Updated on 2024/03/18

写真a

 
TAKAI Asuka
 
Organization
Graduate School of Engineering Division of Mechanical Engineering Assistant Professor
School of Engineering Department of Mechanical Engineering
Title
Assistant Professor
Affiliation
Institute of Engineering
Contact information
メールアドレス
Profile
Asuka Takai is a visiting researcher at the Department of Brain Robot Interface, Computational Neuroscience Laboratories, Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute (ATR).
Affiliation campus
Nakamozu Campus

Position

  • Graduate School of Engineering Division of Mechanical Engineering 

    Assistant Professor  2022.04 - Now

  • School of Engineering Department of Mechanical Engineering 

    Assistant Professor  2022.04 - Now

Degree

  • Doctor of Engineering ( Others ) (   Osaka Prefecture University (Japan) )

  • Master of Engineering ( Others ) (   Osaka Prefecture University (Japan) )

  • Master of Science in Robotics ( Others ) (   King's College London (UK) )

  • Bachelor of Engineering ( Others ) (   Osaka Prefecture University (Japan) )

  • 準学士(工学) ( Nara National College of Technology )

Research Areas

  • Informatics / Human interface and interaction

  • Informatics / Intelligent robotics

  • Life Science / Rehabilitation science

  • Informatics / Robotics and intelligent system

  • Informatics / Mechanics and mechatronics

Research Interests

  • Analysis of human movement

  • Human movement assistive engineering

  • Musculoskeletal rehabilitation

  • Human-human and human-robot interaction

Research subject summary

  • Understanding the underlying mechanism and its functional roles of human movement and applying the findings to develop motor learning support systems and robotic rehabilitation systems.

Research Career

  • Study on Individualized Assistance during the Sit-to-Stand Movement Capable of Reducing Body Loads and Utilizing Residual Functions.

    Individual

    2009 - Now 

  • Development of exoskeletal robot as for rehabilitation system to reconstruct upper and lower limb motor functions

    Joint Research in Japan

    2015.04 - Now 

  • Research on changes in brain activity related to motor learning and improvement of motor skills using brain robot interface technology

    Joint Research in Organization

    2015.04 - Now 

Professional Memberships

Awards

  • Merit for Outstanding Presentation (Dynamics and Design Conference 2013)

    2014.08   The Dynamics, Measurement and Control Division of The Japan Society of Mechanical Engineers  

Job Career (off-campus)

  • Department of Brain Robot Interface Computational Neuroscience Laboratories Brain Information Communication Research Laboratory Group Advanced Telecommunications Research Institute International(ATR)   Visiting Researcher

    2022.04 - Now

  • Osaka City University   Department of Mechanical and Physical Engineering, Graduate School of Engineering   RA (Cross Appointment)

    2020.10 - 2022.03

  • Department of Brain Robot Interface Computational Neuroscience Laboratories Brain Information Communication Research Laboratory Group Advanced Telecommunications Research Institute International(ATR)   Researcher

    2015.08 - 2022.03

  • Japan Society for the Promotion of Science (JSPS) Research Fellowships for Young Scientists PD

    2015.04 - 2015.07

Education

  • Osaka Prefecture University   Graduate School of Engineering   Department of Mechanical Engineering   The second semester of doctoral program   Graduated/Completed

    2013.04 - 2015.03

Papers

  • Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation. Reviewed

    Asuka Takai, Tatsuya Teramae, Tomoyuki Noda, Koji Ishihara, Jun-Ichiro Furukawa, Hiroaki Fujimoto, Megumi Hatakenaka, Nobukazu Fujita, Akihiro Jino, Yuichi Hiramatsu, Ichiro Miyai, Jun Morimoto

    Frontiers in human neuroscience   17   1197380 - 1197380   2023.07( ISSN:1662-5161

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    Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    This study introduces a body-weight-support (BWS) robot actuated by two pneumatic artificial muscles (PAMs). Conventional BWS devices typically use springs or a single actuator, whereas our robot has a split force-controlled BWS (SF-BWS), in which two force-controlled actuators independently support the left and right sides of the user's body. To reduce the experience of weight, vertical unweighting support forces are transferred directly to the user's left and right hips through a newly designed harness with an open space around the shoulder and upper chest area to allow freedom of movement. A motion capture evaluation with three healthy participants confirmed that the proposed harness does not impede upper-body motion during laterally identical force-controlled partial BWS walking, which is quantitatively similar to natural walking. To evaluate our SF-BWS robot, we performed a force-tracking and split-force control task using different simulated load weight setups (40, 50, and 60 kg masses). The split-force control task, providing independent force references to each PAM and conducted with a 60 kg mass and a test bench, demonstrates that our SF-BWS robot is capable of shifting human body weight in the mediolateral direction. The SF-BWS robot successfully controlled the two PAMs to generate the desired vertical support forces.

    DOI: 10.3389/fnhum.2023.1197380

    PubMed

  • Learning acquisition of consistent leader-follower relationships depends on implicit haptic interactions. Reviewed International coauthorship

    Asuka Takai, Qiushi Fu, Yuzuru Doibata, Giuseppe Lisi, Toshiki Tsuchiya, Keivan Mojtahedi, Toshinori Yoshioka, Mitsuo Kawato, Jun Morimoto, Marco Santello

    Scientific reports   13 ( 1 )   3476 - 3476   2023.03

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    Authorship:Lead author   Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    Are leaders made or born? Leader-follower roles have been well characterized in social science, but they remain somewhat obscure in sensory-motor coordination. Furthermore, it is unknown how and why leader-follower relationships are acquired, including innate versus acquired controversies. We developed a novel asymmetrical coordination task in which two participants (dyad) need to collaborate in transporting a simulated beam while maintaining its horizontal attitude. This experimental paradigm was implemented by twin robotic manipulanda, simulated beam dynamics, haptic interactions, and a projection screen. Clear leader-follower relationships were learned only when strong haptic feedback was introduced. This phenomenon occurred despite participants not being informed that they were interacting with each other and the large number of equally-valid alternative dyadic coordination strategies. We demonstrate the emergence of consistent leader-follower relationships in sensory-motor coordination, and further show that haptic interaction is essential for dyadic co-adaptation. These results provide insights into neural mechanisms responsible for the formation of leader-follower relationships in our society.

    DOI: 10.1038/s41598-023-29722-6

    PubMed

  • Modelica Model-based Design of Gear Train for Link Mechanism to Move Seat of Sit-to-stand Assist Device Reviewed

    TAKAI Asuka, HAI Gaikyou, SHINTANI Atsuhiko, KAWAI Tadao

    The Proceedings of Mechanical Engineering Congress, Japan   2022 ( 0 )   J162-08   2022( ISSN:2424-2667

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    Publishing type:Research paper (scientific journal)  

    <p>The activity of standing up is essential in daily life. Many sit-to-stand assist devices have been developed for people with difficulties standing up, such as elderlies and people with disabilities. We have been aiming to develop a sit-to-stand assist device that can guide the user to a series of postures with less extra burden on each joint of the lower limbs. In previous research, we derived the optimal series of postures during standing up that can minimize the burden suitable for individuals. We also proposed a sit-to-stand assist device equipped with a link mechanism to move the center of the hip joint of the person sitting on the seat in an S-curve trajectory. In this report, by modeling the link mechanism using Modelica, we determined the number of teeth of engaged spur gears composing the link mechanism to have the highest reproducibility of the S-shaped curve trajectory.</p>

    DOI: 10.1299/jsmemecj.2022.j162-08

    J-GLOBAL

  • The study on moving way of seating face on the standing assistance device Reviewed

    OKAZAKI Mari, SHINTANI Atsuhiko, TAKAI Asuka, NAKAGAWA Chihiro

    The Proceedings of the Symposium on the Motion and Vibration Control   2021.17 ( 0 )   B19   2021.12( ISSN:2424-3000

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    Publishing type:Research paper (scientific journal)   International / domestic magazine:Domestic journal  

    <p>In this paper, we discuss the supporting method when using a standing assistance device. This device is for elderly who are hard to stand up, and chair seat is designed to draw the trajectory which decreases their joint moment. Standing motion depends on each person, so it is necessary to assist at the optimal speed for each person. However, it is hard for elderly to experiment standing motion for many times, so we created a standing motion simulation and analyzed standing motion with various chair seat velocities. We prepared two types of chair seat moving conditions, the first one is based on only one moving velocity and the second one is based on two different moving velocities for former and latter halves.</p><p>We investigated the effect of chair seat velocity on human standing motion.</p>

    DOI: 10.1299/jsmemovic.2021.17.b19

    J-GLOBAL

  • Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training Reviewed

    Takai Asuka, Lisi Giuseppe, Noda Tomoyuki, Teramae Tatsuya, Imamizu Hiroshi, Morimoto Jun

    FRONTIERS IN NEUROSCIENCE   15   704402 - 704402   2021.10( ISSN:1662-4548

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    Publishing type:Research paper (scientific journal)  

    Improving human motor performance via physical guidance by an assist robot device is a major field of interest of the society in many different contexts, such as rehabilitation and sports training. In this study, we propose a Bayesian estimation method to predict whether motor performance of a user can be improved or not by the robot guidance from the user's initial skill level. We designed a robot-guided motor training procedure in which subjects were asked to generate a desired circular hand movement. We then evaluated the tracking error between the desired and actual subject's hand movement. Results showed that we were able to predict whether a novel user can reduce the tracking error after the robot-guided training from the user's initial movement performance by checking whether the initial error was larger than a certain threshold, where the threshold was derived by using the proposed Bayesian estimation method. Our proposed approach can potentially help users to decide if they should try a robot-guided training or not without conducting the time-consuming robot-guided movement training.

    DOI: 10.3389/fnins.2021.704402

    PubMed

  • Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training Reviewed

    Asuka Takai, Giuseppe Lisi, Tomoyuki Noda, Tatsuya Teramae, Hiroshi Imamizu, Jun Morimoto

    Frontiers in Neuroscience   15   704402 - 704402   2021.10( ISSN:1662-4548

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    Publishing type:Research paper (scientific journal)   International / domestic magazine:International journal  

    Improving human motor performance via physical guidance by an assist robot device is a major field of interest of the society in many different contexts, such as rehabilitation and sports training. In this study, we propose a Bayesian estimation method to predict whether motor performance of a user can be improved or not by the robot guidance from the user's initial skill level. We designed a robot-guided motor training procedure in which subjects were asked to generate a desired circular hand movement. We then evaluated the tracking error between the desired and actual subject's hand movement. Results showed that we were able to predict whether a novel user can reduce the tracking error after the robot-guided training from the user's initial movement performance by checking whether the initial error was larger than a certain threshold, where the threshold was derived by using the proposed Bayesian estimation method. Our proposed approach can potentially help users to decide if they should try a robot-guided training or not without conducting the time-consuming robot-guided movement training.

    DOI: 10.3389/fnins.2021.704402

    PubMed

  • A Collaborative Filtering Approach Toward Plug-and-Play Myoelectric Robot Control Reviewed

    Furukawa Jun-ichiro, Chiyohara Shinya, Teramae Tatsuya, Takai Asuka, Morimoto Jun

    IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS   51 ( 5 )   514 - 523   2021.10( ISSN:2168-2291

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    Publishing type:Research paper (scientific journal)  

    Previous works in the literature have claimed that the characteristics of electromyography (EMG) signals depend on each person, and thus, EMG interfaces need to be carefully calibrated for each user in myoelectric control. In this study, we show that the EMG interface used to estimate the joint torques of a user can be constructed simply by incorporating other users' data without typical calibration process. To achieve this plug-and-play capability, we introduce the concept of collaborative filtering to estimate the joint torque of a novel user by exploiting the preidentified relationships between motion-body features, including EMG signals, and the joint torques of other users. To validate our proposed approach, we compare the performance of estimating joint torque by the proposed method with that by conventional linear regression models as a baseline. We considered the following two baseline methods. Linear-own: The parameters of the linear model are calibrated for each subject from his/her own training data. Linear-others: The parameters of the linear model are calibrated with the other users' data in which the novel user's data are not included. As a result, the estimated joint torques from our proposed approach reveal a better estimation performance than those from the baseline approaches. Furthermore, we also successfully demonstrate online myoelectric control of an upper limb exoskeleton robot with an attached mannequin arm.

    DOI: 10.1109/THMS.2021.3098115

  • A collaborative filtering approach toward plug-and-play myoelectric robot control Reviewed

    Jun Ichiro Furukawa, Shinya Chiyohara, Tatsuya Teramae, Asuka Takai, Jun Morimoto

    IEEE Transactions on Human-Machine Systems   51 ( 5 )   514 - 523   2021.10( ISSN:2168-2291

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    Publishing type:Research paper (scientific journal)  

    Previous works in the literature have claimed that the characteristics of electromyography (EMG) signals depend on each person, and thus, EMG interfaces need to be carefully calibrated for each user in myoelectric control. In this study, we show that the EMG interface used to estimate the joint torques of a user can be constructed simply by incorporating other users' data without typical calibration process. To achieve this plug-and-play capability, we introduce the concept of collaborative filtering to estimate the joint torque of a novel user by exploiting the preidentified relationships between motion-body features, including EMG signals, and the joint torques of other users. To validate our proposed approach, we compare the performance of estimating joint torque by the proposed method with that by conventional linear regression models as a baseline. We considered the following two baseline methods. Linear-own: The parameters of the linear model are calibrated for each subject from his/her own training data. Linear-others: The parameters of the linear model are calibrated with the other users' data in which the novel user's data are not included. As a result, the estimated joint torques from our proposed approach reveal a better estimation performance than those from the baseline approaches. Furthermore, we also successfully demonstrate online myoelectric control of an upper limb exoskeleton robot with an attached mannequin arm.

    DOI: 10.1109/THMS.2021.3098115

  • 左右独立免荷ロボットを用いたトレッドミル歩行による、脳卒中後片麻痺患者の歩行パターン変容 Reviewed

    藤田 暢一, 森本 淳, 宮井 一郎, 藤本 宏明, 平松 佑一, 高井 飛鳥, 寺前 達也, 古川 淳一朗, 畠中 めぐみ, 神尾 昭宏, 野田 智之

    公益社団法人 日本理学療法士協会 理学療法学Supplement   47 ( 0 )   F - 144_2-F-144_2   2020( ISSN:0289-3770

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.14900/cjpt.47S1.F-144_2

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  • 左右独立免荷ロボットを用いたトレッドミル歩行による、脳卒中後片麻痺患者の歩行パターン変容 Reviewed

    藤田 暢一, 藤本 宏明, 平松 佑一, 高井 飛鳥, 寺前 達也, 古川 淳一朗, 畠中 めぐみ, 神尾 昭宏, 野田 智之, 森本 淳, 宮井 一郎

    理学療法学Supplement   47S1 ( 0 )   F-144_2 - F-144_2   2020( ISSN:0289-3770

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    Publishing type:Research paper (scientific journal)  

    DOI: 10.14900/cjpt.47s1.f-144_2

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  • Investigation on the Neural Correlates of Haptic Training Reviewed

    Asuka Takai, Diletta Rivela, Giuseppe Lisi, Tomoyuki Noda, Tatsuya Teramae, Hiroshi Imamizu, Jun Morimoto

    IEEE, Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018   519 - 523   2019.01( ISSN:1062-922X

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    Publishing type:Research paper (international conference proceedings)  

    © 2018 IEEE. Haptic guidance is a motor training procedure in which the subject is physically guided through an ideal motion by an haptic interface. It is especially valuable for repetitive training, and more effective when coupled with additional sensory feedback, e.g. the visual modality. The advantage of additional feedback modalities may stem from the learner's increased active participation and engagement. Here, we test this hypothesis by analyzing the learners' brain state during haptic training. Specifically, we focus on the sensorimotor rhythms (SMR), since they have been previously associated with the level of engagement directed towards a motor task. We conducted a circle-drawing haptic training, where subjects were asked to memorise the guided trajectory while their electroencephalogram (EEG) was recorded. During the experiment, only the haptic modality was maintained (i.e. unimodal) by keeping the task workspace visually hidden. Results show a clear trend: subjects who exhibited a performance improvement, were characterized by a stronger desynchronization of the beta rhythms over the contralateral hemisphere. This is in agreement with recent studies showing that contralateral beta rhythms changes are associated with motor skills retention. Moreover, under the assumption that SMR are indeed a marker of engagement, our results represent accumulating evidence that active participation is crucial for haptic training.

    DOI: 10.1109/SMC.2018.00098

  • Investigation on the Neural Correlates of Haptic Training Reviewed

    Asuka Takai, Diletta Rivela, Giuseppe Lisi, Tomoyuki Noda, Tatsuya Teramae, Hiroshi Imamizu, Jun Morimoto

    Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018   519 - 523   2019.01( ISSN:1062-922X ( ISBN:9781538666500

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    Publishing type:Research paper (international conference proceedings)  

    Haptic guidance is a motor training procedure in which the subject is physically guided through an ideal motion by an haptic interface. It is especially valuable for repetitive training, and more effective when coupled with additional sensory feedback, e.g. the visual modality. The advantage of additional feedback modalities may stem from the learner's increased active participation and engagement. Here, we test this hypothesis by analyzing the learners' brain state during haptic training. Specifically, we focus on the sensorimotor rhythms (SMR), since they have been previously associated with the level of engagement directed towards a motor task. We conducted a circle-drawing haptic training, where subjects were asked to memorise the guided trajectory while their electroencephalogram (EEG) was recorded. During the experiment, only the haptic modality was maintained (i.e. unimodal) by keeping the task workspace visually hidden. Results show a clear trend: subjects who exhibited a performance improvement, were characterized by a stronger desynchronization of the beta rhythms over the contralateral hemisphere. This is in agreement with recent studies showing that contralateral beta rhythms changes are associated with motor skills retention. Moreover, under the assumption that SMR are indeed a marker of engagement, our results represent accumulating evidence that active participation is crucial for haptic training.

    DOI: 10.1109/SMC.2018.00098

    Other URL: https://dblp.uni-trier.de/db/conf/smc/smc2018.html#TakaiRLNTIM18

  • Markov switching model for quick detection of event related desynchronization in EEG Reviewed

    Giuseppe Lisi, Diletta Rivela, Asuka Takai, Jun Morimoto

    FRONTIERS MEDIA SA, Frontiers in Neuroscience   12 ( FEB )   24 - 24   2018.02( ISSN:1662-4548

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    Publishing type:Research paper (scientific journal)  

    © 2018 Lisi, Rivela, Takai and Morimoto. Quick detection of motor intentions is critical in order to minimize the time required to activate a neuroprosthesis. We propose a Markov Switching Model (MSM) to achieve quick detection of an event related desynchronization (ERD) elicited by motor imagery (MI) and recorded by electroencephalography (EEG). Conventional brain computer interfaces (BCI) rely on sliding window classifiers in order to perform online continuous classification of the rest vs. MI classes. Based on this approach, the detection of abrupt changes in the sensorimotor power suffers from an intrinsic delay caused by the necessity of computing an estimate of variance across several tenths of a second. Here we propose to avoid explicitly computing the EEG signal variance, and estimate the ERD state directly from the voltage information, in order to reduce the detection latency. This is achieved by using a model suitable in situations characterized by abrupt changes of state, the MSM. In our implementation, the model takes the form of a Gaussian observation model whose variance is governed by two latent discrete states with Markovian dynamics. Its objective is to estimate the brain state (i.e., rest vs. ERD) given the EEG voltage, spatially filtered by common spatial pattern (CSP), as observation. The two variances associated with the two latent states are calibrated using the variance of the CSP projection during rest and MI, respectively. The transition matrix of the latent states is optimized by the "quickest detection" strategy that minimizes a cost function of detection latency and false positive rate. Data collected by a dry EEG system from 50 healthy subjects, was used to assess performance and compare the MSM with several logistic regression classifiers of different sliding window lengths. As a result, the MSM achieves a significantly better tradeoff between latency, false positive and true positive rates. The proposed model could be used to achieve a more reactive and stable control of a neuroprosthesis. This is a desirable property in BCI-based neurorehabilitation, where proprioceptive feedback is provided based on the patient's brain signal. Indeed, it is hypothesized that simultaneous contingent association between brain signals and proprioceptive feedback induces superior associative learning.

    DOI: 10.3389/fnins.2018.00024

    PubMed

  • Robotizing Double-Bar Ankle-Foot Orthosis. Reviewed

    Tomoyuki Noda, Asuka Takai, Tatsuya Teramae, Eiko Hirookai, Kimitaka Hase, Jun Morimoto

    IEEE COMPUTER SOC Proceedings - IEEE International Conference on Robotics and Automation   2782 - 2787   2018( ISSN:1050-4729

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    Publishing type:Research paper (international conference proceedings)  

    © 2018 IEEE. This paper introduces an approach that robotizes an ankle-foot orthosis (AFO). In particular, toward post-stroke gait rehabilitation, we robotize a double-bar AFO, which is widely used in rehabilitation facilities, by newly designing a modular joint, a pneumatic actuator, and a Bowden cable force-transmission system. Our modular joint system, called the Modular Exoskeletal Joint (MEJ), has a hollow shaft for simple attachment to an AFO's pivot. We designed MEJ to compactly house an encoder that is built in a bearing in a pulley. We adopted Bowden cables to transmit contraction forces from an actuator to the MEJ. As an actuation scheme, we developed the Nested-cylinder Pneumatic Artificial Muscle (NcPAM) system. Even though PAMs are mechanically compliant and lightweight, they can still generate a large force. Therefore, they can provide an ideal actuation system for exoskeletal robots. The nested-cylinder in NcPAM houses a cable-tensioning spring to properly maintain small cable tension for passive movements and a cable stopper to connect the PAM and the cable for properly transmitting the large force generated by PAM. We show the ankle-joint trajectory tracking performances of this integrated system using iterative learning control.

    DOI: 10.1109/ICRA.2018.8462911

  • Database-driven approach for Biosignal-based robot control with collaborative filtering Reviewed

    Jun Ichiro Furukawa, Asuka Takai, Jun Morimoto

    IEEE, IEEE-RAS International Conference on Humanoid Robots   606 - 611   2017.12( ISSN:2164-0572

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    Publishing type:Research paper (international conference proceedings)  

    © 2017 IEEE. In this study, we propose a databasedriven torque estimation approach for EMG-based robot control. For conventional EMG-based controllers, torque estimation models need to be carefully calibrated to control robots that have multiple degrees of freedom. However, such a calibration procedure requires significant effort and restricts the applications of EMG-based methods to practical situations. To cope with this issue, we use large-scale data acquired from other users to avoid the calibration process and propose collaborative filtering to estimate the joint torque of a new user by exploiting the previously derived relationships between the EMG signals and the joint torque of other users. To validate our proposed method, we compared the joint torque estimation performance with a standard linear conversion model. In our experiments, we controlled an upper-limb exoskeleton robot with the estimated joint torque where we used 16-ch electrodes to measure the EMG signals of subjects. In a comparison, our proposed method showed comparable control performance with the standard approach that requires a careful calibration process.

    DOI: 10.1109/HUMANOIDS.2017.8246934

  • Minimization of body loads during sit-to-stand movement by continuous genetic algorithm Reviewed

    TAKAI Asuka, NAKAGAWA Chihiro, SHINTANI Atsuhiko, ITO Tomohiro

    The Japan Society of Mechanical Engineers, Transactions of the JSME (in Japanese)   80 ( 812 )   TRANS0064 - TRANS0064   2014( ISSN:2187-9761

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    Publishing type:Research paper (scientific journal)  

    Sit-to-stand (STS) rehabilitation equipment traditionally simulates natural movements of unspecified healthy people. This type of movement may not place the lowest load on a patient's body. These factors let us develop a novel and widely applicable system for rehabilitation purposes that suggests a motion that places low body loads at the lower limb joints. This paper describes the core computation in the system that calculates a STS movement that places a minimum body load by using Continuous Genetic Algorithm (CGA). The minimization process starts from measurement of kinematic and kinetic data of a human subject by using gyroscopic sensors and reaction force plates, and then estimation and evaluation of the body load are followed. The body load which is minimized during STS movement was quantified by an index value. The index value strongly correlates with the chair height. Decreasing this index value by changing the movement during STS transfer could reduce the impact on the body, which is the same amount of load placed on the body while standing up from a higher chair height. The angular displacements of the averaged natural STS movement of the subject were considered as one of the several ways to stand up and the movements were assessed by means of the index value in CGA. A modified STS movement that can minimize the body load was computed after the optimization and it could be a personalized optimum movement allowing users to conduct rehabilitation with lesser unnecessary body load.

    DOI: 10.1299/transjsme.2014trans0064

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    J-GLOBAL

  • J-5-1-439 Minimization of Body Loads during Sit-to-Stand Movement by Continuous Genetic Algorithm

    TAKAI Asuka, NAKAGAWA Chihiro, SHINTANI Atsuhiko, ITO Tomohiro

    The Japan Society of Mechanical Engineers, Dynamics and Design Conference : D & D   2013   "439 - 1"-"439-10"   2013.08( ISSN:13480235

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    Publishing type:Research paper (bulletin of university, research institution)  

    Sit-to-stand (STS) rehabilitation equipment traditionally simulates natural movements of unspecified healthy people. This type of movement may not place the lowest load on a patient's body. These factors let us to develop a novel and widely applicable system for rehabilitation purposes that suggests a motion that places low body loads at the lower limb joints. This paper describes the core computation in the system that calculates a STS movement that places a minimum body load by using continuous genetic algorithm. The minimization process starts from measurement of kinematic and kinetic data, and then estimation and evaluation of the body load are followed. The body load which is minimized during STS movement was quantified by an index value. The index value strongly correlates with the chair height. Decreasing the value of this index by changing the movement during STS transfer could reduce the impact on the body, which is the same amount of load placed on the body while standing up from a higher chair height. A modified STS movement that can minimize the body load could be a personalized optimum movement allowing users to conduct rehabilitation with lesser unnecessary body load.

    CiNii Article

  • Individually specialized feedback interface for assistance robots in standing-up motion Reviewed

    Asuka Takai, Chihiro Nakagawa, Atsuhiko Shintani, Tomohiro Ito

    IEEE, ACM/IEEE International Conference on Human-Robot Interaction   237 - 238   2013( ISSN:2167-2121

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    Publishing type:Research paper (international conference proceedings)  

    We present a navigational interface for users of assistance robots. The interface suggests a motion that places low body load at the lower joints, carries a low risk of falls, and requires high voluntary activation of muscles. We describe an application that uses animations to provide feedback on a user's sit-to-stand motion in order to demonstrate the potential benefits of such an interface. © 2013 IEEE.

    DOI: 10.1109/HRI.2013.6483589

  • Stand up from a chair with lesser body load: Biomechanical simulation and visual supplement Reviewed

    Asuka Takai, Chihiro Nakagawa, Atsuhiko Shintani, Tomohiro Ito

    IEEE, 2013 IEEE 15th International Conference on e-Health Networking, Applications and Services, Healthcom 2013   268 - 270   2013

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    Publishing type:Research paper (international conference proceedings)  

    The natural standing-up movements of unimpaired people are often thought to be models to follow in rehabilitation, although it is not known whether these movements place a minimum body load. We aim to determine the angular trajectories of the ankle, knee, and hip joints when standing up from a chair without unnecessary body load. The minimized body load was quantified by an index value that has a strong negative correlation with the chair height. Decreasing the value of this index by changing the movement during sit-to-stand transfer could reduce the impact on the body, which is the same amount of load placed on the body while standing up from a higher chair height. We have also developed a novel integrated system that visualizes the differences between a patient's current movement and a load minimized movement with the associated kinematic and kinetic data. The visual supplement system could be used to help users see how much force and moment are placed on lower limb joints, and provide personalized optimum movements for rehabilitation with reduced body load on patients. An example minimization of an index value, accumulated moment of force at knee and hip, when standing up from a 45-cm-height chair is described here. If the system is properly developed, people in need could be able to repetitively exercise at any time without requiring human instructors to preserve their remaining function and improve their performance by quantitatively evaluated suggestions. © 2013 IEEE.

    DOI: 10.1109/HealthCom.2013.6720680

  • Prototyping the flexible solenoid-coil artificial muscle, for exoskeletal robots Reviewed

    Asuka Takai, Nouf Alanizi, Kazuo Kiguchi, Thrishantha Nanayakkara

    IEEE, International Conference on Control, Automation and Systems   1046 - 1051   2013( ISSN:1598-7833

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    Publishing type:Research paper (international conference proceedings)   Kind of work:Single Work  

    Design approaches to exoskeletal robots traditionally aimed to achieve mechanical forces many times larger than the level achievable by the corresponding natural musculoskeletal system. This has often obstructed the user's muscles during physical rehabilitation. Moreover, mechanisms designed for excessive force generation are heavy and rigid structures with little compliance and thus are not suitable for many mobile applications. Here, we present a novel biomimetic flexible solenoid-coil artificial muscle (FSAM) fibre with inherent mechanical compliance, a high pulling stroke, and structural flexibility that suit a lightweight wearable exoskeletal robot for rehabilitation use. FSAM consists of a chain of specially designed bobbins of solenoid coils that can slide against each other. The chain allows FSAM to form an arch shape when the coils are energized; this is reminiscent of a natural muscle that bends a joint by a combined contraction of the muscle length and bending in an arch shape. This strategy of bending a joint not only reduces the need for linear contraction but also allows the exoskeletal to be compliant with the contraction morphology of natural muscle. © 2013 IEEE.

    DOI: 10.1109/ICCAS.2013.6704071

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MISC

  • Two are not always better than one: Role specialization is an important determinant of collaborative task performance

    Asuka Takai, Qiushi Fu, Yuzuru Doibata, Giuseppe Lisi, Toshiki Tsuchiya, Keivan Mojtahedi, Toshinori Yoshioka, Mitsuo Kawato, Jun Morimoto, Marco Santello

    2022.05

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    Collaboration frequently yields better results in decision making, learning,
    and haptic interactions than when these actions are performed individually.
    However, is collaboration always superior to solo actions, or do its benefits
    depend on whether collaborating individuals have different or the same roles?
    To answer this question, we asked human subjects to perform virtual-reality
    collaborative and individual beam transportation tasks. These tasks were
    simulated in real-time by coupling the motion of a pair of hand-held robotic
    manipulanda to the virtual beam using virtual spring-dampers. For the task to
    be considered successful, participants had to complete it within temporal and
    spatial constraints. While the visual feedback remained the same, the
    underlying dynamics of the beam were altered to create two distinctive task
    contexts which were determined by a moving pivot constraint. When the pivot was
    placed at the center of the beam, two hands contribute to the task with
    symmetric mechanical leverage (symmetric context). When the pivot was placed at
    the left side of the beam, two hands contribute to the task with asymmetric
    mechanical leverage (asymmetric context). Participants performed these task
    contexts either individually with both hands (solo), or collaboratively by
    pairing one hand with another one (dyads). We found that dyads in the
    asymmetric context performed better than solos. In contrast, solos performed
    the symmetric context better than dyads. Importantly, we found that two hands
    took different roles in the asymmetric context for both solos and dyads. In
    contrast, the contribution from each hand was statistically indistinguishable
    in the symmetric context. Our findings suggest that better performance in dyads
    than solos is not a general phenomenon, but rather that collaboration yields
    better performance only when role specialization emerges in dyadic
    interactions.

    Other URL: http://arxiv.org/pdf/2205.06196v1

  • 左右独立免荷ロボットを用いたトレッドミル歩行による、脳卒中後片麻痺患者の歩行パターン変容

    藤田 暢一, 藤本 宏明, 平松 佑一, 高井 飛鳥, 寺前 達也, 古川 淳一朗, 畠中 めぐみ, 神尾 昭宏, 野田 智之, 森本 淳, 宮井 一郎

    理学療法学   47 ( Suppl.1 )   127 - 127   2021.03( ISSN:0289-3770 ( eISSN:2189-602X

  • Split-force BWS robotによる脳卒中患者に対するトレッドミル訓練 Reviewed

    藤本 宏明, 高井 飛鳥, 野田 智之, 寺前 達也, 藤田 暢之, 平松 佑一, 畠中 めぐみ, 神尾 昭宏, 古川 淳一郎, 矢倉 一, 河野 悌司, 乙宗 宏範, 森本 淳, 宮井 一郎

    (公社)日本リハビリテーション医学会 The Japanese Journal of Rehabilitation Medicine   57 ( 特別号 )   1 - 1   2020.07( ISSN:1881-3526

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    J-GLOBAL

  • Split-force BWS robotによる脳卒中患者に対するトレッドミル訓練

    藤本 宏明, 高井 飛鳥, 野田 智之, 寺前 達也, 藤田 暢之, 平松 佑一, 畠中 めぐみ, 神尾 昭宏, 古川 淳一郎, 矢倉 一, 河野 悌司, 乙宗 宏範, 森本 淳, 宮井 一郎

    The Japanese Journal of Rehabilitation Medicine   57 ( 特別号 )   1 - 1   2020.07( ISSN:1881-3526 ( eISSN:1881-8560

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  • Investigation on the Neural Correlates of Haptic Training. Reviewed

    Asuka Takai, Diletta Rivela, Giuseppe Lisi, Tomoyuki Noda, Tatsuya Teramae, Hiroshi Imamizu, Jun Morimoto

    Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018   519 - 523   2018

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    © 2018 IEEE. Haptic guidance is a motor training procedure in which the subject is physically guided through an ideal motion by an haptic interface. It is especially valuable for repetitive training, and more effective when coupled with additional sensory feedback, e.g. the visual modality. The advantage of additional feedback modalities may stem from the learner&#039;s increased active participation and engagement. Here, we test this hypothesis by analyzing the learners&#039; brain state during haptic training. Specifically, we focus on the sensorimotor rhythms (SMR), since they have been previously associated with the level of engagement directed towards a motor task. We conducted a circle-drawing haptic training, where subjects were asked to memorise the guided trajectory while their electroencephalogram (EEG) was recorded. During the experiment, only the haptic modality was maintained (i.e. unimodal) by keeping the task workspace visually hidden. Results show a clear trend: subjects who exhibited a performance improvement, were characterized by a stronger desynchronization of the beta rhythms over the contralateral hemisphere. This is in agreement with recent studies showing that contralateral beta rhythms changes are associated with motor skills retention. Moreover, under the assumption that SMR are indeed a marker of engagement, our results represent accumulating evidence that active participation is crucial for haptic training.

    DOI: 10.1109/SMC.2018.00098

  • 【BMIの進歩】装着型ロボットを駆動するBMI技術 Reviewed

    森本 淳, リジ・ジュゼッペ , 高井 飛鳥

    (株)ニュー・サイエンス社 Medical Science Digest   43 ( 10 )   514 - 517   2017.09( ISSN:1347-4340

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    BMI技術は、装着型のロボットを駆動するインタフェースとしては、ロボットが身体の一部のように制御できるようになるという意味において究極の形態である。現在のBMI技術は多自由度のロボットを意のままに動かすほどの情報を脳から抽出する方法をまだ持たないが、一方で、リハビリテーションなど医療応用には大きな期待が持たれている。また、ここに来て著名なハイテク企業がBMIの技術革新に向けた意欲を示しており今後がますます注目すべき研究領域となってきた。本稿では、BMI技術を用いて装着型のロボットを駆動する際に、そのシステムに含まれる要素技術について概説する。(著者抄録)

  • BMIの進歩 装着型ロボットを駆動するBMI技術 Reviewed

    森本淳, LISI Giuseppe, 高井飛鳥

    (株)ニュー・サイエンス社, 月刊メディカル・サイエンス・ダイジェスト   43 ( 10 )   514 - 517   2017.09( ISSN:1347-4340

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    BMI技術は、装着型のロボットを駆動するインタフェースとしては、ロボットが身体の一部のように制御できるようになるという意味において究極の形態である。現在のBMI技術は多自由度のロボットを意のままに動かすほどの情報を脳から抽出する方法をまだ持たないが、一方で、リハビリテーションなど医療応用には大きな期待が持たれている。また、ここに来て著名なハイテク企業がBMIの技術革新に向けた意欲を示しており今後がますます注目すべき研究領域となってきた。本稿では、BMI技術を用いて装着型のロボットを駆動する際に、そのシステムに含まれる要素技術について概説する。(著者抄録)

    J-GLOBAL

  • 【医工、産学連携によるリハビリテーション】普段使いの装具をロボット化 空気圧人工筋で駆動するモジュール関節付き短下肢装具の開発 Reviewed

    野田 智之, 寺前 達也, 高井 飛鳥, 長谷 公隆, 森本 淳

    (株)全日本病院出版会 MEDICAL REHABILITATION   ( 205 )   22 - 27   2017.01( ISSN:1346-0773

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    脳卒中後の麻痺の回復訓練において、実用化されているアシストロボットは主に股関節・膝関節をアシストの対象としており、末端効果器となる足関節の底背屈運動は出力重量比に制限があるため、アプローチが難しかった。空気圧人工筋を用いて短下肢装具を駆動するアプローチは広く研究されているが、簡便性や装着性に課題が残っていた。そこで我々は、既に広く普及している歩行用の短下肢装具にモジュール関節を取り付けてロボット化することを開発コンセプトとし、出力重量比で優れる空気圧人工筋の力をワイヤで伝達し、簡便に駆動することを特徴とした足関節用のロボット装具を開発した。本稿では、ワイヤ引き空気圧人工筋およびモジュール関節の開発と、歩行機能のリハビリテーションに向けた取り組みについて紹介する。(著者抄録)

  • 普段使いの装具をロボット化 : 空気圧人工筋で駆動するモジュール関節付き短下肢装具の開発 (特集 医工,産学連携によるリハビリテーション) Reviewed

    野田 智之, 寺前 達也, 髙井 飛鳥, 長谷 公隆, 森本 淳

    全日本病院出版会 Monthly book medical rehabilitation   ( 205 )   22 - 27   2017.01( ISSN:1346-0773

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    Publishing type:Article, review, commentary, editorial, etc. (trade magazine, newspaper, online media)  

    CiNii Article

  • 医工,産学連携によるリハビリテーション 普段使いの装具をロボット化:空気圧人工筋で駆動するモジュール関節付き短下肢装具の開発 Reviewed

    野田智之, 寺前達也, 高井飛鳥, 長谷公隆, 森本淳

    (株)全日本病院出版会, Monthly Book Medical Rehabilitation   ( 205 )   22 - 27   2017.01( ISSN:1346-0773

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    脳卒中後の麻痺の回復訓練において、実用化されているアシストロボットは主に股関節・膝関節をアシストの対象としており、末端効果器となる足関節の底背屈運動は出力重量比に制限があるため、アプローチが難しかった。空気圧人工筋を用いて短下肢装具を駆動するアプローチは広く研究されているが、簡便性や装着性に課題が残っていた。そこで我々は、既に広く普及している歩行用の短下肢装具にモジュール関節を取り付けてロボット化することを開発コンセプトとし、出力重量比で優れる空気圧人工筋の力をワイヤで伝達し、簡便に駆動することを特徴とした足関節用のロボット装具を開発した。本稿では、ワイヤ引き空気圧人工筋およびモジュール関節の開発と、歩行機能のリハビリテーションに向けた取り組みについて紹介する。(著者抄録)

    J-GLOBAL

  • リハビリテーション機能を有する起立動作支援システムの開発に向けた基礎検討

    高井飛鳥, 中川智皓, 新谷篤彦, 伊藤智博

    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   ROMBUNNO.SS20-4   2014.11

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    Publishing type:Research paper, summary (national, other academic conference)  

    J-GLOBAL

  • 簡易型支援装置を用いた使用者の起立動作と身体負荷の比較 Reviewed

    高井飛鳥, 中川智皓, 新谷篤彦, 伊藤智博

    バイオメカニズム学会, バイオメカニズム学術講演会予稿集   35回   129 - 132   2014.11

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    J-GLOBAL

  • 立ち上がり動作時の下肢筋活動に関する検討

    高井飛鳥, 伊藤智博, 新谷篤彦, 中川智晧

    日本機械学会関西支部定時総会講演会講演論文集   89th   7.17   2014.03

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    Publishing type:Research paper, summary (national, other academic conference)  

    J-GLOBAL

  • 717 Study on the Activity of the Leg Muscles during Standing-up Motion of Human

    TAKAI Asuka, ITO Tomohiro, SHINTANI Atsuhiko, NAKAGAWA Chihiro

    The Japan Society of Mechanical Engineers, The Proceedings of Conference of Kansai Branch   2014 ( 0 )   _7 - 17_   2014

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    Publishing type:Research paper, summary (national, other academic conference)  

    DOI: 10.1299/jsmekansai.2014.89._7-17_

    CiNii Article

  • J-5-1-439 Minimization of Body Loads during Sit-to-Stand Movement by Continuous Genetic Algorithm Reviewed

    TAKAI Asuka, NAKAGAWA Chihiro, SHINTANI Atsuhiko, ITO Tomohiro

    The Japan Society of Mechanical Engineers, Dynamics and Design Conference : D & D   2013   "439 - 1"-"439-10"   2013.08( ISSN:1348-0235

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    Publishing type:Article, review, commentary, editorial, etc. (scientific journal)  

    Sit-to-stand (STS) rehabilitation equipment traditionally simulates natural movements of unspecified healthy people. This type of movement may not place the lowest load on a patient's body. These factors let us to develop a novel and widely applicable system for rehabilitation purposes that suggests a motion that places low body loads at the lower limb joints. This paper describes the core computation in the system that calculates a STS movement that places a minimum body load by using continuous genetic algorithm. The minimization process starts from measurement of kinematic and kinetic data, and then estimation and evaluation of the body load are followed. The body load which is minimized during STS movement was quantified by an index value. The index value strongly correlates with the chair height. Decreasing the value of this index by changing the movement during STS transfer could reduce the impact on the body, which is the same amount of load placed on the body while standing up from a higher chair height. A modified STS movement that can minimize the body load could be a personalized optimum movement allowing users to conduct rehabilitation with lesser unnecessary body load.

    DOI: 10.1299/jsdd.7.488

    CiNii Article

  • 立ち上がり動作支援のための筋張力に関する検討

    高井飛鳥, 伊藤智博, 新谷篤彦, 中川智皓

    日本機械学会関西支部定時総会講演会講演論文集   88th   8.3   2013.03

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    Publishing type:Research paper, summary (national, other academic conference)  

    J-GLOBAL

  • 803 Muscular Tension Estimation and Evaluation During Rising from Chairs

    TAKAKI Asuka, ITO Tomohiro, SHINTANI Atsuhiko, Nakagawa Chihiro

    The Japan Society of Mechanical Engineers, The Proceedings of Conference of Kansai Branch   2013 ( 0 )   _8 - 3_   2013

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    Publishing type:Research paper, summary (national, other academic conference)  

    DOI: 10.1299/jsmekansai.2013.88._8-3_

    CiNii Article

  • 遺伝的アルゴリズムを用いた身体負荷を最小とする椅子からの立ち上がり動作の生成

    高井飛鳥, 中川智皓, 新谷篤彦, 伊藤智博

    Dyn Des Conf (CD-ROM)   2013   ROMBUNNO.439   2013

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    Publishing type:Research paper, summary (national, other academic conference)  

    J-GLOBAL

  • ヒトの立ち上がり動作支援に関する基礎検討

    高井飛鳥, 伊藤智博, 新谷篤彦, 中川智皓, 奥田邦晴, 野中紘士

    日本機械学会関西支部定時総会講演会講演論文集   86th   10.6   2011.03

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    Publishing type:Research paper, summary (national, other academic conference)  

    J-GLOBAL

  • 1006 Basic Study on Assistance for Humans Rising from Chairs

    TAKAI Asuka, ITO Tomohiro, SHINTANI Atsuhiko, NAKAGAWA Chihiro, OKUDA Kuniharu, NONAKA Kouji

    The Japan Society of Mechanical Engineers, The Proceedings of Conference of Kansai Branch   2011 ( 0 )   _10 - 6_   2011

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    Publishing type:Research paper, summary (national, other academic conference)  

    DOI: 10.1299/jsmekansai.2011.86._10-6_

    CiNii Article

  • ヒトの立ち上がり挙動に関する実験的検討

    高井飛鳥, 伊藤智博, 新谷篤彦, 中川智皓

    生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM)   2010   ROMBUNNO.3D2-1   2010.09

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    Publishing type:Research paper, summary (national, other academic conference)  

    J-GLOBAL

  • ヒトの立ち上がりの挙動に関する基礎検討

    高井飛鳥, 伊藤智博, 新谷篤彦

    日本機械学会年次大会講演論文集   2010 ( Vol.7 )   419 - 420   2010.09

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    Publishing type:Research paper, summary (national, other academic conference)  

    J-GLOBAL

  • J1802-2-3 Basic Study on the Behavior of Rising Human from a Chair

    TAKAI Asuka, ITO Tomohiro, SHINTANI Atsuhiko

    The Japan Society of Mechanical Engineers, The proceedings of the JSME annual meeting   2010 ( 0 )   419 - 420   2010

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    Publishing type:Research paper, summary (national, other academic conference)  

    In recent years, the number of senior citizens is increasing and the number of elderlies who complain of backache and arthralgia also tends to increase. This study attempts to comprehend the dynamic behaviors of a human rising from a chair through stand-up experiments using gyro sensors and force plate, and individual differences in rising motion are considered. In addition, authors develop the 2D analytical model and the equation of motion of a rising human and evaluate joint torque during rising performances by inverse analyses. The experimental results showed that standing-up motion changes depending on the chair height in general, but the motion for a particular subject does not depend on the chair height. Moreover, it is found that individual differences in rising motion are large for taller chairs, but not for lower chairs.

    DOI: 10.1299/jsmemecjo.2010.7.0_419

    CiNii Article

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Presentations

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Industrial Property Rights

  • 体重免荷装置

    野田智之、寺前達也、高井飛鳥、古川淳一朗、森本淳、中野直

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    property_type:Patent 

    Application no:特願2021-524931 

    Announcement no:WO2020/246587 

    Publication no:WO2020/246587 

    Patent/Registration no:特許第7105013号 

  • 体重免荷装置

    野田 智之, 寺前 達也, ▲高▼井 飛鳥, 古川 淳一朗, 森本 淳, 中野 直

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    property_type:Patent 

    Application no:JP2020022304 

    Patent/Registration no:特許第7105013号 

    J-GLOBAL

  • パワーアシスト装置およびパワーアシスト装置の制御方法

    古川 淳一朗, 高井 飛鳥, 森本 淳

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    property_type:Patent 

    Application no:特願2017-219045 

    Announcement no:特開2019-088456 

    Patent/Registration no:特許第6998569号 

    J-GLOBAL

  • パワーアシスト装置およびパワーアシスト装置の制御方法

    古川 淳一朗, 高井 飛鳥, 森本 淳

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    property_type:Patent 

    Application no:特願2017-219045 

    Announcement no:特開2019-088456 

    J-GLOBAL

  • MOTION TEACHING SYSTEM AND MOTION TEACHING METHOD

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    property_type:Patent 

    Application no:JP2017021213 

    Announcement no:WO2017-213202 

    Publication no:WO2017-213202 

    Patent/Registration no:特許第6850026号 

    J-GLOBAL

  • 運動教示システム及び運動教示方法

    高井 飛鳥, 野田 智之, ジュゼッペ リシ, 寺前 達也, 森本 淳, 今水 寛

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    property_type:Patent 

    Application no:特願2018-521765 

    Patent/Registration no:特許第6850026号 

    J-GLOBAL

  • 起立支援装置

    新谷 篤彦, 高▼井 飛鳥, 伊藤 智博, 中川 智皓, 山田 智貴

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    property_type:Patent 

    Application no:特願2015-030778 

    Announcement no:特開2016-150206 

    Publication no:特開2016-150206 

    Patent/Registration no:特許第6579507号 

    J-GLOBAL

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Grant-in-Aid for Scientific Research

  • デジタルツインを用いたリハビリテーション用ロボットの最適支援手法の研究

    Grant-in-Aid for Scientific Research(C)  2021.04

  • 介護予防のための動作姿勢認知能力評価手法と動作教示ロボットシステムの開発

    Grant-in-Aid for Early-Career Scientists  2020.04

  • 個々人の状態に適応し身体負荷を最適調整する介護予防用起立動作支援ロボットの開発

    Grant-in-Aid for JSPS Fellows  2015.04

Incentive donations / subsidies

  • 視覚に基づくスキル・トランスファー・インタフェースの開発

    公益財団法人 栢森情報科学振興財団  2022年度 研究助成  2022.10

Original item・Special report (Research Activity)

  • 2023

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    Original item:楽しく、わかりやすい研究者総覧 けいはんなサイエンスペディア

    Special report:https://keihanna-link.jp/sciencepedia/researcher/asuka-takai/

  • 2022

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    Original item:国立研究開発法人科学技術振興機構(JST)「新技術説明会」

    Special report:https://www.youtube.com/watch?v=22UIoKaIO_U

Charge of on-campus class subject

  • 機械工学概論

    2023   Weekly class   Undergraduate

  • 設計製作実習(A)

    2023   Weekly class   Undergraduate

  • 設計製作実習(B)

    2023   Weekly class   Undergraduate

  • 卒業研究

    2023   Intensive lecture   Undergraduate

  • 機械工学概論

    2022   Weekly class   Undergraduate

  • 設計製作実習(A)

    2022   Weekly class   Undergraduate

  • 設計製作実習(B)

    2022   Weekly class   Undergraduate

  • 卒業研究(機械工学科)

    2022   Intensive lecture   Undergraduate

  • 設計製作実習(A)

    2021   Weekly class   Undergraduate

  • 設計製作実習(B)

    2021   Weekly class   Undergraduate

  • 卒業研究(機械工学科)

    2021   Intensive lecture   Undergraduate

  • 設計製作実習(A)

    2020   Weekly class   Undergraduate

  • 設計製作実習(B)

    2020   Weekly class   Undergraduate

  • 卒業研究(機械工学科)

    2020   Intensive lecture   Undergraduate

▼display all

Number of instructed thesis, researches

  • 2023

    Number of instructed the graduation thesis:Number of graduation thesis reviews:3

    [Number of instructed the Master's Program] (previous term):[Number of instructed the Master's Program] (letter term):0

    [Number of master's thesis reviews] (chief):[Number of master's thesis reviews] (vice-chief):6

    [Number of doctoral thesis reviews] (chief):[Number of doctoral thesis reviews] (vice-chief):0

  • 2022

    Number of instructed the graduation thesis:Number of graduation thesis reviews:3

    [Number of instructed the Master's Program] (previous term):[Number of instructed the Master's Program] (letter term):0

    [Number of master's thesis reviews] (chief):[Number of master's thesis reviews] (vice-chief):1

    [Number of doctoral thesis reviews] (chief):[Number of doctoral thesis reviews] (vice-chief):0

  • 2021

    Number of instructed the graduation thesis:Number of graduation thesis reviews:3

    [Number of instructed the Master's Program] (previous term):[Number of instructed the Master's Program] (letter term):0

    [Number of master's thesis reviews] (chief):[Number of master's thesis reviews] (vice-chief):1

    [Number of doctoral thesis reviews] (chief):[Number of doctoral thesis reviews] (vice-chief):0

  • 2020

    Number of instructed the graduation thesis:Number of graduation thesis reviews:1

    [Number of instructed the Master's Program] (previous term):[Number of instructed the Master's Program] (letter term):0

    [Number of master's thesis reviews] (chief):[Number of master's thesis reviews] (vice-chief):0

    [Number of doctoral thesis reviews] (chief):[Number of doctoral thesis reviews] (vice-chief):0

Original item・Special report (Social Activity)

  • 2023

      More details

    SDGs:

    Original item:「女子中高生のための関西科学塾」C日程(2023年10月29日)
    【大阪公立大学】中学生対象

    Special report:測ってみよう!動きの計測実験(定員 9 名)
    高井 飛鳥<大阪公立大学 工学部機械工学科>

  • 2021

      More details

    SDGs:

    Original item:「女子中高生のための関西科学塾」C日程(2021年10月24日)
    【大阪市立大学】中学生対象

    Special report:スマホのセンサーで分かること(定員20名)
    今津篤志、高井飛鳥 <工学研究科>

Foreigner acceptance

  • 2023

    foreigners accepted :0

    International Students :1

  • 2022

    foreigners accepted :0

    International Students :1

  • 2021

    foreigners accepted :0

    International Students :1

  • 2020

    foreigners accepted :0

    International Students :1