掲載種別：研究論文（学術雑誌）   国際・国内誌：国際誌  

DOI： 10.3389/fnins.2021.704402

PubMed

掲載種別：研究論文（学術雑誌）  

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

掲載種別：研究論文（学術雑誌）  

DOI： 10.1109/THMS.2021.3098115

掲載種別：研究論文（学術雑誌）  

DOI： 10.14900/cjpt.47S1.F-144_2

CiNii Article

J-GLOBAL

掲載種別：研究論文（学術雑誌）  

DOI： 10.14900/cjpt.47s1.f-144_2

CiNii Article

J-GLOBAL

掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/SMC.2018.00098

掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/SMC.2018.00098

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

掲載種別：研究論文（学術雑誌）  

DOI： 10.3389/fnins.2018.00024

PubMed

掲載種別：研究論文（国際会議プロシーディングス）  

© 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

掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/HUMANOIDS.2017.8246934

掲載種別：研究論文（学術雑誌）  

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

CiNii Article

J-GLOBAL

掲載種別：研究論文（大学，研究機関等紀要）  

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

掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/HRI.2013.6483589

掲載種別：研究論文（国際会議プロシーディングス）  

DOI： 10.1109/HealthCom.2013.6720680

掲載種別：研究論文（国際会議プロシーディングス）   共著区分：単著  

DOI： 10.1109/ICCAS.2013.6704071

掲載種別：記事・総説・解説・論説等（学術雑誌）  

J-GLOBAL

J-GLOBAL

掲載種別：記事・総説・解説・論説等（学術雑誌）  

© 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

掲載種別：記事・総説・解説・論説等（学術雑誌）  

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)

掲載種別：記事・総説・解説・論説等（学術雑誌）  

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

掲載種別：記事・総説・解説・論説等（学術雑誌）  

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)

掲載種別：記事・総説・解説・論説等（学術雑誌）  

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

掲載種別：記事・総説・解説・論説等（商業誌、新聞、ウェブメディア）  

CiNii Article

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

J-GLOBAL

掲載種別：記事・総説・解説・論説等（学術雑誌）  

J-GLOBAL

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

J-GLOBAL

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

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

CiNii Article

掲載種別：記事・総説・解説・論説等（学術雑誌）  

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

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

J-GLOBAL

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

DOI： 10.1299/jsmekansai.2013.88._8-3_

CiNii Article

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

J-GLOBAL

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

J-GLOBAL

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

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

CiNii Article

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

J-GLOBAL

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

J-GLOBAL

掲載種別：研究発表ペーパー・要旨（全国大会，その他学術会議）  

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

会議種別：口頭発表（一般）  

開催地：名城大学  

会議種別：ポスター発表  

開催地：京都  

会議種別：口頭発表（一般）  

DOI： 10.23919/ICCAS59377.2023.10317053

会議種別：公開講演，セミナー，チュートリアル，講習，講義等  

開催地：大阪  

会議種別：口頭発表（招待・特別）  

開催地：Tokyo, Japan  

会議種別：公開講演，セミナー，チュートリアル，講習，講義等  

会議種別：ポスター発表  

開催地：大阪公立大学  

会議種別：ポスター発表  

開催地：九州大学  

会議種別：公開講演，セミナー，チュートリアル，講習，講義等  

会議種別：口頭発表（一般）  

会議種別：口頭発表（一般）  

会議種別：口頭発表（一般）  

会議種別：口頭発表（一般）  

産業財産権の種類：特許権 

出願番号：特願2018-521765 

特許番号/登録番号：特許第6850026号 

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産業財産権の種類：特許権 

出願番号：特願2015-030778 

公開番号：特開2016-150206 

公表番号：特開2016-150206 

特許番号/登録番号：特許第6579507号 

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