Shunta TOGO
| Department of Mechanical and Intelligent Systems Engineering | Associate Professor |
| Cluster II (Emerging Multi-interdisciplinary Engineering) | Associate Professor |
| Center for Neuroscience and Biomedical Engineering | Associate Professor |
Researcher Information
Degree
Research Keyword
Field Of Study
Career
- 01 Apr. 2021
電気通信大学, 大学院情報理工学研究科, 准教授 - 01 Apr. 2016 - 31 Mar. 2021
The University of Electro-Communications, Graduate School of Informatics and Engineering, Assistant Professor - 01 Feb. 2016 - 31 Mar. 2018
Showa University, Medical Institute of Developmental Disabilities Research, Researcher - 01 Apr. 2014 - 31 Mar. 2016
Japan Society for the Promotion of Science, Research fellow (PD) - 01 Apr. 2014
Advanced Telecommunications Research Institute International, Cognitive Mechanisms Laboratories, Cooperate Researcher - 01 Apr. 2012 - 31 Mar. 2014
Japan Society for the Promotion of Science, Research fellow (DC2)
Educational Background
- 01 Apr. 2011 - 31 Mar. 2014
Nagoya University, Graduate School of Engineering, Department of Mechanical Science and Engineering, Japan - 01 Apr. 2009 - 31 Mar. 2011
Nagoya University, Graduate School of Engineering, Department of Mechanical Science and Engineering, Japan - 01 Apr. 2005 - 31 Mar. 2009
Nagoya University, School of Engineering, Department of Mechanical and Aerospace Engineering, Japan - 01 Apr. 2002 - 31 Mar. 2005
岐阜県立岐阜北高等学校, Japan
Research Activity Information
Award
- Jul. 2024
Model-based tension and state estimation for sensorless tendon-driven mechanisms
IEEE ICARM Best Conference Paper Finalist, Josef Da Silva Bernardo Neto;Wenyang Li;Shunta Togo;Hiroshi Yokoi;Yinlai Jiang - 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
萌芽研究部門 優秀研究奨励賞, 梅澤 亮;姜 銀来;横井 浩史;東郷 俊太 - Mar. 2022
IEEE LifeTech 2022
Development of a 7 DOF electric shoulder disarticulation prosthesis using a return routing tendon driven mechanism
Excellent Paper Award for Demo Presentation, Yuko Nakamura;Yinlai Jiang;Hiroshi Yokoi;Shunta Togo
International society - Mar. 2021
IEEE LifeTech 2021
Real-time object detection with deep learning for robot vision on mixed reality device
Outstanding Paper Awards for Demo! Presentation, Jiazhen Guo;Peng Chen;Yinlai Jiang;Hiroshi Yokoi;Shunta Togo
International society - Oct. 2017
2017 IEEE International Conference on Cyborg and Bionic Systems (CBS 2017)
Designs of Tailor-Made Myoelectric Prosthetic Hand for Trans-Metacarpal Amputations with Remaining Fingers and Joint Moving Functions
Best Student Paper Award, Yuta Murai;Yoshiko Yabuki;Masahiro Ishihara;Takehiko Takehiko Takagi;Shinichiro Takayama;Shunta Togo;Jiang Yinlai;Hiroshi Yokoi
International society, China - Nov. 2016
ICBSB
Maintenance of Muscle Contraction Improves during Dynamic Exercise by Multi-channel Functional Electrical Stimulation with Time Shifting Stimulation
Excellent Paper Award, Rintaro Kamihira;Misato Kasuya;Yinlai Jiang;Shunta Togo;Masao Sugi;Hiroshi Yokoi
International society, New Zealand - Sep. 2012
日本神経回路学会
Coordinated Motion Control of a Redundant Joint Arm using an Uncontrolled Manifold
大会奨励賞, Shunta Togo;Takahiro Kagawa;Yoji Uno
Japan society - Mar. 2011
日本機械学会
三浦賞, Shunta Togo
Japan society
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 - Model-based tension and state estimation for sensorless tendon-driven mechanisms
Josef Da Silva Bernardo Neto; Wenyang Li; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
2024 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), Jul. 2024
International conference proceedings, English - Dynamic label smoothing strategy for biosignal classification
Peiji Chen; Dian Li; Yifan Tang; Shunta Togo; Hiroshi Yokoi; Yinlai Jiang
2024 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 1556-1560, Apr. 2024, Peer-reviwed
International conference proceedings, English - 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, Feb. 2024, 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, 42, 1, 78-81, Jan. 2024, Peer-reviwed
Scientific journal, 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, Dec. 2023, Peer-reviwed
Scientific journal, English - Automatic control system for reach-to-grasp movement of a 7-DOF robotic arm using object pose estimation with an RGB camera
Shuting Bai; Jiazhen Guo; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Last, 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Dec. 2023, Peer-reviwed
International conference proceedings, English - 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
日本ロボット学会誌, 41, 10, 885-888, Dec. 2023, Peer-reviwed
Scientific journal, Japanese - Design of anthropomimetic robotic wrist joint and forearm
Yoshinobu Obata; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Last, 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Oct. 2023, Peer-reviwed
International conference proceedings, 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, 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
The 16th International Conference on Intelligent Robotics and Applications (ICIRA), 185-194, Jul. 2023, Peer-reviwed
International conference proceedings, English - Improvement of precision grasping performance by interaction between soft finger pulp and hard nail
Ayane Kumagai; Yoshinobu Obata; Yoshiko Yabuki; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Last, Soft Robotics, Mary Ann Liebert Inc, 10, 2, 345-353, 01 Apr. 2023, Peer-reviwed
Scientific journal, English - 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, English - Classification of human grasping posture suitable for catching and its application to robotic hand
Suzuka Higashijima; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Last, Journal of the Society of Biomechanisms, 47, 1, 54-62, 13 Mar. 2023, Peer-reviwed
Scientific journal, Japanese - 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
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 40, 10, 903-914, Dec. 2022, Peer-reviwed
Scientific journal, Japanese - Design and fabrication of a bionic prosthetic hand with multi-motions and light weight
Xu Yong; Xiaobei Jing; Yoshiko Yabuki; Shunta Togo; Hiroshi Yokoi; Guanglin Li
Journal of Integration Technology, 11, 4, 31-43, Jul. 2022, Peer-reviwed
Scientific journal, Chinese - Development of a 7 DOF electric shoulder disarticulation prosthesis using a return routing tendon driven mechanism
Yuko Nakamura; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Last, 2022 IEEE 4th Global Conference on Life Science and Technologies (LifeTech2022), 380-381, Mar. 2022, Peer-reviwed
International conference proceedings, English - Comparison of precision grasping performance between artificial fingers with and without nails
Ayane Kumagai; Yoshinobu Obata; Yoshiko Yabuki; Yinlai Jiang; Yokoi Hiroshi; Shunta Togo
Last, 2022 IEEE 4th Global Conference on Life Science and Technologies (LifeTech2022), 380-381, Mar. 2022, Peer-reviwed
International conference proceedings, English - Coevolution of myoelectric hand control under the tactile interaction among fingers and objects
Yuki Kuroda; Yusuke Yamanoi; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Cyborg and Bionic Systems, American Association for the Advancement of Science (AAAS), 2022, 9861875, 1-18, 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 - 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; Hitoshi Yokoi
2021 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2021), 6330-6333, Nov. 2021, Peer-reviwed
International conference proceedings, 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), *, Nov. 2021, Peer-reviwed
International conference proceedings, 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
2021 IEEE International Conference on Robotics and Automation (ICRA2021), 1105-1111, Jun. 2021, Peer-reviwed
International conference proceedings, English - 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, 905-917, Jun. 2021, Peer-reviwed
Scientific journal, 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), 7046-7051, May 2021, Peer-reviwed
International conference proceedings, 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
Last, 2021 IEEE3rd Global Conference on Life Science and Technologies (LifeTech2021), 82-83, Mar. 2021, Peer-reviwed
International conference proceedings, 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, Feb. 2021, Peer-reviwed
Scientific journal, English - 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, 9875814, 1-12, 2021, Peer-reviwed
Scientific journal, English - Asymmetric shape of distal phalanx of human finger improves precision grasping
Ayane Kumagai; Yoshinobu Obata; Yoshiko Yabuki; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Last, Scientific Reports, 11, 10402, 1-10, 2021, Peer-reviwed
Scientific journal, English - Development of a Two-Layered Elastic Glove for Dynamic Stable Grasping of Powered Prosthetic Hand
Yoshinobu Obata; Ayane Kumagai; Yoshiko Yabuki; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Journal of the Robotics Society of Japan, The Robotics Society of Japan, 39, 8, 744-750, 2021, Peer-reviwed
Scientific journal, Japanese - 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
Lead, 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 - Development of a Shoulder Disarticulation Prosthesis System Intuitively Controlled With the Trunk Surface Electromyogram
Susumu Kimizuka; Yohei Tanaka; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Frontiers in Neurorobotics, Frontiers Media SA, 14, 542033, 29 Oct. 2020, Peer-reviwed
Scientific journal, English - Analysis of two-layer artificial soft fingertip for dynamic stable grasping
Yoshinobu Obata; Ayane Kumagai; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
2020 IEEE 2nd Global Conference on Life Science and Technologies (LifeTech 2020), 362-363, Mar. 2020, Peer-reviwed
International conference proceedings, English - Evaluation of the grasping ability by artificial finger based on the morphology of distal phalanx
Ayane Kumagai; Yoshinobu Obata; Yinlai Jiang; Hiroshi Yokoi; Shunta Togo
Last, 2020 IEEE 2nd Global Conference on Life Science and Technologies (LifeTech 2020), 334-335, 2020, Peer-reviwed
International conference proceedings, English - Modularized coupled tendon-driven humanoid robot arm
Yinlai Jiang; Wenyang Li; Peng Chen; Shunta Togo; Hiroshi Yokoi
Journal of the Robotics Society of Japan, 38, 7, 657-666, 2020, Peer-reviwed
Scientific journal, Japanese - 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), 2461-2465, 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), 1881-1885, 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), 492-496, Dec. 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, 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, 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 2019) 17th World Congress, 4.1.6.f, Oct. 2019, Peer-reviwed
International conference proceedings, English - Development of an sEMG sensor composed of two-layered conductive silicone with different carbon concentrations
Shunta Togo; Yuta Murai; Yinlai Jiang; Hiroshi Yokoi
Lead, Scientific Reports, 9, 13996, Sep. 2019, Peer-reviwed
Scientific journal, English - Motor point tracking stimulation of biceps brachii using multi electrode based functional electrical stimulation
Kento Ichikawa; Yinlai Jiang; Masao Sugi; Shunta Togo; Hiroshi Yokoi
2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019), #4, Sep. 2019, Peer-reviwed
International conference proceedings, English - Development a myoelectric prosthetic hand for partial hand amputees to use successfully remaining finger -proposal of the design method for mechanical system and control system and prototype-
Yuta Murai; Yoshiko Yabuki; Masahiro Ishihara; Takehiko Takagi; Shinichiro Takayama; Shunta Togo; Ryu Kato; Yinlai Jiang; Hiroshi Yokoi
Journal of the Society of Biomechanisms, 43, 2, Jun. 2019, Peer-reviwed
Scientific journal, Japanese - Development of joint flexion mechanism with myoelectric prosthetic hand for stable grasp in power grasp and precision grasp
Naoyuki Tani; Yinlai Jiang; Shunta Togo; Hiroshi Yokoi
Journal of the Robotics Society of Japan, 37, 2, 168-178, Mar. 2019, Peer-reviwed
Scientific journal, Japanese - Fourth finger dependence of high-functioning autism spectrum disorder in multi-digit force coordination
Shunta Togo; Takashi Itahashi; Ryuichiro Hashimoto; Chang Cai; Chieko Kanai; Nobumasa Kato; Hiroshi Imamizu
Lead, Scientific Reports, 9, 1737, 1-11, Feb. 2019, Peer-reviwed
Scientific journal, English - 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 - Development of intuitive operation type shoulder disarticulation prosthesis system using surface myoelectric potential of trunk
Susumu Kimizuka; Yutaro Hiyoshi; Hesong Ye; Youhei Tanaka; Shunta Togo; Yinlai Jiang; Hiroshi Yokoi
Journal of the Society of Biomechanisms, 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 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 (ROBIO 2018), 748-751, Dec. 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 (IROS2018), 943-948, 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, Madrid (IROS2018), 2774-2779, Oct. 2018, Peer-reviwed
International conference proceedings, 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, Oct. 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, Oct. 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, Oct. 2018, Peer-reviwed
International conference proceedings, English - Development of a parent wireless assistive interface of myoelectric prosthetic hands for children
Yutaro Hiyoshi; Yuta Murai; Yoshiko Yabuki; Kenichi Takahana; Soichiro Morishita; Yinlai Jiang; Shunta Togo; Hiroshi Yokoi
Frontiers in Neurorobotics, 12, 48, 1-12, Aug. 2018, Peer-reviwed
Scientific journal, English - 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,, 452-457, Aug. 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, 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, 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, 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, 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, Aug. 2018, Peer-reviwed
International conference proceedings, English - Experimental evaluation of voluntarily activatable muscle synergies
Shunta Togo; Hiroshi Imamizu
Lead, Neuroscience 2017, 152.06, 11 Nov. 2017, 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 (CBS 2017), 130-135, 17 Oct. 2017, Peer-reviwed
International conference proceedings, English - Designs of tailor-made myoelectric prosthetic hand for trans-metacarpal amputations 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 (CBS 2017), 119-124, 17 Oct. 2017, Peer-reviwed
International conference proceedings, English - Empirical Evaluation of Voluntarily Activatable Muscle Synergies
Shunta Togo; Hiroshi Imamizu
Lead, Frontiers in Computational Neuroscience, FRONTIERS MEDIA SA, 11, 82, Sep. 2017, Peer-reviwed, The muscle synergy hypothesis assumes that individual muscle synergies are independent of each other and voluntarily controllable. However, this assumption has not been empirically tested. This study tested if human subjects can voluntarily activate individual muscle synergies extracted by non-negative matrix factorization (N-MF), the standard mathematical method for synergy extraction. We defined the activation of a single muscle synergy as the generation of a muscle activity pattern vector parallel to the single muscle synergy vector. Subjects performed an isometric force production task with their right hand, and the 13 muscle activity patterns associated with their elbow and shoulder movements were measured. We extracted muscle synergies during the task using electromyogram (E-MG) data and the NMF method with varied numbers of muscle synergies. The number (N) of muscle synergies was determined by using the variability accounted for (VAF, N-VAF) and the coefficient of determination (CD, N-CD). An additional muscle synergy model with N-AD was also considered. We defined a conventional muscle synergy as the muscle synergy extracted by the NVAF, N-CD, and N-AD. We also defined an extended muscle synergy as the muscle synergy extracted by the NEX>N-AD. To examine whether the individual muscle synergy was voluntarily activatable or not, we calculated the index of independent activation, which reflects similarities between a selected single muscle synergy and the current muscle activation pattern of the subject. Subjects were visually feed-backed the index of independent activation, then instructed to generate muscle activity patterns similar to the conventional and extended muscle synergies. As a result, an average of 90.8% of the muscle synergy extracted by the N-VAF was independently activated. However, the proportion of activatable muscle synergies extracted by N-CD and N-AD was lower. These results partly support the assumption of the muscle synergy hypothesis, i.e., that the conventional method can extract voluntarily and independently activatable muscle synergies by using the appropriate index of reconstruction. Moreover, an average of 25.5% of the extended muscle synergy was significantly activatable. This result suggests that the CNS can use extended muscle synergies to perform voluntary movements.
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), 383-387, 14 Jul. 2017, Peer-reviwed
International conference proceedings, English - Control strategy of hand movement depends on target redundancy
Shunta Togo; Toshinori Yoshioka; Hiroshi Imamizu
Lead, Scientific Reports, NATURE PUBLISHING GROUP, 7, 45722, Mar. 2017, Peer-reviwed, Reaching toward a point target has been intensively studied in human motor control. However, little is known about reaching toward a redundant target, such as grasping a bar, in which the grasping point is irrelevant to the achievement of a task. We examined whether humans could solve the targetredundancy and control problems in a serial fashion or control their body without solving the targetredundancy problem. We equalized the target ranges between two reaching tasks: a point-to-point reaching task without target-redundancy and a point-to-bar reaching task with target-redundancy. In the both tasks, we measured hand viscoelasticity at movement end as parameters that reflect the adopted control strategy. As a result, the hand viscoelasticity in the point-to-bar reaching task was smaller than that in the point-to-point reaching task, even under the same kinematics. These results indicate that the hand viscoelasticity was modulated depending on the target-redundancy. Moreover, it is suggested that a human reaches toward a redundant target by effectively utilizing information of target redundancy rather than explicitly solving the target-redundancy problem.
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
International Journal of Bioscience, Biochemistry and Bioinformatics (IJBBB), 7, 1, 30-40, 06 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
International Conference on Biomedical Signal and Bioinformatics (ICBSB 2016), 33-40, Nov. 2016, Peer-reviwed
International conference proceedings, English - Anticipatory synergy adjustments reflect individual performance of feedforward force control
Shunta Togo; Hiroshi Imamizu
Lead, Neuroscience Letters, ELSEVIER IRELAND LTD, 632, 192-198, Oct. 2016, Peer-reviwed, We grasp and dexterously manipulate an object through multi-digit synergy. In the framework of the uncontrolled manifold (UCM) hypothesis, multi-digit synergy is defined as the coordinated control mechanism of fingers to stabilize variable important for task success, e.g., total force. Previous studies reported anticipatory synergy adjustments (ASAs) that correspond to a drop of the synergy index before a quick change of the total force. The present study compared ASA's properties with individual performances of feedforward force control to investigate a relationship of those. Subjects performed a total finger force production task that consisted of a phase in which subjects tracked target line with visual information and a phase in which subjects produced total force pulse without visual information. We quantified their multi-digit synergy through UCM analysis and observed significant ASAs before producing total force pulse. The time of the ASA initiation and the magnitude of the drop of the synergy index were significantly correlated with the error of force pulse, but not with the tracking error. Almost all subjects showed a significant increase of the variance that affected the total force. Our study directly showed that ASA reflects the individual performance of feedforward force control independently of target-tracking performance and suggests that the multi-digit synergy was weakened to adjust the multi-digit movements based on a prediction error so as to reduce the future error. (C) 2016 Elsevier Ireland Ltd. All rights reserved.
Scientific journal, English - Uncontrolled Manifold Reference Feedback Control of Multi-Joint Robot Arms
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Frontiers in Computational Neuroscience, FRONTIERS MEDIA SA, 10, 69, Jul. 2016, Peer-reviwed, The brain must coordinate with redundant bodies to perform motion tasks. The aim of the present study is to propose a novel control model that predicts the characteristics of human joint coordination at a behavioral level. To evaluate the joint coordination, an uncontrolled manifold (UCM) analysis that focuses on the trial-to-trial variance of joints has been proposed. The UCM is a nonlinear manifold associated with redundant kinematics. In this study, we directly applied the notion of the UCM to our proposed control model called the "UCM reference feedback control." To simplify the problem, the present study considered how the redundant joints were controlled to regulate a given target hand position. We considered a conventional method that pre-determined a unique target joint trajectory by inverse kinematics or any other optimization method. In contrast, our proposed control method generates a UCM as a control target at each time step. The target UCM is a subspace of joint angles whose variability does not affect the hand position. The joint combination in the target UCM is then selected so as to minimize the cost function, which consisted of the joint torque and torque change. To examine whether the proposed method could reproduce human-like joint coordination, we conducted simulation and measurement experiments. In the simulation experiments, a three-link arm with a shoulder, elbow, and wrist regulates a one-dimensional target of a hand through proposed method. In the measurement experiments, subjects performed a one-dimensional target-tracking task. The kinematics, dynamics, and joint coordination were quantitatively compared with the simulation data of the proposed method. As a result, the UCM reference feedback control could quantitatively reproduce the difference of the mean value for the end hand position between the initial postures, the peaks of the bell-shape tangential hand velocity, the sum of the squared torque, the mean value for the torque change, the variance components, and the index of synergy as well as the human subjects. We concluded that UCM reference feedback control can reproduce human-like joint coordination. The inference for motor control of the human central nervous system based on the proposed method was discussed.
Scientific journal, English - Changes in motor synergies for tracking movement and responses to perturbations depend on task-irrelevant dimension constraints
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Human Movement Science, ELSEVIER SCIENCE BV, 46, 104-116, Apr. 2016, Peer-reviwed, We investigated the changes in the motor synergies of target-tracking movements of hands and the responses to perturbation when the dimensionalities of target positions were changed. We used uncontrolled manifold (UCM) analyses to quantify the motor synergies. The target was changed from one to two dimensions, and the direction orthogonal to the movement direction was switched from task-irrelevant directions to task-relevant directions. The movement direction was task-relevant in both task conditions. Hence, we evaluated the effects of constraints on the redundant dimensions on movement tracking. Moreover, we could compare the two types of responses to the same directional perturbations in one- and two-dimensional target tasks. In the one-dimensional target task, the perturbation along the movement direction and the orthogonal direction were task-relevant and-irrelevant perturbations, respectively. In the two-dimensional target task, the both perturbations were task-relevant perturbations. The results of the experiments showed that the variabilities of the hand positions in the two-dimensional target-tracking task decreased, but the variances of the joint angles did not significantly change. For the task-irrelevant perturbations, the variances of the joint angles within the UCM that did not affect hand position (UCM component) increased. For the task-relevant perturbations, the UCM component tended to increase when the available UCM was large. These results suggest that humans discriminate whether the perturbations were task-relevant or-irrelevant and then adjust the responses of the joints by utilizing the available UCM. (C) 2015 Elsevier B.V. All rights reserved.
Scientific journal, 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
IEEE International Conference on robotics and biomimetics (ROBIO2016), 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 - Normalized Index of Synergy for Evaluating the Coordination of Motor Commands
Shunta Togo; Hiroshi Imamizu
Lead, PLoS ONE, PUBLIC LIBRARY SCIENCE, 10, 10, e0140836, Oct. 2015, Peer-reviwed, Humans perform various motor tasks by coordinating the redundant motor elements in their bodies. The coordination of motor outputs is produced by motor commands, as well properties of the musculoskeletal system. The aim of this study was to dissociate the coordination of motor commands from motor outputs. First, we conducted simulation experiments where the total elbow torque was generated by a model of a simple human right and left elbow with redundant muscles. The results demonstrated that muscle tension with signal-dependent noise formed a coordinated structure of trial-to-trial variability of muscle tension. Therefore, the removal of signal-dependent noise effects was required to evaluate the coordination of motor commands. We proposed a method to evaluate the coordination of motor commands, which removed signal-dependent noise from the measured variability of muscle tension. We used uncontrolled manifold analysis to calculate a normalized index of synergy. Simulation experiments confirmed that the proposed method could appropriately represent the coordinated structure of the variability of motor commands. We also conducted experiments in which subjects performed the same task as in the simulation experiments. The normalized index of synergy revealed that the subjects coordinated their motor commands to achieve the task. Finally, the normalized index of synergy was applied to a motor learning task to determine the utility of the proposed method. We hypothesized that a large part of the change in the coordination of motor outputs through learning was because of changes in motor commands. In a motor learning task, subjects tracked a target trajectory of the total torque. The change in the coordination of muscle tension through learning was dominated by that of motor commands, which supported the hypothesis. We conclude that the normalized index of synergy can be used to evaluate the coordination of motor commands independently from the properties of the musculoskeletal system.
Scientific journal, English - Control Model for Dampening Hand Vibrations Using Information of Internal and External Coordinates
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, PLoS ONE, PUBLIC LIBRARY SCIENCE, 10, 4, e0125464, Apr. 2015, Peer-reviwed, In the present study, we investigate a control mechanism that dampens hand vibrations. Here, we propose a control method with two components to suppress hand vibrations. The first is a passive suppression method that lowers the joint stiffness to passively dampen the hand vibrations. The second is an active suppression method that adjusts an equilibrium point based on skyhook control to actively dampen the hand vibrations. In a simulation experiment, we applied these two methods to dampen hand vibrations during the shoulder's horizontal oscillation. We also conducted a measurement experiment wherein a subject's shoulder was sinusoidally oscillated by a platform that generated horizontal oscillations. The results of the measurement experiments showed that the jerk of each part of the arm in a task using a cup filled with water was smaller than the shoulder jerk and that in a task with a cup filled with stones was larger than the shoulder jerk. Moreover, the amplitude of the hand trajectory in both horizontal and vertical directions was smaller in a task using a cup filled with water than in a task using a cup filled with stones. The results of the measurement experiments were accurately reproduced by the active suppression method based on skyhook control. These results suggest that humans dampen hand vibrations by controlling the equilibrium point through the information of the external workspace and the internal body state rather than by lowering joint stiffness only by using internal information.
Scientific journal, English - A control model of human-dampening hand vibration using internal and external information
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Neural Control of Movement 25th Annual Meeting, 1-D-9, Apr. 2015, Peer-reviwed
International conference proceedings, English - Change of a motor synergy for dampening hand vibration depending on a task difficulty
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Experimental Brain Research, SPRINGER, 232, 10, 3101-3109, Oct. 2014, Peer-reviwed, The present study investigated the relationship between the number of usable degrees of freedom (DOFs) and joint coordination during a human-dampening hand vibration task. Participants stood on a platform generating an anterior-posterior directional oscillation and held a water-filled cup. Their usable DOFs were changed under the following conditions of limb constraint: (1) no constraint; (2) ankle constrained; and (3) ankle-knee constrained. Kinematic whole-body data were recorded using a three-dimensional position measurement system. The jerk of each body part was evaluated as an index of oscillation intensity. To quantify joint coordination, an uncontrolled manifold (UCM) analysis was applied and the variance of joints related to hand jerk divided into two components: a UCM component that did not affect hand jerk and an orthogonal (ORT) component that directly affected hand jerk. The results showed that hand jerk when the task used a cup filled with water was significantly smaller than when a cup containing stones was used, regardless of limb constraint condition. Thus, participants dampened their hand vibration utilizing usable joint DOFs. According to UCM analysis, increasing the oscillation velocity and the decrease in usable DOFs by the limb constraints led to an increase of total variance of the joints and the UCM component, indicating that a synergy-dampening hand vibration was enhanced. These results show that the variance of usable joint DOFs is more fitted to the UCM subspace when the joints are varied by increasing the velocity and limb constraints and suggest that humans adopt enhanced synergies to achieve more difficult tasks.
Scientific journal, English - Task and body constraints change joint coordination to dampen hand vibration
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, SICE ANNUAL CONFERENCE 2013, 1294-1295, Sep. 2013, Peer-reviwed, Present study investigates a relationship between the number of joint constraints and joint coordination during dampening hand vibration. Subjects stood on a platform generating oscillation and held a cup with water or stones under some conditions of limb constraint. As a result, they could dampen hand vibration regardless of the number of joint constraints. The variance of all joints increased as more joints constrained. Nevertheless, subjects could achieve the task enhancing joint coordination.
International conference proceedings, English - UCM reference feedback control for joint coordination
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Progress in Motor Control Ⅸ, 31, Jul. 2013, Peer-reviwed
International conference proceedings, English - UCM reference feedback control for coordinated motion of a redundant joint arm
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, The IEICE Transactions on Information and Systems (Japanese Edition), The Institute of Electronics, Information and Communication Engineers, J96-D, 2, 346-356, 01 Feb. 2013, Peer-reviwed, 本研究では人間の関節間協調を参考にし,冗長な関節を協調的に制御する方法を提案する.手先の目標軌道があらかじめ与えられる軌道追従問題を設定し,肩,肘,手首からなる3リンクアームでモデル化した人腕の制御方法を考える.本研究で提案する"UCM参照フィードバック制御法"では,手先の軌道に影響を与えない関節角度の組からなるUCM空間上に目標点を時々刻々選び続ける.この提案法と比較するために,あらかじめ一意な関節角軌道を生成し,それを追従する"冗長性除去制御法"を設定し,シミュレーション実験を行った.その結果,UCM参照フィードバック制御法は,冗長性除去制御法と比べて外乱へのロバスト性が向上した.また,信号依存ノイズを付加し,人間の関節間協調を定量的に評価するUCM解析を行った結果,冗長性除去制御法はUCM空間とは関係なく全方向にばらついたのに対し,UCM参照フィードバック制御法はUCM空間に沿って大きくばらついた.このことは,UCM参照フィードバック制御法が人間に見られるような関節間協調を実現できることを示している.
Scientific journal, Japanese - UCM analysis of human multi-joint coordination and mechanical arm impedance
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Neural Control of Movement 22nd Annual Meeting, 1-B-103, Apr. 2012, Peer-reviwed
International conference proceedings, English - A role of visual information for joint coordination to dampen hand vibration during walking
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, The IEICE Transactions on Information and Systems (Japanese Edition), The Institute of Electronics, Information and Communication Engineers, J95-D, 2, 314-322, 01 Feb. 2012, Peer-reviwed, 人間がコップの水をこぼさずに運ぶ動作に対して,視覚情報はどのような働きをするのかを調べた.手先のジャークを小さくし,コップの角度を一定に保つことがコップの水をこぼさないための条件とし,歩行中に視覚情報を遮断した場合,それらの変数ないしそれらの変数を制御する関節間の協調がどのように変化するのかを調べた.水が入ったコップを持って歩行している際に,手元の視覚情報を途中で長時間遮断する場合と,遮断しない場合を比較する計測実験を行った.また,関節間の協調を定量的に評価するためにUCM解析を用いた.UCM解析によって手先のジャークとコップの角度に関わる分散を,影響がない成分(UCM成分)と直接影響する成分(ORT成分)に分割し,関節間協調の度合を全分散に対するUCM成分の割合と定義した.その結果,視覚を遮断することにより,手先ジャークの値に関しては影響を受けず,コップの角度の値は変化した.また,手先ジャークに関する協調度は変化せず,コップの角度に関する協調度は低下した.これらの結果から,手先振動を抑制する際に視覚情報は,コップの角度のキャリブレーションを行うのに使用され,関節間協調の維持には性能変数とその目標値の知覚が重要であることが示唆された.また,手先のジャークは視覚情報を用いずに制御することが可能であることも示唆された.
Scientific journal, Japanese - Motor synergies for dampening hand vibration during human walking
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Experimental Brain Research, SPRINGER, 216, 1, 81-90, Jan. 2012, Peer-reviwed, This study investigated the motion required to carry a cup filled with water without spilling it, which is a common human dexterous task. This task requires the individual to dampen hand vibration while walking. We hypothesize that a reduction in hand jerk and a constant cup angle are required to achieve this task. We measured movements while human subjects carried a cup with water (WW task) and with stones (WS task) using a three-dimensional position measurement system and then analyzed joint coordination. We empirically confirmed that the value of hand jerk and the variance in cup angle in the WW task were smaller than those in the WS task. We used uncontrolled manifold (UCM) analysis to quantify joint coordination corresponding to the motor synergy required to reduce the hand jerk and variance of the cup angle. UCM components, which did not affect the hand jerk and cup angle, were larger than orthogonal components, which directly affected the hand jerk and cup angle in the WW task. These results suggest that there is a coordinated control mechanism that reduces hand jerk and maintains a constant cup angle when carrying a cup filled with water without spilling it. In addition, we suggest that humans adopt a flexible and coordinated control strategy of allowing variance independent of the variables that should be controlled to achieve this dexterous task.
Scientific journal, English - A role of visual information for joint coordination to dampen hand vibration during human walking
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, Progress in Motor Control Ⅷ, 255, Jul. 2011, Peer-reviwed
International conference proceedings, English - Uncontrolled manifold analysis for strategy of dampening hand vibration during human walking
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, The IEICE Transactions on Information and Systems (Japanese Edition), The Institute of Electronics, Information and Communication Engineers, J93-D, 12, 2666-2674, 01 Dec. 2010, Peer-reviwed, コップの水をこぼさずに歩行するというタスクを達成するために人間はどのような方策をとっているのかを調べた.手先のジャークを小さくし,コップの角度を一定に保つことがコップの水をこぼさないための性能変数とし,その制御のために各関節を協調させているという仮説を立てた.協調度を定量的に評価するUCM解析を用い手先のジャークに関する分散とコップの角度に関する分散について,性能変数に影響を与えない成分(UCM成分)と与える成分(ORT成分)に分割した.水が入っているコップを保持して歩行する場合と水が入っていないコップを保持して歩行する場合を比較する実験を行い,水が入っている場合に手先のジャークは小さくなり,コップの角度の分散も小さくなることを確認した.また各分散成分とも,UCMに沿った成分はORTに沿った成分より大きかった.以上の結果から人間はコップの水をこぼさずに歩行するために,各関節を協調させてコップの角度を一定に保ち,手先のジャークを小さくしていることが示唆された.またコップの角度に関する分散成分が時系列によってほとんど変化しない結果から,タスク全体で振動を抑制していることが示唆された.
Scientific journal, Japanese - Analysis of synergy for dampening hand vibration during walking
Shunta Togo; Takahiro Kagawa; Yoji Uno
Lead, 4th International Symposium on Measurement, Analysis and Modelling of Human Functions, 51-52, Jun. 2010, Peer-reviwed, Carrying a cup without spilling water is one of human dexterous tasks. We hypothesize that reducing hand-jerk and keeping cup-angle constant are required to achieve the task. We measured human movements in carrying a cup with water or without water by a three-dimensional position measurement system and analyzed joint coordination. It was empirically confirmed that the hand-jerk and variance of cup-angle with water were smaller than those without water. Using UCM analysis, we found that the human reduces hand-jerk and keeps cup-angle constant by coordinating joint movements to dampen hand vibration in carrying a cup with water.
International conference proceedings, English
MISC
- 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, 2692-7632 - 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, 803-806, Japanese, Peer-reviwed, Invited - 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
2019, 日本ロボット学会誌, 37, 4, 301-306, Japanese, Introduction scientific journal - 個性適応型制御法を用いた幼児・子供用義手の開発
矢吹 佳子; Hesong Ye; Xu Yong; 日吉 祐太郎; 村井 雄太; 東郷 俊太; 姜 銀来; 加藤 龍; 高木 岳彦; 高山 真一郎; 横井 浩史
本論文では、幼児・小児を対象として筋電義手を開発し、その適用事例と効果について述べている。開発したシステムは、開閉1自由度の手先具に3Dプリンタを用いて軽量小型化を達成し、制御システムに個性適応制御法を用いている。個性適応制御法は、外部補助者によりリアルタイムに閾値を調整する機能を有し、長期の訓練を必要とせず使用が可能な義手制御システムを提案・開発し、これを用いて評価実験を行った結果をまとめている。(著者抄録), 日本運動器科学会, 2018, 運動器リハビリテーション, 29, 3, 302-311, Japanese, Invited, Introduction scientific journal, 2187-8420, 2019156908 - 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
2018, バイオメカニズム学会誌, 42, 2, Japanese - 筋シナジー(Muscle synergy)
東郷俊太
2018, 知能と情報, 30, 3, Japanese, Invited
Books and other publications
Lectures, oral presentations, etc.
- デジタルツインによる義手の物体把持動作の自動探索
徐 豪康; 東郷 俊太; 横井 浩史; 姜 銀来
Oral presentation, Japanese, 第45回バイオメカニズム学術講演会
Dec. 2024
07 Dec. 2024- 08 Dec. 2024 - 半自動義手制御のためのオンチップ筋電解析システムの開発
湯 一凡; 陳 培基; 東郷 俊太; 横井 浩史; 姜 銀来
Oral presentation, Japanese, 第45回バイオメカニズム学術講演会
Dec. 2024
07 Dec. 2024- 08 Dec. 2024 - 点群と画像認識に基づく半自動制御義手の位置推定とジェスチャ生成
Lu Shengye; 東郷 俊太; 横井 浩史; 姜 銀来
Oral presentation, Japanese, 第45回バイオメカニズム学術講演会
Dec. 2024
07 Dec. 2024- 08 Dec. 2024 - 弾性生地の埋め込みによる人工皮膚の耐裂性の向上
鈴木 寿梨; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第45回バイオメカニズム学術講演会
Dec. 2024
07 Dec. 2024- 08 Dec. 2024 - 柔軟な人工指の指腹を用いた硬化把持
呉 開元; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第45回バイオメカニズム学術講演会
Dec. 2024
07 Dec. 2024- 08 Dec. 2024 - Regeneration and replication of the human body
Shunta Togo
Invited oral presentation, English, Design Workshop 9.0 in IIITDM, Jabalpur, India, Invited
07 Oct. 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
Yiwei WANG; 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
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
Sep. 2024
03 Sep. 2024- 06 Sep. 2024 - 人体を模倣した流体潤滑を有する指関節構造の粘弾性特性
工藤 陸; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第42回日本ロボット学会学術講演会
Sep. 2024
03 Sep. 2024- 06 Sep. 2024 - ワイヤ干渉駆動機構を用いた滑り転がり関節
新川 慧悟; 姜 銀来; 横井 浩史; 東郷 俊太
Oral presentation, Japanese, 第42回日本ロボット学会学術講演会
Sep. 2024
03 Sep. 2024- 06 Sep. 2024 - 人体の筋骨格構造を模倣したロボット手指・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
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会2024
May 2024
29 May 2024- 01 Jun. 2024 - 人体模倣足部の着地時における粘弾性変化の定量解析
橋本 悟; 姜 銀来; 横井 浩史; 東郷 俊太
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会2024
May 2024
29 May 2024- 01 Jun. 2024 - 人体を模倣した流体潤滑を有する指関節構造の粘性特性
工藤 陸; 姜 銀来; 横井 浩史; 東郷 俊太
Poster presentation, Japanese, ロボティクス・メカトロニクス講演会2024
May 2024
29 May 2024- 01 Jun. 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
Oral presentation, Japanese, 第36回自律分散システム・シンポジウム
Feb. 2024 - 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
Poster presentation, Japanese, 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)
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
Poster presentation, Japanese, 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)
Dec. 2023 - 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
Poster presentation, Japanese, 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)
Dec. 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, English, 第41回日本ロボット学会学術講演会
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, Japanese, 第41回日本ロボット学会学術講演会
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
Oral presentation, Japanese, 第41回日本ロボット学会学術講演会
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, Japanese, 第41回日本ロボット学会学術講演会
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, Japanese, 第41回日本ロボット学会学術講演会
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, Japanese, 第41回日本ロボット学会学術講演会
Sep. 2023 - 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, Domestic conference
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, Domestic conference
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, Domestic conference
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, Domestic conference
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, Domestic conference
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, Domestic conference
Sep. 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, Domestic conference
Sep. 2022 - 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, Domestic conference
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, Domestic conference
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
Nov. 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
Oral presentation, Japanese, 第37回日本義肢装具学会学術大会, Domestic conference
Oct. 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, 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, Domestic conference
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, Domestic conference
Sep. 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, Domestic conference
Sep. 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, Domestic conference
Mar. 2021 - 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, Domestic conference
Dec. 2020 - 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, Domestic conference
Dec. 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, Domestic conference
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, Domestic conference
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, Domestic conference
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, Domestic conference
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, Domestic conference
Oct. 2020 - 子共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
Poster presentation, Japanese, 第36回日本義肢装具学会, Domestic conference
Oct. 2020 - 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
Oral presentation, Japanese, 精密工学会2020年度春季大会講演論文集, Domestic conference
Mar. 2020 - 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
Oral presentation, Japanese, 精密工学会2020年度春季大会講演論文集, Domestic conference
Mar. 2020 - ヒトの身体運動制御の理解を目指す人間化ロボティクスの取り組み
東郷 俊太
Public discourse, Japanese, 東京大学大学院人文社会系講義「脳のネットワーク論」, Invited
20 Nov. 2019 - 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, Domestic conference
Nov. 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
Poster 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), Domestic conference
Nov. 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, Domestic conference
Sep. 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, Domestic conference
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, Domestic conference
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, Domestic conference
Sep. 2019 - 繰り返し計算に基づく仮想軌道制御の力場適応
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, Domestic conference
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, Domestic conference
Jul. 2019 - 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; 岡野 大輔; 畠沢 祐輝; 杉 正夫; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, Domestic conference
Mar. 2019 - 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
Oral presentation, Japanese, 精密工学会2019年度春季大会講演論文集, Domestic conference
Mar. 2019 - Control mechanism of redundant human body and its applications to robot system
Shunta Togo
Public discourse, English, UCREC in Beijing China, Invited
08 Jan. 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, Domestic conference
09 Dec. 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, 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, Domestic conference
26 Nov. 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, 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, Domestic conference
17 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, Domestic conference
10 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, Domestic conference
10 Nov. 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, Domestic conference
Sep. 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, Domestic conference
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, Domestic conference
Sep. 2018 - 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
Oral presentation, Japanese, 精密工学会2018年度春季大会講演論文集, Domestic conference
Mar. 2018 - 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
Oral presentation, Japanese, 精密工学会2018年度春季大会講演論文集, Domestic conference
Mar. 2018 - 両肩離断者のための表面筋電位を用いた電動肩義手の開発
君塚進; 日吉祐太郎; 東郷俊太; 田中洋平; 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, 大分, Domestic conference
Nov. 2017 - 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, 大分, Domestic conference
Nov. 2017 - 近接覚センサを用いた歩行器使用中の歩容解析
松本直弥; 日吉祐太郎; 藤本茜子; 勅使河原誠一; 姜銀来; 東郷俊太; 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2017, Domestic conference
Nov. 2017 - 多点表面電気刺激における刺激電極パターンのクラスタリング
粕谷美里; 森下壮一郎; 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2017, Domestic conference
Nov. 2017 - 筋電義手用装飾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; 横井浩史
Oral presentation, Japanese, 第33回義肢装具学会全国大会, 東京, Domestic conference
Oct. 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; 高木岳彦; 高山真一郎; 東郷俊太; 姜銀来; 横井浩史
Oral presentation, Japanese, 第33回義肢装具学会全国大会, 東京, Domestic conference
Oct. 2017 - 指先合力生成時における自閉症スペクトラム障害患者の特異的薬指依存
東郷俊太; 板橋貴史; 橋本龍一郎; 金井智恵子; 加藤進昌; 今水寛
Poster presentation, Japanese, 第11回 Motor Control研究会, Domestic conference
Aug. 2017 - 随意活性可能ま個々の筋シナジーの実験による評価
東郷俊太; 今水寛
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2017 - 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; 東郷 俊太; 姜 銀来; 横井 浩史
Oral presentation, Japanese, 精密工学会2017年度春季大会講演論文集, Domestic conference
Mar. 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
Jan. 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
Jan. 2017 - 個人のフィードフォワード制御能力を反映する多指間協調運動の先行調整
東郷俊太; 今水寛
Oral presentation, Japanese, 第29回自律分散システム・シンポジウム, Domestic conference
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, Domestic conference
Nov. 2016 - 随意的に独立活性可能な筋シナジーの実験による評価
東郷俊太; 今水寛
Poster presentation, Japanese, 第10回Motor Control研究会, Domestic conference
Sep. 2016 - 安定な精密つまみを実現する低自由度ロボットハンドの構築
馮翔; 叶鶴松; 姜銀来; 東郷俊太; 横井浩史
Oral presentation, Japanese, LIFE2016, Domestic conference
Sep. 2016 - 多点計測手法を用いた肩回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, LIFE2016, Domestic conference
Sep. 2016 - 姿勢の変動を許容する全身運動の制御
熊澤 一樹; 香川 高弘; 東郷 俊太; 宇野 洋二
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2016 - タスクの冗長性に依存した手先運動の制御方策
東郷 俊太; 吉岡 利福; 今水 寛
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2016 - 目標の冗長性を保持した運動計画
東郷 俊太; 吉岡 利福; 今水 寛
Poster presentation, Japanese, 第9回Motor Control研究会, Domestic conference
Jun. 2015 - 多関節ロボットの関節間協調を用いた重心変動を許容する立位姿勢制御
伊藤 穂高; 東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, 第2回制御部門マルチシンポジウム, Domestic conference
Mar. 2015 - 正規化協調指標による運動指令の協調の評価
東郷 俊太; 今水 寛
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2015 - 支持多角形内における重心位置のばらつきを許容する立位姿勢制御
伊藤 穂高; 東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Dec. 2014 - 随意的共収縮は冗長方向の運動協調に影響を与えない
東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, 第8回Motor Control研究会, Domestic conference
Aug. 2014 - 運動タスクにおける冗長方向を識別する感覚情報
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2014 - ヒトの関節間協調に着目したUCM参照フィードバック制御法
磯部 祐真; 東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, SI2013, Domestic conference
Dec. 2013 - 手先振動抑制のメカニズムはスティフネスの調節よりも平衡点の調節で説明できる
東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, 第7回Motor Control研究会, Domestic conference
Sep. 2013 - 全身ポーズ生成のUCM解析とバランス制御
竹内 花帆; 東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, 第7回Motor Control研究会, Domestic conference
Sep. 2013 - ニューラルネットを用いたUCM空間の生成
磯部 祐真; 東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, 第7回Motor Control研究会, Domestic conference
Sep. 2013 - タスクの難易度に依存する関節間協調の変化
東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, Neuro2013, Domestic conference
Jun. 2013 - 人間の関節間協調に着目した冗長ロボットアームの制御
磯部 祐真; 東郷 俊太; 香川 高弘; 宇野 洋二
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2013, Domestic conference
May 2013 - 軌道追従タスクにおける多関節腕の協調制御
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2013 - Coordinated Motion Control of a Redundant Joint Arm using an Uncontrolled Manifold
Shunta Togo; Takahiro Kagawa; Yoji Uno
Oral presentation, Japanese, JNNS2012, Domestic conference
Sep. 2012 - UCM空間を用いた冗長マニピュレータの協調制御
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, 日本ロボット学会 第30回記念学術講演会, Domestic conference
Sep. 2012 - Performance variables controlled to dampen hand vibration
Shunta Togo; Takahiro Kagawa; Yoji Uno
Poster presentation, Japanese, JNNS2011, Domestic conference
Dec. 2011 - Response for Perturbation to Dampen Hand Vibration During walking
Shunta Togo; Takahiro Kagawa; Yoji Uno
Poster presentation, Japanese, MHS2011 & Micro-Nano Global COE, Domestic conference
Nov. 2011 - 歩行中の手先振動抑制中の外乱に対する応答
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, 第26回生体・生理工学シンポジウム, Domestic conference
Sep. 2011 - 手先振動抑制の関節間協調に視覚情報は影響するのか
東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, 第5回Motor Control研究会, Domestic conference
Jun. 2011 - 歩行中の手先振動を抑制する関節間協調に対する視覚情報の働き
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2011 - 歩行中の手先振動を抑制する運動協調に関する研究
東郷 俊太
Public discourse, Japanese, 電気通信大学・特別講義, Invited
24 Feb. 2011 - 歩行中の手先振動を抑制する関節間協調の解析
東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, Neuro2010, Domestic conference
Sep. 2010 - 歩行中の手先振動の抑制に対する視覚の働き
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, 第25回生体・生理工学シンポジウム, Domestic conference
Sep. 2010 - 歩行中の手先振動を抑制するシナジーの解析
東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, 第4回Motor Control研究会, Domestic conference
May 2010 - 歩行中の手先振動を抑制する協調動作の解析
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, ニューロコンピューティング研究会(NC), Domestic conference
Mar. 2010 - 歩行中の手先振動を緩和する方策
東郷 俊太; 香川 高弘; 宇野 洋二
Oral presentation, Japanese, 第24回生体・生理工学シンポジウム, Domestic conference
Sep. 2009 - 歩行中の手先振動を緩和するメカニズム
東郷 俊太; 香川 高弘; 宇野 洋二
Poster presentation, Japanese, 第3回Motor Control研究会, Domestic conference
May 2009
Courses
Affiliated academic society
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; 山野井 佑介; 加藤 龍; 萩原 祐介; Matuttis H.G.; 姜 銀来; 東郷 俊太
日本学術振興会, 科学研究費助成事業, 電気通信大学, 基盤研究(A), Coinvestigator, 23H00166
Apr. 2023 - Mar. 2028 - 超軽量な多自由度電動肩義手とその手先操作系の研究開発補助事業
東郷 俊太
公益財団法人JKA, 機械振興補助事業, Principal investigator
Apr. 2024 - Mar. 2026 - Elucidation of the mechanism by which human hand skeletal geometry improves grasping ability using a anthropomimetic robot
東郷 俊太
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), Principal investigator, 22K04025
Apr. 2022 - Mar. 2026 - 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), Coinvestigator, 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 - 軽量かつ高操作性を有する筋電肩義手の研究開発補助事業
東郷 俊太
公益財団法人JKA, 機械振興補助事業, Principal investigator
Apr. 2020 - Mar. 2022 - Development of a hardwired synergy robot hand based on the human hand synergy
Togo Shunta
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Early-Career Scientists, The University of Electro-Communications, Grant-in-Aid for Early-Career Scientists, Principal investigator, The objective of this study was to develop a robotic hand that can realize various hand motions with a small number of actuators, based on a mechanical representation of the hand synergy, which is the basis of human hand motions. As a result of developing a wire traction and underactuated robot hand, it was found that stable grasping of an object and intelligent hand control are difficult with the underactuated form. In order to improve the grasping ability of the robot hand, we developed a soft finger that mimics the human body structure. Experimental results showed that the asymmetry shape of the distal phalanx and the interaction between the hard fingernail and the soft finger pulp improved the precision grasping ability. We also developed an unlimited rotary wire winding mechanism that can exert high traction force by pressing the wire against a narrow shaft with a drum., 19K14941
Apr. 2019 - Mar. 2022 - ASD患者の多指間協調運動における協調特異性の神経基盤の解明
東郷俊太
昭和大学発達障害医療研究所, 文理融合型共同研究費, Principal investigator
Jun. 2020 - Mar. 2021 - Dynamics analysis of musculoskeletal and organ systems during exercise by body-mounted robotic monitoring device
Koizumi Norihiro
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Challenging Research (Exploratory), The University of Electro-Communications, Grant-in-Aid for Challenging Research (Exploratory), Coinvestigator, Extracting / tracking and following / monitoring technology for internal organs that move with deformation while interacting with each other by breathing, technology for linking / integrating information from external and internal motion capture, organs are displaced / deformed / rotated according to breathing It is possible to monitor the dynamics of organs by synthesizing time-series ultrasound images even if the organs that move in the body are partially deleted on the ultrasound image due to the case of swelling or shielding such as ribs. There have been remarkable achievements in the development of the algorithm technology, the diagnostic image optimization algorithm technology by the above-mentioned robotic avoidance operation of shielding, and the algorithm technology for evaluating the appropriateness of the acquired image from the contact state of the probe and the contour of the organ., 19K21941
Jun. 2019 - Mar. 2021 - 頑健かつ高機能な筋電義手の開発
東郷俊太
「めがねのまち鯖江」元気再生協議会, 共同研究費, Principal investigator
Jul. 2019 - Mar. 2020 - ASD患者の多指間協調運動における薬指依存の神経基盤の解明
東郷 俊太
昭和大学発達障害医療研究所, 文理融合型共同研究費, Principal investigator
Jun. 2019 - Mar. 2020 - 頑健かつ高機能な筋電義手の開発
東郷俊太
鯖江市商工会, 「めがねのまち鯖江」元気再生協議会 共同研究費, Principal investigator
Jun. 2018 - Mar. 2019 - Modeling of human multi-muscle control system based on voluntary activation and application for myo-electric upper limb prosthetics
Togo Shunta
Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B), The University of Electro-Communications, Grant-in-Aid for Young Scientists (B), Principal investigator, 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
Apr. 2017 - Mar. 2019 - 自閉症スペクトラム障害患者の多指間協調運動の評価
東郷俊太; 板橋貴史; 橋本龍一郎; 今水寛
昭和大学発達障害医療研究所, 文理融合型共同研究費, Principal investigator
Oct. 2015 - Mar. 2017 - 冗長方向を含むシナジー制御・学習モデルの構築とＢＭＩ制御への応用
東郷 俊太
日本学術振興会, 科学研究費助成事業 特別研究員奨励費, 株式会社国際電気通信基礎技術研究所, 特別研究員奨励費, Principal investigator, 本研究の目的は、人間の冗長方向の制御方策を調べることによって、冗長方向を含んだシナジー制御・学習モデルを考案し、脳活動情報を用いて冗長ロボットアームを制御するBMI制御へと応用することである。本年度は、目標に冗長方向がある場合の冗長性問題を中枢神経系がどのように扱っているのかを計測実験により確かめた。目標に冗長性がある多様体到達運動と冗長性のない二点間到達運動の間で運動キネマティクスを統制し、運動終点での手先インピーダンスを比較した。計測実験の結果，キネマティクスの統制条件下であったとしても，目標に冗長性がある場合に手先インピーダンスは有意に小さな値となっていた。この結果は，中枢神経系は目標の冗長性問題を陽に解いて多様体到達運動を二点間到達運動に変換するというよりも，目標の冗長性を保持し，多様体到達運動の計画および実行に利用していることを示唆した。また、軌道追従タスクにおいて追従目標に冗長性がある場合と無い場合の、外乱に対する応答を比較した。外乱に対する応答の腕運動はUCM解析によって定量的に評価された。その結果、目標に冗長性が無い場合にはある場合と比較して、必ずしも関節角のばらつきが小さくなるわけではないことを示した。また、目標に冗長性がある場合は、利用可能な関節角の冗長空間(UCM)をより広く使って応答することが明らかになった。さらに、中枢神経系による多関節制御を実現するために、どのように多筋を制御するのかも重要な問題である。本研究では、筋シナジーの観点からこの多筋制御に焦点を当て、実験的に筋シナジー仮説の妥当性を検証する枠組みを考案した。本年度に得られた結果は、中枢神経系による目標の冗長性、すなわち冗長方向の制御方策を実験的に確かめた点で重要な知見であり、制御モデル構築の際に重要なてがかりになると考えられる。, 14J07576
Apr. 2014 - Mar. 2016 - 冗長関節を制御するシナジーモデルの構築とロボット制御への応用
東郷 俊太
日本学術振興会, 科学研究費助成事業 特別研究員奨励費, 名古屋大学, 特別研究員奨励費, Principal investigator, 本研究の目的は、人間のダイナミクスパラメータを考慮することによって、人間の巧みな協調運動を再現できる、冗長系制御モデルを構築することである。そのために次の三段階の課題を設定した。(1)人間のダイナミクスパラメータの推定、(2)制御モデルの構築、(3)ロボット制御への応用。本年度はそれぞれの段階の課題において研究を進めることができた。課題(1)のために開発した振動装置を用いて、利用可能な身体自由度と関節間協調の関係を調べた。手先振動抑制タスク中の下肢を装具によって固定した際の関節間協調の変化を、UCM解析を用いて定量的に評価した。その結果、人間は利用可能な身体自由度を減らされると、協調をより高める方策をとることが示唆された。課題(2)では、被験者の肩が水平方向に振動した際の、手先振動を抑制する動作を再現する制御モデルを提案した。自動車や鉄道の制振に用いられているスカイフック理論に基づいて、筋の釣り合い位置である平衡点を調節する方法によって、人間の手先の制振動作を再現することができた。また、冗長系の制御モデルとして提案したUCM参照フィードバック制御法の、人間の制御モデルとしての妥当性を検証した。第一に、軌道追従タスク中に外乱を与え、その応答を調べることで、人間がUCMを獲得している可能性を示した。第二に、2リンクアームの逆キネマティクスを学習し、UCMそのものを表現するニューラルネットワークの構造である、UCMネットワークを提案した。課題(3)では、ロボットアーム実機を課題(2)で提案したUCM参照フィードバック制御法によって制御し、外乱に対してよりロバストな応答を可能にした。以上の三段階の研究課題を通じて、人間の多関節協調運動の特徴を再現できる制御モデルの構築及び、ロボット制御への応用が達成できた。, 12J03758
Apr. 2012 - Mar. 2014
Industrial Property Rights
- 変換プログラムおよび変換装置
Patent right, 横井 浩史, 石 源康, 東郷 俊太, 姜 銀来, 山野井 佑介, 特願2020-002645, Date applied: 10 Jan. 2020 - 3D薄型Wrist関節機構
Patent right, 横井 浩史, 矢吹 佳子, 東郷 俊太, 姜 銀来, 棚橋 一将, 山野井 佑介, 特願2019-164917, Date applied: 10 Sep. 2019 - 筋電センサ及び電極部材
Patent right, 横井 浩史, 姜 銀来, 東郷 俊太, 村井 雄太, 君塚 進, 石 源康, 特願2019-105592, Date applied: 05 Jun. 2019 - グリッパ構造、人工アーム、及びグリッパ装置
Patent right, 横井 浩史, 矢吹 佳子, 東郷 俊太, 姜 銀来, 特願2019-055195, Date applied: 22 Mar. 2019 - ワイヤ駆動装置
Patent right, 横井 浩史, 景 暁蓓, 雍 旭, 矢吹 佳子, 東郷 俊太, 姜 銀来, 特願2018-230625, Date applied: 10 Dec. 2018 - 機能的電気刺激システム，及び機能的電気刺激方法
Patent right, 上平 倫太郎, 横井 浩史, 姜 銀来, 東郷 俊太, 杉 正夫, 2017-074607, Date applied: 01 Apr. 2017 - 信号測定装置、及び信号測定方法
Patent right, 横井浩史, 姜銀来, 東郷俊太, 矢吹佳子, 村井雄太, 2017-029981, Date applied: 21 Feb. 2017
Social Contribution Activities
Media Coverage
Academic Contribution Activities
- 第45回バイオメカニズム学術講演会（SOBIM2024）事務局長
Academic society etc, Planning etc, 07 Dec. 2024 - 08 Dec. 2024 - 第39回日本ロボット学会学術講演会 GS28:生体の計測・解析・制御（1/2） 座長
Academic society etc, Panel chair etc, 10 Sep. 2021 - 10 Sep. 2021 - IEEE ICRA2021, T9 Mechanism Design I, Chairperson
Academic society etc, Panel chair etc, 01 Jun. 2021 - 01 Jun. 2021 - 第38回日本ロボット学会学術講演会 GS28:生体の計測・解析・制御 座長
Academic society etc, Panel chair etc, 09 Oct. 2020 - 09 Oct. 2020 - 日本ロボット学会 会誌編集委員会委員
Academic society etc, Planning etc, 01 Apr. 2018 - 31 Mar. 2020 - 日本ロボット学会 電子化情報小委員会委員
Academic society etc, Planning etc, 01 Apr. 2018 - 31 Mar. 2020 - 第13回Motor Control研究会 フラッシュトーク１ 司会
Academic society etc, Panel chair etc, 23 Aug. 2019 - 23 Aug. 2019 - 第29回自律分散システム・シンポジウム OS:身体性システム科学3 座長
Academic society etc, Panel chair etc, 31 Jan. 2017 - 31 Jan. 2017
