学会大会学術講演会
Mar. 2002 - Achieving Corporative Behavior of Autonomous Decentralized Agents Used Reinforcement Learning for Piano Mover's Problem
吉田 智博; 石若 裕子; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - A Study on Differentiate Behavior Acquired by Distributed Autonomous Robot
石岡 卓也; 飯島 大典; 兪 文偉; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - A development of a low-invasive measurement system : An analysis of the action potential of the rat somatosensory area
及川 雅洋; 川島 貴弘; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - Analysis of individual characteristics on forearm motions using biomedical information evaluation
加藤 龍; 兪 文偉; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - A Study on Action Characteristic Visualization System for Robots
早坂 隆一; 進藤 朋和; 西川 孝二; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - A Study on Evolutionary Logic Circuits for Reconfigurable Robots
進藤 朋和; 西川 孝二; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - Autonomous robots control by an asynchronous distributed system
藤井 卓; 長井 隆; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - Vision Feedback System for Control of Morphogenesis Machine
飯田 崇之; 石田 崇; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2002 - Development of wearable power assisting system with EMG based control
成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2002,ロボティクス・メカトロニクス講演会
2002 - A Study on Diversity and Substitutability by Distributed Autonomous Robot
石岡 卓也; 兪 文偉; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2002,ロボティクス・メカトロニクス講演会
2002 - Achieving Corporative Behavior in Heterogeneous Agents using Hierarchic Reinforcement Learning : An approach to Piano Mover Problem
吉田 智博; 石若 裕子; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2002,ロボティクス・メカトロニクス講演会
2002 - Investigation of vision feedback system for morphogenesis machine
飯田 崇之; 石田 崇; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2002,ロボティクス・メカトロニクス講演会
2002 - A Study on Movement Analysis of Symmetric Body Robot
早坂 隆一; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2002,ロボティクス・メカトロニクス講演会
2002 - Basic Research in Distributed Control of SMA-Net
藤井 卓; 長井 隆; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2002,ロボティクス・メカトロニクス講演会
2002 - Using Potential Field for Environment Modeling and Extraction of Agent Action Rules
牧野 勤; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 情報処理学会研究報告. MPS, 数理モデル化と問題解決研究報告,情報処理学会研究報告
Sep. 2001 - Fundamental Study for Motorized Wheekchair Control Using EMG
田中 篤史; 嘉数 侑昇; 横井 浩史
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2001,ロボティクス・メカトロニクス講演会
Jun. 2001 - Model Identification for Restructurable Control System Considering Fault Tolerance
桑島 悠司; 黒瀧 満; 嘉数 侑昇; 横井 浩史
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2001,ロボティクス・メカトロニクス講演
Jun. 2001 - A Study on Reliability Map for Fusing the Different Kind of Sensors
内藤 大; 鈴木 孝幸; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2001,ロボティクス・メカトロニクス講演会
Jun. 2001 - A Study on Emergent Flexible Robot SMA-Net
服部 可奈子; 長井 隆; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2001,ロボティクス・メカトロニクス講演会
Jun. 2001 - Developing of Multi Agent System with Emotional Model
中村 明香; 石田 崇; 嘉数 侑昇; 横井 浩史
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2001,ロボティクス・メカトロニクス講演会
Jun. 2001 - Study on the Reward of Reinforcement Learning Used Physiological Signals
石若 裕子; 吉田 智博; 横井 浩史; 嘉数 侑昇
Oral presentation, English, ロボティクス・メカトロニクス講演会講演概要集 2001,ロボティクス・メカトロニクス講演会
Jun. 2001 - Learning of adaptive behaviors in an autonomous distributed swimming machine
Yu, D; Yokoi, H; Iijima, D; Kakazu, Y
Oral presentation, English, International Workshop on Morpho-functional Machines, Shaping embodied machine intelligence _ the morpho-functional machine perspectives
Mar. 2001 - 表面筋電図オンライン学習による機能的電気刺激コントロール
丸石 正治; 眞野 行生; 愈 文偉; 山口 浩貴; 横井 浩史
Oral presentation, Japanese, リハビリテーション医学:日本リハビリテーション医学会誌,日本リハビリテーション医学会
Dec. 2000 - 筋電義手使用中の脳機能局在:fMRIによる検討
丸石 正治; 眞野 行生; 中川 貴子; 西川 大亮; 愈 文偉; 横井 浩史
Oral presentation, Japanese, リハビリテーション医学:日本リハビリテーション医学会誌,日本リハビリテーション医学会
Nov. 2000 - Model Identification for Restructurable Control System Considering Fault Tolerance
桑島 悠司; 黒瀧 満; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 2000 - A study on perceptional mechanism using behavior based feature extraction method
伊藤 宏樹; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 2000 - Artificial Society based on Emotional Interaction Rules
中村 明香; 石田 崇; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 2000 - A Study on Emergent Distributed Flexible Robot Classification of Behavior using Self-Organization Map
服部 可奈子; 長井 隆; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 2000 - 振動引き込みモデルによる多粒子ロボット制御
高橋 伸幸; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集 2000,精密工学会大会学術講演会
Sep. 2000 - 巨視的状態量を用いたエージェント群の移動に関する基礎研究
坂内 伸二; 木下 正博; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集 2000,精密工学会大会学術講演会
Sep. 2000 - A Development of Soft Mechanical System for Morpho-functional Emergence
西川 孝二; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 情報処理学会研究報告. MPS, 数理モデル化と問題解決研究報告/一般社団法人情報処理学会
Sep. 2000 - Flexible Machine Control System using Self-organization Model
高橋 伸幸; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 情報処理学会研究報告. MPS, 数理モデル化と問題解決研究報告/一般社団法人情報処理学会
Sep. 2000 - A Study on Extraction of Feature Vectors by Competitive Artificial Cell Model
佐藤 裕一; 横井 浩史; 水野 敬文; 嘉数 侑昇
Oral presentation, Japanese, 情報処理学会研究報告. MPS, 数理モデル化と問題解決研究報告/一般社団法人情報処理学会
Sep. 2000 - Development of EMG classifier adapting to operator's characteristics:Quantification of the attainment of motor skill from frequency of data using
西川 大亮; 兪 文偉; 丸石 正治; 渡辺 一郎; 横井 浩史; 眞野 行生; 嘉数 侑昇
Oral presentation, Japanese, JSME annual meeting 2000
Jul. 2000 - Chaotic Information Maximization for Blind Source Separation
Yu, W; Yokoi, H; Kakazu, Y
Oral presentation, English, the Sixth International Symposium on Artificial Life and Robotics, edited by Masanori Sugisaka, Hiroshi Tanaka
Jan. 2000 - A Study on Construction of Distributed Multi Modules to Extract Features
堀内 誠致; 兪 文偉; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 2000 - 結合振動子系を用いた SMA Net Robot 制御に関する研究
佐藤 裕一; 横井 浩史; 水野 敬文; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2000,ロボティクス・メカトロニクス講演会
2000 - EMG を用いた力覚提示装置の力センサシステム開発
喜田 秀夫; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2000,ロボティクス・メカトロニクス講演会
2000 - 視覚情報の変化に伴う肘関節の空間位置分解能の特性
林 徹; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2000,ロボティクス・メカトロニクス講演会
2000 - 自律移動ロボットのための連想記憶型ナビゲーションシステム
鈴木 育男; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2000,ロボティクス・メカトロニクス講演会
2000 - 生体信号を教師信号とした機械学習に関する基礎研究
石若 裕子; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, ロボティクス・メカトロニクス講演会講演概要集 2000,ロボティクス・メカトロニクス講演会
2000 - Development of Amoeba-Like Flexible Robot
長井 隆; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 1999 - An Approach to the Construction of an Agricultural Market Model with a Heterogenous Multi-agent System : Construction of the Simple Agricultural Market Model
牧野 勤; 成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 1999 - オンライン学習法を用いたFESの臨床応用
丸石 正治; 眞野 行生; 渡部 一郎; 土田 隆政; 菅田 忠夫; 中馬 孝容; 横井 浩史; 愈 文偉; 西川 大介
Oral presentation, Japanese, リハビリテーション医学:本リハビリテーション医学会誌,第3回日本リハビリテーション医学会北海道地方会
Oct. 1999 - 自律移動ロボット群の集団挙動の複雑さに関する研究
西田 陽介; 木下 正博; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集,精密工学会大会学術講演会
Sep. 1999 - 生体電位計測のための積層構造型マイクロプローブの作製
川島 貴弘; 横井 浩史; 柴田 隆行; 牧野 英司; 嘉数 侑昇
Oral presentation, Japanese, 精密工学会大会学術講演会講演論文集,精密工学会大会学術講演会
Sep. 1999 - Multicellular Ring Formation in Dictyostelium discoieum
水野 敬文; 吉岡 恭子; 佐藤 裕一; 横井 浩史; 滝田 正寿; 長野 正道
Oral presentation, Japanese, 生物物理,日本生物物理学会
Sep. 1999 - Attention and Cognition of Patterns using Neural Networks
堀内 誠致; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第59回平成11年後期/一般社団法人情報処理学会,情報処理学会全国大会
Sep. 1999 - Reports on Experiment Course of Design and Construction of Autonomous Robots for Computer Information Science Major Students
成瀬 継太郎; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第59回平成11年後期/情報処理学会,情報処理学会全国大会
Sep. 1999 - Amoeba Chemotaxis Model Using Coupled Oscillator System
高橋 伸幸; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第59回平成11年後期/一般社団法人情報処理学会,情報処理学会全国大会
Sep. 1999 - A Study on Character Extraction Mechanism for Selective Attention
中野 格; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第58回平成11年前期/一般社団法人情報処理学会,情報処理学会全国大会
Mar. 1999 - Learning for Chaos Neural Network processing sequential patterns
木下 靖文; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - A Study on Morphogenesis Oscillator Method using RNN : Analysis on the effect of network sizes to oscillators
高橋 伸幸; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - Generation of Robot Behaviors Based on Evolvable Hardware
進藤 朋和; 滝田 謙介; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - Autonomous Acquisition of Target Approaching Behavior for Distributed Controlled Swimming Robot
飯島 大典; 兪 文偉; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - The Measurements of Behavior for Controlling of Grouping Systems
西田 陽介; 長井 隆; 木下 正博; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - A Study on The Development of an Amoeba-Like Reconfigurable Robot
長井 隆; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - Decision-making System with Interaction of Agents in a Competitive Social Model
石田 崇; 長井 隆; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - A Study on Image Identification by Competitive Cell Model
佐藤 裕一; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1999 - Acquisition of periodic pattern using Chaos Neural Network
木下 靖文; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第57回平成10年後期/一般社団法人情報処理学会,情報処理学会全国大会
Oct. 1998 - A Study on Adaptive Pattern Recognition of Sequential Input
八島 大亮; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第57回平成10年後期/一般社団法人情報処理学会,情報処理学会全国大会
Oct. 1998 - ラット前頭葉を模倣した脳モデルの構築に関する基礎研究:セルラー場による順応学習の実現
川島 貴弘; 羽倉 淳; 横井 浩史; 瀧田 正寿; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第56回平成10年前期/一般社団法人情報処理学会,情報処理学会全国大会
Mar. 1998 - A Study on the Construction of the Model of Amoeboid Motion
佐藤 裕一; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1998 - A Basic Study on a Modeling of Neural Network Functionality on Celular Field : Mimicking Cerebro-Reflex System of Rat
羽倉 淳; 川島 貴弘; 横井 浩史; 瀧田 正寿; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1998 - A Study on Symmetric Body Robot : Gait Acquisition by Multi-Agent System
西川 孝二; 本堂 直浩; 羽倉 淳; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1998 - Self Organization of Norms of Behavior in a Competitive Social System
石田 崇; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1998 - A Study on Automatic Target Recognition in Sequential Images by Artificial Cell Method
佐藤 裕一; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Nov. 1997 - Propelling Behavior Control of Floating Robot Based on Sequential Action Memorizing Method
飯島 大典; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Nov. 1997 - A Basic Dynamics of Fluid Metal Actuator with MHD Method
石田 崇; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Nov. 1997 - A study on motion control for symmetric body robot
西川 孝二; 本堂 直浩; 羽倉 淳; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Nov. 1997 - 3R31 Effects of chemoattractant on cytokineplast shape change and locomotion in human polymorphonuclear leukocytes
水野 敬文; 吉岡 恭子; 横井 浩史; 滝田 正寿; 堺 立也; 川崎 一則; 小水 秀男; 宮本 宏
Oral presentation, Japanese, 生物物理,日本生物物理学会
Sep. 1997 - A study in construction method of potential fields for tracking the object in sequential images
佐藤 裕一; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1997 - A Study on Adaptive Construction of Action Making Architecture by Autonomous Agent
三輪 憲治; 羽倉 淳; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1997 - Acquiring a Common Sense and the Cooperative Behavior Based on IPD
石田 崇; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 自律分散システム・シンポジウム, SICE Symposium on Decentralized Autonomous Systems
Jan. 1997 - A Learning Field Model for Multi-Link Robot : An approach to object tracking
兪 文偉; 横井 浩史; 嘉数 侑昇
Public symposium, English, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 1996 - A Perception Mechanism for Autonomous Mobile Robots : Perception under Multi-Robot Environment
羽倉 淳; 横井 浩史; 嘉数 侑昇
Public symposium, Japanese, インテリジェント・システム・シンポジウム, FAN Symposium : fuzzy, artificial intelligence, neural networks and computational intelligence
Oct. 1996 - Modeling of Amoeba using Vibrating Potential Field : grouping behavior for finding goals
横井 浩史; 工藤 雅則; 嘉数 侑昇
Public symposium, Japanese, ファジィシステムシンポジウム, ファジィシステムシンポジウム講演論文集
Jun. 1996 - A Model of Organizational Behavior of Slime Mold Using the Information Formed by Field
工藤 雅則; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第52回平成8年前期/一般社団法人情報処理学会,情報処理学会全国大会
Mar. 1996 - Neuroplasticity and Brain Hetronomous / Autonomous : Neurochemical Aspects of Physiological Functions in Rat Prefrontal Cortex
滝田 正寿; 横井 浩史; 水野 敬文
Public symposium, Japanese, 研究会報告 第2回人工生命ワークショップ, 社会情報, 札幌
Nov. 1995 - Autonomy and Heteronomy in Cell Behavior : Studies of Mechanism of Tacitic Behaviors in Amoeboid Cells
水野 敬文; 横井 浩史; 滝田 正寿
Public symposium, Japanese, 研究会報告 第2回人工生命ワークショップ, 社会情報, 札幌
Nov. 1995 - Bionic Model Using Vibrating Potential Field : An Approach to Traveling Salesman Problem
横井 浩史; 水野 敬文; 滝田 正寿; 嘉数 侑昇
Public symposium, Japanese, 研究会報告 第2回人工生命ワークショップ, 社会情報, 札幌
Nov. 1995 - Handwriting
横井 浩史; 福井 幸男
Oral presentation, Japanese, 日本人間工学会大会講演集,日本人間工学会大会
Jun. 1995 - 波動場による人工生命へのアプローチ (<研究会報告>人工生命ワークショップ)
横井 浩史; 嘉数 侑昇
Public symposium, Japanese, 研究会報告 人工生命ワークショップ, 社会情報, 札幌
Mar. 1994 - 生命体モデル構築に関する基礎研究―幾何 拘束条件下における群の挙動表現―
横井浩史; 山田孝治; 嘉数侑昇
Oral presentation, Japanese, 日本機械学会,第３回インテリジェントシステム シンポジウム
Sep. 1993 - 波動場に於ける自律機械群に関する基礎研究（ピアノ問題への応用）
横井浩史; 嘉数侑昇
Oral presentation, Japanese, 日本機械学会,ロボティクスメカトロニクス講演論文集
Jul. 1993 - 波動場における自律機械群に関する基礎研 究―群問題向き目的関数の設定―
横井浩史; 山田孝治; 嘉数侑昇
Oral presentation, Japanese, 日本機械学会,第70期日本機械学会通常総会講演会
Mar. 1993 - 波動を媒体とする記憶メカニズムに関する研究
横井浩史; 山田孝治; 嘉数侑昇
Oral presentation, Japanese, 計測自動制御学会,第17回知能システムシンポジウム
Mar. 1993 - A Study on the behavioral records of Autonomous Vehicle
山田 孝治; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第46回平成5年前期/一般社団法人情報処理学会,情報処理学会全国大会
Mar. 1993 - 波動場に於ける自律機械群に関する基礎研究（動力伝達機構設計へのアプローチ）
横井浩史; 嘉数侑昇; 山田孝治
Oral presentation, Japanese, 日本機械学会,第70期全国大会
Sep. 1992 - Constructing Structure by Discretely Stored Objects on the Vibrating Potentialield
山田 孝治; 横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第45回平成4年後期/一般社団法人情報処理学会,情報処理学会全国大会
Sep. 1992 - A Study on Autonomic Machines in the Vibrating Potential Field : An Approach to Autonomic Building Block Problem
横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第44回平成4年前期/一般社団法人情報処理学会,情報処理学会全国大会
Feb. 1992 - 波動場に於ける自律機械群に関する基礎研究-自律的ギヤボックス設計へのアプローチ-
横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 日本機械学会 FANシンポジウム講演論文
Oct. 1991 - 波動場に於ける自律機械群に関する基礎研究-自律的搬送問題-
横井 浩史; 嘉数 侑昇
Public symposium, Japanese, システム・知能システム・ニューラルネットワーク合同シンポジウム, システム・知能システム・ニューラルネットワーク合同シンポジウム, 岡山
Oct. 1991 - A study on expression of memorized information by parallel connected units
横井 浩史; 嘉数 侑昇
Oral presentation, English, 全国大会講演論文集 第42回平成3年前期/一般社団法人情報処理学会,情報処理学会全国大会
Feb. 1991 - AN APPROACH TO MODELING A BIONIC SELF ORGANIZATION AND FUNCTIONAL EXPERSSION-Simulation based on mutual action-
Hirohsi YOKOI; Yukinori KAKAZU
Public symposium, English, 第4回 札幌国際コンピュータグラフィックスシンポジウム, 第4回 札幌国際コンピュータグラフィックスシンポジウム, 札幌
Nov. 1990 - 生命体モデル構築に関する基礎研究 : 波動場に於ける結合の記述
横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第41回平成2年後期/一般社団法人情報処理学会,情報処理学会全国大会
Sep. 1990 - A study on an adaptation modeling of bionic to the environment
横井 浩史; 嘉数 侑昇
Oral presentation, Japanese, 全国大会講演論文集 第39回平成元年後期/一般社団法人情報処理学会,情報処理学会全国大会
Oct. 1989 - Dynamic Label Smoothing Strategy for Biosignal Classification
Peiji Chen; Dian Li; Yifan Tang; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
Oral presentation, English, 2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Peer-reviewed
Courses
- ロボット機構制御特論
The University of Electro-Communications - 物理学概論（一）
The University of Electro-Communications - 物理学概論（一）
電気通信大学 - メカトロニクス応用
The University of Electro-Communications - メカトロニクス
The University of Electro-Communications - イノベーティブコミュニケーションデザイン
The University of Electro-Communications - イノベーティブコミュニケーションデザイン
The University of Electro-Communications - ロボット機構制御特論
The University of Electro-Communications - ロボット機構制御特論
電気通信大学 - 応用数学Ｂ
The University of Electro-Communications - 応用数学Ｂ
電気通信大学 - メカトロニクス応用
The University of Electro-Communications - メカトロニクス応用
電気通信大学 - メカトロニクス
The University of Electro-Communications - メカトロニクス
電気通信大学
Research Themes
- サイボーグプラットフォームのための制御機構モジュールの設計開発と評価
横井 浩史
日本学術振興会, 科学研究費助成事業 基盤研究(A), 電気通信大学, 基盤研究(A), 23H00166
Apr. 2023 - Mar. 2028 - Cybernetic platform for enabling a prosthetic hand to be an intelligent partner
姜 銀来; 横井 浩史; 山野井 佑介
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), 23K28473
01 Apr. 2023 - 31 Mar. 2027 - 運動意図に同期した体性感覚刺激を用いた自己身体として認知するサイボーグ義手の実現
加藤 龍; 高木 岳彦; 山野井 佑介; 吉田 進二; 矢吹 佳子; 横井 浩史; 児玉 三彦
日本学術振興会, 科学研究費助成事業 基盤研究(B), 横浜国立大学, 基盤研究(B), 本研究では，自己身体として身体認知を可能にするサイボーグ義手の開発とその方法論を構築し，生来身体に近づいた自然な操作感を実現する次世代の実用的なサイボーグ義手の実現を目的とする．2021年度の成果は以下の4点である． a)身体認知を促進させる体性感覚フィードバックの実現のために，義手を装着するソケット内に設置可能な超薄型多点振動シートを開発した．形状記憶合金を薄板に配置し，高速で伸縮させ薄板を振動させることで，厚さ2mm程度の柔軟な振動子を実現した．これにより，従来の10mm程度の振動子と同様の刺激・認識精度を実現した． b)操作集中や操作負担を軽減させる制御手法を実現するために，義手ハンドに超小型距離画像センサを配置し，距離画像を用いて深層学習により物体形状を認識し把持姿勢を決定し，筋電で把持動作の決定を行う手法を構築した．これにより日常生活動作の85%程度をカバーできる3種の把持姿勢，2種の手首姿勢に関して90%以上の識別率で手指動作の識別可能にし不自然な操作力が必要がなく操作可能となった． c)常時装着が可能な多自由度サイボーグ義手の義手装飾グローブの開発を行った．当初予定より開発の柔軟度を向上させるため，新たにゴムライク樹脂の3次元造形機を導入し，皮膚程度の柔軟さをもつ装飾グローブの造形を可能にした．さらに生体計測用ゴム電極を用いた超薄型の筋電センサバンドを開発し皮膚への密着性を高め安定的な信号計測を可能にした．手先重量300g，総重量1kg程度の上腕義手(手指自由度4，手首1，肘1)を開発した．4名の上腕切断者用の義手を準備をし，2022年度の身体認知の検証を行うための準備を行った． d)義手の長期使用における身体認知への影響を調査するための準備として，東海大学医学部，成育医療研究センターと連携し，筋電義手の被験者を募集し，参加同意や上肢機能の臨床評価指標を決定した．, 21H03300
Apr. 2021 - Mar. 2024 - 導電性高分子を用いた感覚フィードバック付き筋電義手の開発
横井 浩史; 高木 岳彦; 東郷 俊太; 姜 銀来; 加藤 龍
日本学術振興会, 科学研究費助成事業 基盤研究(A), 電気通信大学, 基盤研究(A), 本研究は，前腕切断者用の筋電義手として，自由度の高い運動能力と感覚の代替機能の実現を目指して，指先の触圧感覚と関節角のフィードバック機構を有する5指ハンドの開発を行い，筋電制御システムを利用して，切断者の手指動作の再建の課題に挑戦する． 課題は，メカ開発とセンサグローブ開発の2項目からなる． メカ開発では，ワイヤー干渉駆動法を用いて軽量・多自由度・高出力を有する5指ロボットハンドを試作し，性能評価を通して改良し，筋電義手に適用可能な設計法を明らかにすることを目指した．2021年度においては，3名の成人前腕切断者に，試作した5指駆動型筋電義手を適用し，フィールドテストを行った．期間中3回のフィールドテスト評価では，自由度義手との性能差を，BBT（Box and Block Test）及びCarroll test等の評価試験によって比較し，有用性を評価した． 当多自由度義手は，国内2例目の筋電義手として，2022年3月31日，厚生労働省補装具完成用部品に指定された． センサグローブ開発においては，導電性シリコンを応用することにより，指先の触圧と関節角を計測し，これを振動子を用いて断端部ソケットに伝達することを目的として，開発を進めた．2020年度においては，さらに，感覚のフィードバックの方法として視覚への映像変化として情報提示を行う方法を開発し，前述の触覚と聴覚へのフィードバックとのパフォーマンス比較実験を行った．患者への触覚のフィードバック方法として申請当初はボイスコイルによる振動フィードバックを検討していたが，2021年度に再検討し，フィードバックの呈示装置として骨伝導イヤホンを採用することとし，有効性検証のため，聴覚刺激を行いながら日常生活音を聞き応答する二重課題法を行い，人の囁き声に当たる30～40dBの小さな音に応答できること，これが日常生活を阻害しないことを明らかにした．, 18H03761
Apr. 2018 - Mar. 2023 - Complementary multimodal biosiginal measurement and analysis for prosthetic hand control
Jiang Yinlai
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), Surface electromyography (sEMG) has been widely investigated as a biological signal from which motion intentions can be recognized to control prosthetic hands. The availability and quality of sEMG can limit the usability and intuitiveness of advanced prosthetic hands that can restore most necessary hand movements. This study introduces force myography (FMG) as a supplementary signal and develops a hybrid sensor to measure sEMG and FMG signals simultaneously. Furthermore, a layer-fusion convolutional neural network (CNN) was proposed to analyze the sEMG and FMG signals. The recognition results of hand motion showed a significantly improved classification accuracy (CA) of the hybrid sEMG and FMG with respect to individual modality due to the rubustness of FMG. The FMG-assisted sEMG sensing approach can effectively offer great potential in the clinical application of sophisticated prosthetic hands without increasing burden to the user., 19K12877
Apr. 2019 - Mar. 2022 - Proposal of next-generation laparoscopic surgery using a small humanoid robot hand that can be inserted into the body.
MUKAI Masaya
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Tokai University, Grant-in-Aid for Scientific Research (C), The minimum length of the HALS incision is 50 mm. Also, the hands and fingers of the operators are at risk of burn injury and the range of hand movement is restricted. To address these shortcomings of HALS, we have studied a 5-finger robot hand with a similar size to a child’s hand and the functionality of a normal hand. In collaboration with an engineering group, we have investigated whether such a hand could be developed to perform robotic HALS clinically. We have been granted several patents for a modified robot hand system that was originally developed for an electronic hand. The robot hand can perform the surgical procedures required for HALS and folds vertically at the palm to reduce its size for insertion through the incision. Furthermore, we are developing an exoskeleton signaling system with pressure sensors incorporated into the tips of the robot fingers to provide pseudo-tactile sensation for the surgeon., 17K10656
Apr. 2017 - Mar. 2020 - Modeling of human multi-muscle control system based on voluntary activation and application for myo-electric upper limb prosthetics
Togo Shunta; Imamizu Hiroshi; Yokoi Hiroshi; Jiang Yinlai
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, The University of Electro-Communications, Grant-in-Aid for Young Scientists (B), In this study, we aimed to model a mechanism of voluntary control of human multi-muscle, and apply it for controlling EMG shoulder disarticulation prosthesis. First, a notion of voluntary control was introduced to the framework of muscle synergy analysis. Then, our experiments demonstrated that voluntarily activatable muscle synergies could be extracted by using an appropriate index. It was also suggested that the muscle synergy is not a minimum unit of voluntary muscle control. Moreover, we applied the notion of the synergy freezing degrees of freedom to the EMG shoulder disarticulation prosthesis system so as to control its robot-arm movements by low degrees of freedom input. As a result, both-shoulder amputee user could use our developed EMG shoulder disarticulation prosthesis to pick an object and place on it. Above results showed the usability of our proposed notion “humanize-robotics.”, 17K17724
01 Apr. 2017 - 31 Mar. 2019 - Nerve-Machine Interface and myoelectric hand for upper limb amputation.
Takagi Takehiko; YOKOI Hiroshi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), An amputated nerve transferred to a nearby muscle produces a detectable electromyographic signal corresponding to the transferred nerve; this technique is known as targeted muscle reinnervation (TMR). It is optimal to select and transfer each motor fascicle to achieve highly developed myoelectric arms with multiple degrees-of-freedom motion. Each median nerve fascicle was transferred to the long head branch of the biceps or the brachialis branch, while the short head branch of the biceps was retained for elbow flexion. Each radial nerve fascicle was transferred to the medial or lateral head branch of the triceps, while the long head branch of the triceps was retained for elbow extension. Functional and electrophysiological improvement was noted, with marked improvement in the identification rate for each digit, forearm, and elbow motion after the selective nerve transfers. More selective nerve transfers may be required for the development of prostheses with multiple degrees of freedom., 16K10875
01 Apr. 2016 - 31 Mar. 2019 - An Adaptable sEMG Measurement Method for Control of Welfare Machines
JIANG YINLAI
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), The University of Electro-Communications, Grant-in-Aid for Scientific Research (C), sEMG (Surface Electromyography) is the electric activity of groups of muscles measured with electrodes on the skin surface. Since it reflects motion intentions, sEMG has been studied as a signal to control welfare machines. This study investigated the electrodes, measurement method, and selection of multi-channel sEMG signals. Soft and wearable sEMG electrodes were developed with conductive polymers and conductive silicon. The relation between bioelectric characteristics and the quality of sEMG was elucidated. And a multi-channel sEMG measurement system was developed and validated with healthy subjects and amputees., 16K01539
Apr. 2016 - Mar. 2019 - Artificial hand with conductive silicon on the surface
YOKOI HIROSHI
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research, The University of Electro-Communications, Grant-in-Aid for Challenging Exploratory Research, Surface electrodes are required to measure the EMG (Electromyography) signals for the control of myoelectric prosthetic hands. This study developed conductive silicon by mixing silicon with aggregative carbon black. The conductive silicon was applied to metallic non-woven fabric to create materials for the electrodes. Since the electrodes are supposed to be used between the skin and the socket, the influence of force to the quality of the EMG signal was investigated. The electrodes were encapsulated in insulating silicon to be applicable to circumstances with sweat or water. Furthermore, a pressure-sensitive sensor was developed with the conductive silicon, which can be integrated into the prosthetic hand to provide sensory function., 16K12951
Apr. 2016 - Mar. 2019 - Rehabilitation for postural/movement impairments using sensory intervention
Haga Nobuhiko
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area), The University of Tokyo, Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area), We investigated the relationship between the intervention to sensory input and the brain spasticity on body representation in patients with various disorders presenting postural and/or gait abnormalities. Through analyses of relationships between the brain spasticity on body representation and motor control in Parkinson’s disease and musician’s dystonia, development of muscle synergy measurement system and analysis of effects of rehabilitation intervention using orthoses transforming sensory modalities in stroke patients with hemiparesis, and development of a system that can measure motion and muscle synergy concurrently and its application to patients with congenital insensitivity to pain, we obtained data suggesting that intervention to sensory input causes change in posture and gait through the brain spasticity on body representation., 26120008
Jul. 2014 - Mar. 2019 - Development research of BMI device for reconstructing body function that enhances sense of agency and sense of ownership
KATO RYU; TAKAGI Takehiko
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Yokohama National University, Grant-in-Aid for Scientific Research (B), In this research, we aim to develop a new BMI device for body-function reconstruction which strongly felt the sense of agency and the sense of ownership, and to construct a methodology. The research results are as follows. (1)Through brain activity measurement and psychological experiments, we clarified the following two points: a)By applying sensory feedback to the BMI prosthesis, the user feels a sense of ownership of the prosthetic hands, b)Tactile feedback and somatosensory feedback of the BMI prosthesis enhance sense of agency to the prosthesis (2) We developed upper-limb neuro-prosthetic hand, finger extension support device, neuromuscular electrical stimulation device controlling paralyzed finger. We applied these devices to 8 patients and revealed that these devices are useful for rehabilitation, 15H03051
Apr. 2015 - Mar. 2018 - Development of a hand robot that signs tactile Japanese finger alphabets for independent information access for the deafblind.
Mori Koichi; SEKI Tatsuya
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), National Rehabilitation Center for Persons with Disabilities, Grant-in-Aid for Scientific Research (C), The deafblind persons who have suffered visual impairment after hearing impairment or both after adulthood experience relative difficulty in learning Braille, so that the means of information acquisition tend to be limited to tactile sign language or finger spelling and the like. However, since these means are dependent on human assistance including tactile sign language interpreters, it is difficult to acquire information independently, which is a major cause of deterioration of quality of life (QOL). The aim of this research was to enablethose deafblind people who cannot use Braille, independent information acquisition with a signing robot hand. A hand and arm robot that mimicked a human right hand and arm with multiple degrees-of-freedom was developed that can produce tactile finger letter signs sequentially as output from a text entered at the console or from a text file., 26350691
Apr. 2014 - Mar. 2017 - Research of a Control Method of Rehabilitation Robot to Induce Embodiment in the Brain
Fujie Masakatsu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A), Waseda University, Grant-in-Aid for Scientific Research (A), Rehabilitation robot technology for assisting the body function has been expected in the super-aged society in Japan. The conventional robot has a problem that causes compensatory movement in other part of the body by assisting specific part of the body. We choose a prosthesis to substitute limbs as an application destination to aim for early social realization of the rehabilitation robot. This robot can provide less load on parts of the whole body by working as a part of the operator’s body. In this research, the goal is to develop a control method of the rehabilitation robot to induce embodiment in the brain. We categorized the task and carried out to reach this goal as follows: (A) Control strategy to induce embodiment in the brain, (B) Installation of the prosthesis that can perceive embodiment, (C) Evaluation of whole-body cooperative movement caused by embodiment., 26242061
Apr. 2014 - Mar. 2017 - Myoelectric hand for congenital deficiency or traumatic amputee
TAKAGI Takehiko; YOKOI Hiroshi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B), Tokai University, Grant-in-Aid for Young Scientists (B), We developed myoelectric hands with multiple oriented sensor or thumb motion. In addition, mutually adaptable myoelectric hands with six movements including elbow flexion-extension, forearm pronation-supination, and digits flexion-extension, were indicated for transhumeral amputees. Furthermore, nerve transfers for more effective motion were performed. Postoperative evaluations are ongoing., 26750229
Apr. 2014 - Mar. 2016 - Human-machine mutual adaptation technologies that induc brain adaptation
Yokoi Hiroshi; TAKAYAMA Sinichiro; IKOMA Katsunori; SHIMOJO Makoto; KATO Ryu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A), The University of Electro-Communications, Grant-in-Aid for Scientific Research (A), In this project, we studied the technologies to develop the myoelectric prosthetic hand to substitute one’s own hand by inducing the mutual adaptation between human and machine. A highly stretchable elastomer glove was developed by transcribing the texture of a human hand. Omnidirectional force sensors made of conductive silicon were embedded into the glove to introduce haptic function for sensory feedback. The interactive-tendon-driven mechanism was adopted in the design of robotic hand and arm to balance increasing their forces and functions with reducing their sizes and weights. To control a myoelectric prosthetic hand with electroencephalography (EEG) was also investigated in an experiment in which gaze points on the hand were identified from the P300 EEG response., 25249025
Apr. 2013 - Mar. 2016 - The derivative of muscle fatigue with respect to electromyography and functional electrical stimulation to quicken functional recovery
YOKOI Hiroshi; YAMADA Yukio
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research, The University of Electro-Communications, Grant-in-Aid for Challenging Exploratory Research, Functional Electrical Stimulation (FES) is considered effective to recover the motor function of the paralytic by inducing muscle contraction with paralytic electrical stimulation. However, the strong fatigue and avoidance response when using FES is yet to be overcome in order to improve its effectiveness and acceptability. This study therefore developed a muscle fatigue evaluation method according to the frequency characteristics of the electromyography associated with FES, and elucidated the relationship between FES parameters and the induced body movement and cortical activation. The FES device developed based on the findings of this study was validated by subjects with leg paralysis. The expansion and shrinkage of the brain areas activated was observed during the long-term exercise using the FES device., 24650349
Apr. 2012 - Mar. 2015 - Research and development of the tactile sensor architecture in which integrate tactile sense
SHIMOJO makoto; ISHIKAWA Masatoshi; YOKOI Hiroshi; MING Aiguo; SUZUKI Yousuke
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A), The University of Electro-Communications, Grant-in-Aid for Scientific Research (A), In this research, the tactile sensor architecture which measures contact, slip and proximity information by the same analog circuit was developed. Thus, advanced features of the tactile sensor system mounted on robots and various mechanical system can be achieved. By this method, the solution of the wiring problem which connects many detection elements was proposed. And also by using an analog circuitry network, solution to the problem of the response delay accompanying the increase in a detection element was attained. Moreover, the slip sensor which can detect the slip just before beginning to slip was developed. The sensor is a high-speed response with a simple structure and thin light weight. In this research, the these-developed sensor was mounted to the robot hand and the autonomous vehicle, the verification experiment was conducted, and the availability was clarified in the experiment., 22240012
Apr. 2010 - Mar. 2014 - Holon Embedded Self-propagating Instructional System
MOHRI Naotake; YANO Masakazu; YOKOI Hiroshi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Exploratory Research, National Institution for Academic Degrees and University Evaluation, Grant-in-Aid for Challenging Exploratory Research, For learner-centered learning, it is difficult for learner to arrange knowledge systematically. The knowledge tends to be fragmentary while understanding of the learner is insufficient. We propose a system to build systematic knowledge classifying fragmentary knowledge depending on their size and connecting them hierarchically with self- organizing algorithm. We designed data structure for visualization of linkage among fragmentary knowledge, and implemented user interface to edit them. Experimental surveys were performed on the students attending a lecture at a university., 23653279
2011 - 2013 - A Study on Cybernetic Technology among Man and Machine
YOKOI Hiroshi; SHIMOJO Makoto; IKOMA Katsunori; KATO Ryu
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A), The University of Electro-Communications, Grant-in-Aid for Scientific Research (A), In this project, we had developed and studied the man machine interface technology to replace or rehabilitate human’s movement and sense by robot system. Myoelectric prosthetic hand (high-torque drive mechanism, soft tactile sensor and upper arm controlled by Brain), power assist system for rehabilitation (assist methods accommodated for the conditions of a patient, mechanism that is easy to fit on the human hand and thumb’s CM joint assist mechanism) and functional electrical stimulation devices(sensor feedback method by 2D Phantom sensation, exploring system of effectively the optimal stimulation method) are developed and ready to be tested in a daily environment., 22246033
2010 - 2012 - Understanding of light propagation inside human heads and improvement of optical mapping images based on the radiative transfer
YAMADA Yukio; YOKOI Hiroshi; HOSHI Yoko; OKAWA Shinpei; TANIKAWA Yukari
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), The University of Electro-Communications, Grant-in-Aid for Scientific Research (B), For the purpose of the improvement of optical mapping technology which images brain functions noninvasively using near-infrared light, numerical simulations based on the analysis of light propagation in heads and phantom experiments were conducted. The effects of the non-scattering tissues such as the cerebrospinal fluid layer, eye ball and frontal sinus on the mapping images were investigated. Also the effects of the thick blood vessels lying at the brain surface were investigated. The results will contribute to better understanding of the mapping images and to improvement of the quality of the mapping images., 22360087
2010 - 2012 - 歩行困難者補助のための反射運動系のモデル化に関する研究
横井 浩史; 瀧田 正寿
日本学術振興会, 科学研究費助成事業 特定領域研究, 特定領域研究, 本研究は,歩行困難者の歩行運動機能の再建に資することを目的として,運動意図推定のための感覚運動系の解明および機能再建スキームの構築を試みてきた.研究要素は,硬膜外計測BMIによる運動意図推定,筋反射を用いた歩行補助法,感覚フィードバックより構成されており,今年度は筋反射の安定的な出力性能の確保とラットにおける硬膜外計測BMIの歩行運動に関する意図推定の性能について,以下1),2)に示す成果を得た. 1) 電気刺激による反射運動誘発システムの開発:上位運動ニューロン障害を患った麻痺者の残存する末梢神経系・筋肉を機能させるために昨年度開発した機能的電気刺激システムを基に,多チャンネル電気刺激による反射運動の誘発法のための刺激・運動系モデルの構築とこれを用いた歩行補助の実験,及び馴れによる刺激効果の低下に対する対策に関する成果が得られた.歩行動作の成果例では,直接電気刺激により前脛骨筋への直接電気刺激を行い足関節の背屈運動を生成,また反射電気刺激により,膝裏の大腿二頭筋部位下を通る脛骨神経を刺激し,脚の持ち上げ動作を生成した.これにより,被験者の運動意図を反映して歩行速度を変更できることを確認した.最速の歩行速度は,健常人と同等の速度を実現した. 2) ラットを用いた低侵襲型BMIの検討:歩行状態の意図推定のさらなる性能向上を目的とし,脳神経計測手法として硬膜外電極を使用しラット運動時の計測を実施した.得られた硬膜外電位から電極,使用周波数を変更させながらSVM(Support Vector Machine)による運動状態の識別を実施した.ラットの運動状態として,停止,安静状態,歩行時に右前足を持ち上げている状態,歩行時に左前足を持ち上げている状態,及びケージの壁に向かって両前足を持ち上げている状態(BFF)を識別対象とし,動物実験により,手術から10日程度ならば本実験の手法にて計測・解析が可能であることが示された., 20033004
2008 - 2009 - Dynamical Coupling in Motor-Sensory Function Substitution
YU Wenwei; YOKOI Hiroshi; WANG Jinfang; MURATA Atsushi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Chiba University, Grant-in-Aid for Scientific Research (B), The goal of this proposal is the realization of dynamical coupling between assistive device systems for motor-sensory function substitution and their users. During the term of this project, EMG (Electromyographic) prosthetic hand was taken as the example of the assistive device. Towards this goal, we proceeded in three stages: (a) investigation of the general sensori-motor characteristics of human shoulder-arm-hand complex, and development of an interaction-based adaptation method to enable the dynamical coupling, based on the results from the previous stage; (b) development of a multi-modal sensory feedback method; (c) realization of the prosthetic hand control system that uses EMG and kinematic signals for forward control and bio-sensory stimulation for feedback control. The evaluation then will be performed to the integrated prosthetic hand system., 19300199
2007 - 2009 - A Study on Mutual Adaptation System among Man and Machines
YOKOI Hiroshi; IKOMA Katsunori; ARAI Tamio; YU Wenwei
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (A), The University of Tokyo, Grant-in-Aid for Scientific Research (A), 本研究では,運動機能の代替と回復を目的とし,人と機械の融合を図るために必要となる学問体系・技術を構築する.非侵襲生体計測(筋電位,脳波,脳血流)と刺激(表面電気刺激による幻覚の利用,直接/反射誘因ハイブリッド刺激)及び情報処理(エントロピーに基づくonline型・自己組織的動作識別)を統合し,モバイルシステムを構築した.これらを筋電義手,パワーアシスト装置,機能的電気刺激装置へ適用し,その有用性を確認した., 19206026
2007 - 2009 - Task assignment methodology of multiple tasks with order constraints for multiple robot system
OTA Jun; ARAI Tamio; YOKOI Hiroshi; CHIBA Ryousuke; UEDA Ryuuichi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), The University of Tokyo, Grant-in-Aid for Scientific Research (C), In former researches in mufti-robotics, in spite of its importance, there have been no propositions of task allocation scheme toward the problem involving "task constraints" that impose some restriction on the orders of task execution. In other studies involving task constraints such as job shop scheduling, task constraints are given by the designer. We address the problem that robots should calculate task constraints by themselves and should execute task allocation considering their constraints. As an example of such problem, we adopted rearrangement task of multiple movable objects. In this research, following subjects should be solved. 1. Task allocation should be executed considering task constraints. 2. Task constraints should be calculated as early as possible. Toward these subjects, we have obtained following results. 1. By means of classification of task constraints, we have obtained calculation methods of task constraints and task allocation methods considering these constraints. 2. We have promoted efficiency of calculation procedure of task constraints. First, we have analyzed calculation procedure from viewpoints when calculation should be done and how long it should be taken. Next, we have listed all possible procedure. Finally, we have tested these procedures in simulated environments. As a result, following method turns out to be the most effective: In every time of task allocation, robots should calculate some constraints that costs comparatively low calculation costs. And robots should calculate other constraints that cost comparatively high calculation costs only when robots fail to planned tasks. In future works, more flexible framework that divides given task into several small tasks is needed. For example, some objects should be temporarily set to adequate intermediate goals., 18500148
2006 - 2007 - 高速SMAアクチュエータを用いた3自由度干渉駆動関節の開発
横井 浩史; 上田 隆一; 太田 順; 新井 民夫
日本学術振興会, 科学研究費助成事業 萌芽研究, 東京大学, 萌芽研究, 平成18年度の成果は,平成17年度に構築した高速SMAアクチュエータを用いた冗長自由度干渉駆動関節をさらに発展させる為,(1)多様な干渉駆動関節の自動設計を可能にする「干渉駆動関節の進化設計法」と(2)干渉駆動関節の実践的利用を目的とする「モジュール型ワイヤー駆動装置を用いた歩行補助機の開発」に大別される.以下にその成果を列挙する. 1)干渉駆動関節は,複数のワイヤーの配置方法とその協調制御法により効果的な機能の実現が期待されるが,その解空間は広大であるため,目的とする機能を満たす干渉駆動関節を自動設計するシステムが必要となる. そこで,進化計算を採用し,形状と制御の同時進化を用いた設計法の提案を行った.まず,「前進安定移動」を実現することを目標としてDCモータを駆動機とするロボットの進化設計を行い,進化設計システムの評価と検証を行った.その結果,単純な制御においても前進安定移動を実現するロボットモデルが獲得され,進化設計の有効性が示された.次の段階として,ワイヤー方式駆動機を採用し,ロボットの形態に効率的に適合する干渉駆動機構と制御の探索を試みる. 2)高速SMAアクチュエータ開発の一成果として反応速度の向上を実現したが,連続利用やモバイル化など実践的使用に向けた課題は未だ解決されていない. そこで,DCモータによるワイヤー巻取り方式を将来実現しうるSMAアクチュエータの性能に見立て,複数ワイヤーの協調制御法の構築を行った.また,その最終的な到達目標は,利用者個人の多様な麻痺特性や歩容,残存する運動機能に対応可能なモジュール型ワイヤー駆動歩行補助装置の開発である.現段階においては,下肢麻痺患者に2モジュールの試作機を使用してもらい,その評価実験を行った.その結果,補助装置を装着して歩行した際に計測した筋電位から筋力補助の様子を確認することができ,提案装置の有効性が示された., 17656083
2005 - 2006 - Development of a actively adaptable system to exploit the remaining function of upper limb amputee
YOKOI Hiroshi; YU Wenwei; WATANABE Ichiro; ARAI Tamio
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), The Univesity of Tokyo, Grant-in-Aid for Scientific Research (B), In order to reconstruct and the mobility function in upper limb amputations, during the course of this study we performed an automatic analysis of all possible remaining functions for amputees.In addition, in order to generate new functions we developed an actively adaptive system. The fruit of research obtained in 2006 fiscal year is as follows. 1) We established an intended motion prediction method with adaptive function for timely changing individual parameters. During the 2006 fiscal year, under the active search theory using a self-organizing map we looked for the remaining functions in the stump for upper limbs, eliminating the timely changes in the training data, we performed a online learning algorithms that allowed for an stable motion discrimination over long periods of time without loss of identification success rate. 2) We developed an 8 motions discrimination system using an small type UNIX server (gumstix) with the capacity to acquire EMG signals using the robotix module in order to improve the portable electromyogram (EMG) controlled prosthetic hand system constructed at our laboratory. Without losing performance from the high performance personal-computer based motion discrimination system we successfully implemented a completely portable EMG controlled prosthetic hand system with the possibility to discriminate up to 8 different hand motions with a control response time higher than 0.1Hz. 3) In addition, in order to improve the mobile implementation, we performed an evaluation test for a long period of time (6 months) using the system described above in order to confirm the continuous adaptation of individual characteristics. The system is currently being evaluated by a 50 years old right hand amputee woman. 4)Since last year, we used an functional magnetic resonance imaging (fMRI) to measure the effects in the amputee's brain over the use of the high performance portable EMG controlled prosthetic hand system. The investigation showed that as a result of the adaptation to the prosthetic system the amputee's brain presented activation in the somatosensory and motor cortex areas and the frontal lobe (area in charge of processing new information) presented a reduction in activation. Even more, the patient presented an perceptual illusion of ownership of the prosthetic hand. We think this is due to the information acquired from the appropriate visual and somatosensory feedback application. 5) As an application of the active search theory for remaining function, we developed a walking assistance system that makes use of the leg's remaining function in a left leg hemiplegics patient. The system drives the leg using the body's involuntary reflex system that remains intact in the patient aiming at the patient's walking improvement. As a result of the system implementation, the person presented an improvement in body position and walking speed., 16360118
2004 - 2006 - Intensive Training Therapy with Functional Electrical Stimulation for Recovery of Walking Function in Hemiplegics
YU Wenwei; YOKOI Hiroshi; TATSUOKA Hozumi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), Chiba University, Grant-in-Aid for Scientific Research (B), The purpose of this study is to develop the intensive training therapy with the assists of functional electrical stimulation to help the recovery of walking function in hemiplegic patients. To realize the purpose, we developed a walking training station which consists of 1) a split-belt walking machine that can enable perturbed walking, 2) a support frame that could allow the patients to do safe training, 3) a functional electrical stimulation system that could not only assist the normal walking for hemiplegic patients, but also improve the balance maintenance of patients by artificial reflexes, 4) a set of measurement devices to monitoring the patients' walking. Besides, we also developed a neuro-musculo-skeletal model which could be used to compare and analyze both the normal walking and perturbed walking. Using the walking training station and simulation, a series of gait experiment and computer simulation experiment were carried out. The followings are the results and discussion. 1) The reflexive responses are phase-dependent. That is, different phase of perturbation occurrence would cause difference reflexive responses. Especially, the phase difference resulted in the amplitude difference of muscle activity, rather than the difference of response latency. The walking assist should also take the perturbation occurrence into consideration. 2) The simulator with a reflexive pathway which was implemented by using the EMG profiles acquired and processed in gait experiments with slip perturbation, could respond to the slip perturbation and recover from the perturbed gait to keep walking. That is, the reflexive pathway could improve the perturbation-resistance for walking. 3) When constructing the control system for assistive devices, time varying and individual dependent users characteristics should be taken into consideration, so that, the users could be appropriately assisted. An interaction based learning method was proposed and applied to acquire not only the control mechanism of FES, but also the perturbation occurrence detection system adaptively. 4) Patients received training on the walking training station. With the assist of FES, the training on the station could improve not only the posture and the speed during walking, but also the motivation of patients. 5) Using the walking speed on walking training station, and symmetricity of the walking as the indexes, the training effect could be evaluated. The evaluation before and after the training showed that, the training could improve the walking function of patients., 16300178
2004 - 2005 - 人間の運動能力をアップする自律的人工空間の開発研究
嘉数 侑昇; 兪 文偉; 横井 浩史; 兪 文偉; 嘉数 侑昇
日本学術振興会, 科学研究費助成事業 萌芽研究, 北海道大学, 萌芽研究, 本研究は実時間,或いは短期間で生体信号から使用者の習熟度と理解度を自動解析し,それに応じる訓練,教育プランや感覚フィードバックを自動に決定するメカニズムを提案し,互いに適応する使用者と機械の相互作用による形成される人工空間を自律的に向上させる方法論を模索するものであり,使用者個人の運動能力を最大限に発揮できるマンマシンインタフェースの実現を目的とする. 生体信号を用いて,使用者の習熟度と理解度を解析するには,個体差のみならず知覚などの運動以外の非常に多くの電位が重畳された状態の複雑な波形として現れるため,これまでの技術ではこれを有効に活用することが困難であった.本年度の研究実施によって,以下の通りの成果が得られた. 前年度の研究より確立した実験系を利用し,異なる条件でまた異なる個人によって,リーチングタスクの訓練実験を行った.取得した実験データをすでに確立した条件つきエントロピーに基づく評価手法を用い,分析を行い,運動習熟過程の定量化を試みた.運動タスクのパフォーマンス評価を参考系とする場合,訓練の初期と後期において,提案した運動習熟度とパフォーマンス評価は同様な変化傾向が見られるが,訓練中期においては,個人差によって,いろいろな変化パターンが存在していることが分かった. その評価手法を用いて,使用者と装置が相互に適応しあう学習システムにおいても,装置側の学習が使用者の習熟度合いに応じて,調整可能な仕組みを提案し,その仕組みの上腕義手,歩行の機能的電気刺激補助への臨床応用によって,相互システムにおける効率向上の可能性を示した., 14658109
2002 - 2003 - Function Emergence of Softly Structured Group of Robots by Vibrating Potential Fields
NARUSE Keitaro; YU Wenwei
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), HOKKAIDO UNIVERSITY, Grant-in-Aid for Scientific Research (C), For the purpose of the function emergence of softly structured group of robots by the vibrating potential fields, we have achieved the following five contributions. (1)Control of amoeba-robot as the soft structure group of robots : We have developed the control mechanism of components of the amoeba robots, by the local reinforcement learning, by the entrainment of non-linear oscillator, and by the rhythms generation in chaos neural networks. We have successfully controlled the robot. (2)Development of robots with behavior and morphology evolution : We have developed the evolutionary robotics system, in which the behavior and the morphology of robots are evolved simultaneously. We have showed that the evolution system can find good shape and action of the robot. (3)Behavior and morphology control of liquid metal robots : As an instance of the softly structure robots, we have developed the metal liquid robot, which can change its morphology freely. We have controlled the robot by controlling its Electro-magneto field. (4)Development of emotional agent group by filed interaction : As an instance of robots beyond the physical interaction, we have proposed the emotional agent, which is inspired from emotion dynamics of creatures. We have investigated the characteristics of artificial society of the agents. (5)Development of power-assist system : The power assist system involves a soft human and a rigid machine, which can be an instance of softly structured group of robots. We have developed the machine and control system for the machine such as collaborating with the human., 13650265
2001 - 2003 - Development of a Snow-Removal Work Support Module for an Autonomous Snowplow
KAKAZU Yukinori; NARUSE Keitarou; YU Wenwei; YOKOI Hiroshi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), HOKKAIDO UNIVERSITY, Grant-in-Aid for Scientific Research (B), In a snowfall region, snow-removal work during winter is hard work. Then, the purpose of this study is development of the autonomous work support module for snowplows carried out snow-removal work autonomously. In order to make a snow-removal work autonomously, it is necessary to detect an on-the-snow obstacle and an in-the-snow obstacle when the weather or temperature condition changed. Therefore, in this research, we use sensors that are a pyroelectoric infrared sensor, a reflected infrared sensor, and an ultrasonic sensor for on-the-snow obstacle detection, and a metal sensor for in-the-snow obstacle detection on the autonomous snowplow. Moreover, GPS was carried in order to detect own position. Using the experimental model which carried these sensors and controller, an evaluation test of these sensors and a move control experiment of the move controller in outdoors environment were conducted, and the validity of an autonomous work support module was shown., 12555066
2000 - 2002 - Development of Personal Adaptable Intelligent Power Assisting System
NARUSE Keitaro; YOKOI Hiroshi; KAKAZU Yukinori
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), HOKKAIDO UNIVERSITY, Grant-in-Aid for Scientific Research (C), In this research project, the following three topics have been developed and investigated in order to realize the personal adaptable intelligent power assisting system. (i) Force control based on motion perception using Electricmiogram (EMG) signals In this system, it is necessary to consider an internal state of a human operator such as fatigue and slight changes of motion pattern, as well as conventional physical load. In this project, the method of representing the internal state with the EMG signals has been developed. Furthermore, the force control method with the internal state has been developed and verified. (ii) Modeling and analysis of individual motion perception Utilizing motion perception ability of an individual human operator, the power assisting system can become easier system to handle for him. In this project, we have focused on the system of wrist-elbow with three degrees of freedom, and we have investigated and modeled the interaction among the system. In addition, we have proposed the control system using the individual motion perception, and we have verified it. (iii) Development of power assisting device and its control We have developed two kinds of power assisting devices. The first one is a lightweight wearable one DOF device, and the other one is an external device of one DOF transnational motion. We have developed the personal adaptable control scheme by refining the above two control schemes, and we have applied it to the two devices. As a result, we have confirmed that the personal adaptable intelligent power assisting system, which can follow an arbitrary motion of a human operator with assisting force or torque, is achieved., 11835002
1999 - 2000 - A Basic Study on Development of Intelligent Motorized Prosthetics
YOKOI Hiroshi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), HOKKAIDO UNIVERSITY, Grant-in-Aid for Scientific Research (C), This research project is focused on the technical back-up for the people with spinal cord injuries to achieve the motor function, which was lost by an accident. The aim of this research is to develop a methodology on the adaptive control of the motorized prosthetics for individuals using a current LSI technology and an adaptive learning theory in order to measure and process the action potential signal of the dura mater of the spinal cord at the brain-side from the damaged area. The important components of this research are development of an adaptive classification method, reconstruction of a control function using FPGA (Filed Programmable Gate Array), classification of electrophysiological signals of a rat cranial dura mater for a new communication and control, and development of multi-site electrode using micromachining technology. The findings achieved by this research are as follows. 1. We applied the adaptive learning theory to classify the human electromyogram as the signal including the differences of individuals, and performed to control the prosthetic hands. As a result, the adaptation for individuals and stable classification was verified, and the adaptive learning theory was effective. 2. We measured from cranial dura mater, which is closer to the sensory cortex, in an anaesthetized rat electrophysiologically.. The cluster corresponding to the stimuli was generated by the off-line time series analysis using the adaptive learning theory. 3. With the same method, we measured the signal from the area, which is concerned with the control of the lower limb, above the Layer-I of the motor cortex using electrodes located at cranial bone. And the result showed the possibility of classification and extraction for the signal corresponding to the movement of lower limb. 4. We developed multi-layer, multi-site implantation microelectrode. And the measurement of the signal from the dura mater of the spinal cord with the various implantation methods using wire-electrode or multi-site electrode is tried. 5. The signal processing system executable to synthesize an intended mapping function and the experience system by using FPGA was developed. The experience showed that this system has the computability to synthesize the signal processing circuit on the learning theory and the capability of the effective high speed processing in terms of parallel processing. Conclude this research : The aim of this research is to develop the device to classify the signal for individual's characteristics of action potential as the real-time adaptive processing system. For this purpose, we performed to construct adaptive classification method for nerve signal, and showed the possibility of synthesis of the signal processing circuit on the learning theory by FPGA for real-time processing. With considering the result of animal experience, we serve as a stepping-stone to develop the intelligent motorized prosthetics by adaptive classification of signal on the dura mater of the spinal cord. And we made the result of these researches public for dissertation and so on., 10838004
1998 - 2000 - IPD Architecture for the Cooperating Loading and Unloading Operation by Autonomous Small Robots Group
KAKAZU Yukinori; YOKOI Hiroshi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (C), Hokkaido University, Grant-in-Aid for Scientific Research (C), The automatic operations of loading and unloading are one of the most important research themes of factory automation in industry. However, this type of problem is classified into the large scale of scheduling problem that is difficult to solve using combinatorial optimization techniques. For these problems, multiple and cooperating schedulers method has been proposed that is based on parallel computation and distributed autonomous computation. Such method is useful for quick computation by the reasonable schedulers that has a distributed function of computation load. So how to design the reasonable schedulers becomes the key point of this automatic operations of loading and unloading problem In this research, we propose IPD architecture based on mathematical model of competitive systems. For the automatic loading and unloading problem, autonomous small robots are designed that has two functions of scheduling and loading. The scheduling function is improved by the feedback of evaluating value which is sum of efficiency of robot's work. This improvement is a self-learning process of the proposed architecture based on prisoner's dilemma. This report shows theory of proposed IPD architecture and results of loading and unloading problem. As a result of this research, the hybrid problem of cooperating loading and unloading operation is solved by new concept of competitive computation of IPD architecture. The IPD architecture is applied to the autonomous scheduling robots group, and the result shows self-learning function of improvement of scheduling capability. Basic phenomena of social system of autonomous robot group is shown and published., 09650284
1997 - 1998 - Research on the measurement and evaluation technique integrated from the viewpoint of ecology to analyze nonlinear information processing in the human behavior
WADA Mitsuo; SHIMOJO Makoto; YAMAGUCHI Akihiro; YOKOI Hiroshi; MIKAMI Sadayoshi
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B), HOKKAIDO UNIVERSITY, Grant-in-Aid for Scientific Research (B), The mechanism of human sense and behavior is a highly complicated nonlinear information processing system that is obtained by adapting to the complex environment. There are various complex phenomena. e.g.. a transition between various behavior patterns, a competitive recognition of multiple meaning, and, chaotic dynamics in biological systems, etc. In order to understand such human information processing, a research of human system, as a complex adaptation system, becomes very important. The fundamental goal of our research is to construct a measurement system of human cognitive behavior and to integrate various levels of human activity from biological level to behavioral and cognitive level, In this research, we mainly focused on the following three subjects as bases of such study : 1. Analysis of biological nonlinear dynamics. 2. Self-organized information processing. 3. Interactive measurement of human behavior. 1) The extraction and characterization methods of biological internal dynamics were investigated. Here we developed a concept of dynamic real-time characterization of biological dynamics and applied to the analysis of human blood flow dynamics. 2) The adaptive learning method for multi neural agents system was investigated. For the pulse neural network, we developed the method of spatio-temporal self-organized learning and applied to a binding of sensory information. 3) We constructed the interactive system between human and computer agent. Here we investigated how the behavior of agent influences human mental state and understanding of the agent. Through these studies, we developed a basic framework to handle a non-explicit human information such as physiological or mental factor of human system., 08458083
1996 - 1998 - 波動場を用いたアメーバ様運動モデルの理論構築と応用に関する基礎研究
横井 浩史; 鈴木 恵二; 嘉数 侑昇
日本学術振興会, 科学研究費助成事業 萌芽的研究, 北海道大学, 萌芽的研究, 本研究は細胞性粘菌アメーバの柔軟性の高い行動パターン(自在変形運動)をモデル化することを目的として,平成8年度からの2年間を通して,生物学的知見の整理,アメーバの運動様式の数理モデル展開,シミュレーション実験を用いたモデルの検証,アメーバ様運動機能の自動抽出システム制作,の順で実施し,以下の成果を得た.平成8年度において,アメーバ様運動モデルとシミュレータシステムの構築を行った.アメーバモデルの構成要素間の通信のために,波動の場(波動場)を導入しシミュレーションモデルを構築し,運動パターンの生成実験行った.これにより, 1.波動場を用いた群情報処理メカニズムを構築し,その特性を明らかにした.この成果は「Distributed Autonomous Robotic System2」において論文Amoeba Like Grouping Behavior for Autonomous Robots using Vibrating Potential Field(Obstacle Avoidance on uneven road)として公表された. 2.相互通信の結果生じる組織的運動の様相の問題と,全体の流動性と局所的組織の様相との関係の問題が明らかとなり,この成果は雑誌「Journal of Robotics and Mechatronics」において論文Obstacle Avoidance Using Vibrating Potential Method(Self-Organization in a Narrow Path)として公表された. 3.情報処理機能を確かめるために組み合わせ最適化問題のベンチマークテストであるTravelling Salesman Problemに応用し,アメーバモデルの解探索の性能を確かめた.この成果は「Intelligent Engineering system through Artificial Neural Networks」において論文Vibrating Potential Field for Large Scale Traveling Sales man Problemとして公表された. さらに,平成9年度において 1.動画像処理によるアメーバ様運動機能の自動抽出法の構築を行い,その成果が「SMART ENGINEERING SYSTEMS」において論文EXTRACTION OF FLEXIBLE MOTION FROM SEQUENTIAL AMOEBA IMAGES,として公表された. 2.アメーバ様運動シミュレータシステムの構築とシミュレーション実験による自在変形運動機能の後天的獲得が可能であることも明らかにされており,その成果は,Fourth European Conference of Artificial Lifeにおいて,Constructing Amoeba-Like Behavior System : Mobile Automata in Vibrating Fieldとして公表された., 08875052
1996 - 1997 - 疑似生態系型処理に基づく自律的知能構成に関する研究
鈴木 恵二; 山田 孝治; 横井 浩史
日本学術振興会, 科学研究費助成事業 重点領域研究, 北海道大学, 重点領域研究, 本研究は将来のロボット開発に向けて人工生命的観点に基づく進化発展的機能をロボットに埋め込むことを目的としている.このためにロボット群をエージェント群とみなし,状況に応じた適応的機能分化を伴う自律的知能構成の実現への取り組みを行った.本年度は『場の空間を利用した協調関係の適応的生成』および『モチペーション生成に基づく行動選択』に対する考察と理論展開に重点をおいた.すなわち,(1)『場の空間を利用した協調関係の適応生成』に関する理論展開として,生物フェロモンを利用した通信形態を導入した方法論を提案し,エージェント群による協調的タスク処理問題において有効であることを示した. (2)『組織的行動』を各エージェントが支援する上で,状況に応じたモチベーションの使い分けが必要になる.そこで,個体間のメッセージ行為を含めたモチベーション生成とその行動選択への展開を試みた.すなわち,エージェントの意志決定機構をネットワーク構造に基づく2層構造型のアーキテクチャを提案し,モチベーションに基づく個々のエージェントの行動が状況に応じた,柔軟に切り替え可能であることを確認した. 以上の理論応用として,マルチエージェント系モンキーバナナ問題を取り上げ,その行動戦略の特性について考察し,静的環境を生成する行動戦略アピロ-チの提案と,組織化過程におけるフェロモン型コミュニケーションの利用に関する考察を行い,その有効性を確認した., 08235101
1996 - 1996
Industrial Property Rights
- リンク機構及びそれを用いた義手
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01 Apr. 2024 - チェンジ・ザ・ワールド ―未来 を 築 く 志 ―「 驚 きの 義手 」
テレビ東京, Media report, 自分の意志で指先を思い通りに動かせる義手が誕生した。「筋電義手」という最新のロボット・アームだ。開発したのは電気通信大学の横井浩史教授。開発のきっかけは身体の不自由な人に対する周囲の態度だったという。この義手の特徴は、AIが動きを学習して複雑な動きを再現できるようにしたこと。さらに3Dプリンターで製造コストを従来の３分の１程度に抑えたことなど。筋電義手の普及で障がい者の暮らしを変えようと挑んでいる。
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