Details of the Researcher

PHOTO

Dai Owaki
Section
Graduate School of Engineering
Job title
Associate Professor
Degree

  • 博士（工学）（東北大学）

  • 修士（工学）（名古屋大学）

Research History 9

  • 2020/05 - Present
    Tohoku University

  • 2019/04 - Present
    Tohoku University　ept. of Robotics, Graduate School of Engineering　Associate Professor

  • 2019/05 - 2019/07
    Bielefeld University　Dept. Biological Cybernetics, Faculty of Biology　JSPS Scientist for Joint International Research (H30-H32)

  • 2017/10 - 2019/03
    Tohoku University　Dept. of Robotics, Graduate School of Engineering　Assistant Professor

  • 2018/04 - 2018/10
    Bielefeld University　Dept. Biological Cybernetics, Faculty of Biology　JSPS Scientist for Joint International Research (H30-H32)

  • 2011/04 - 2017/09
    Research Institute of Electrical Communication　Assistant Professor

  • 2009/04 - 2011/03
    東北大学工学研究科　助教

  • 2007/04 - 2009/03
    Japan Society of the Promotion of Science　Research Fellow (DC2)

  • 2006/10 - 2007/03
    東北大学工学研究科　リサーチアシスタント

Show all Show first 5

Education 3

  • Tohoku University　Graduate School, Division of Engineering　Dept. of Electrical and Communication Engineering

    - 2009/03/25

  • Nagoya University　Graduate School, Division of Engineering　Dept. of Computer Science and Engineering

    - 2006/03/27

  • Nagoya University　Faculty of Engineering　Dept. of Electrical and Electronic Engineering and Information Engineering

    - 2004/03/25

Committee Memberships 16

  • Advanced Robotics (Journal)　Editorial Board Member

    2020/04 - Present

  • 第37回自律分散システム・シンポジウム　プログラム委員長

    2024/04 - 2025/01

  • 第41回日本ロボット学会学術講演会 特別行事委員長

    2022 - 2023/09

  • The 11th International Symposium on Adaptive Motion on Animals and Machines (AMAM2023) Secretariats （事務局）

    2022 - 2023/06

  • 計測自動制御学会 東北支部　会計幹事

    2020 - 2021

  • The 9th International Symposium on Adaptive Motion on Animals and Machines (AMAM2019) Program Committee (プログラム委員)

    2018 - 2019/08

  • 計測自動制御学会 東北支部　広報幹事

    2018 - 2019

  • 計測自動制御学会 システム・情報部門 自律分散システム部会　運営委員会 副幹事，幹事

    2017 - 2018

  • The 8th International Symposium on Adaptive Motion on Animals and Machines (AMAM2017) Robot Exhibition and Workshop Chair (実行委員)

    2016 - 2017

  • 計測自動制御学会　システム・情報部門 自律分散システム部会 運営委員会 委員

    2013/08 - 2015/07

  • 計測自動制御学会　システム・情報部門 自律分散システム部会 運営委員会 委員

    2013/08 - 2015/07

  • 第25回インテリジェント・システム・シンポジウム（FAN2015） 実行委員

    2015 - 2015

  • 計測自動制御学会 システム・情報部門　第25回自律分散システム・シンポジウム 実行委員

    2013 - 2014

  • 計測自動制御学会 システム・情報部門　第19会創発システム・シンポジウム 実行委員（幹事）

    2013 - 2014

  • 第11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(SI2010)　表彰委員長

    2010/06 - 2010/12

  • 第11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(SI2010)　表彰委員長

    2010/06 - 2010/12

Show all ︎Show first 5

Professional Memberships 4

  • The Japanese Society for Comparative Physiology and Biochemistry

  • 計測自動制御学会

  • 日本ロボット学会

  • IEEE

Research Interests 17

  • ミズクラゲ

  • コオロギ

  • ナナフシ

  • 昆虫

  • Embodied Intelligence

  • Motion Hacking

  • Bio-hybrid system

  • Synthetic neuro rehabilitation

  • Neuro-robotics

  • Embodied Brain System Science

  • Central Pattern Generator (CPG)

  • Central Pattern Generator (CPG)

  • 身体性（Embodiment）

  • Embodiment

  • Gait Transition

  • Passive Dynamic Walking and Running

  • Bipedal Locomotion

Research Areas 5

  • Life sciences / Animals: biochemistry, physiology, behavioral science /

  • Life sciences / Rehabilitation science /

  • Manufacturing technology (mechanical, electrical/electronic, chemical engineering) / Control and systems engineering /

  • Informatics / Mechanics and mechatronics /

  • Informatics / Robotics and intelligent systems /

Awards 23

  1. Best Paper Awards

    2024/11　35th 2024 International Symposium on Micro-NanoMechatronics and Human Science (MHS2024)　Locomotion Learning in a Musculoskeletal System through Reinforcement Learning of Joint Actions and LSTM Learning of Muscle Actions

  2. SSI Excellent Presentation Award

    2024/11　SICE SII devision

  3. Best Paper Award

    2021/12　MHS2021　Whole Body Direction and Velocity Prediction from Leg Movements in Insect Walking Using Recurrent Neural Network

  4. NTTグループ賞

    2021/05　SENDAI NEW PUBLIC　医療従事者不足の東北から発信、リハビリの「質」向上につながるAI歩行診断

  5. SI2020 優秀講演賞

    2020/12　第21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　深層強化学習を用いたばね付き準受動歩行モデルにおける歩容生成

  6. ディスティングイッシュトリサーチャー

    2020/05　東北大学

  7. The Young Scientists’ Award, The Commendation for Science and Technology by the Minister of Education, Culture, Sports, Science and Technology

    2020/04　MEXT　Understanding of Control Mechanism underlying Legged Animal Locomotion and Its Real World Applications

  8. 第22回青葉工学研究奨励賞

    2016/12　一般財団法人青葉工学振興会　四脚動物の多様な運動パターン生成を司る 脚間協調機序の解明

  9. IEEE/RSJ IROS2012 JTCF Novel Technology Paper Award for Amusement Culture Finalist

    2012/10　Japan Toy Culture Foundation　Listen to Body’s Message: Quadruped Robot That Fully Exploits Physical Interaction between Legs

  10. 日本ロボット学会第24回研究奨励賞

    2009/09/16　日本ロボット学会　受動走行の背後に潜む安定化構造の解明

  11. 横幹連合「木村賞」

    2018/03　横幹連合　ムカデ型ロボットi-CentiPot；機械から生物へ

  12. 計測自動制御学会関西支部技術賞

    2018/02　計測自動制御学会関西支部　陰的制御によるムカデ型ロボット（i-CentiPot）の実現

  13. SI2017優秀講演賞

    2017/12　第18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（SI2017）　脚の役割分担を自発的に生成可能な6脚歩行の脚内協調制御則

  14. SI2015優秀講演賞

    2015/12　第16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（SI2015）　足底感覚情報を用いた二足歩行制御の環境適応性に関する検証

  15. IEEE MHS2015 Best Poster Award

    2015/11/25　IEEE MHS2015　Auditory Foot: A Novel Auditory Feedback System Regarding Kinesthesia

  16. リスーピア賞

    2014/12/24　サイエンスアゴラ推進委員　「創って動かす」生物研究～数理科学とロボット工学からのアプローチ～

  17. CLAWAR Association Best Technical Paper Award (Highly Commended paper award)

    2014/07/22　CLAWAR Association　CPG-based control of bipedal walking by exploting plantar sensation

  18. トーキン財団奨励賞

    2014/03/04　トーキン科学技術振興財団

  19. 第9回（社）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 優秀講演賞

    2008/12/07　計測自動制御学会　「周波数と位相の自律的調整が可能なマルチリズミックオシレータモデルの提案」

  20. Finalist in the SICE Annual Conference International Award

    2008/08/22　SICE　Gait Transition between Passive Dynamic Walking and Running by Changing the Body Elasticity

  21. SICE Annual Conference Young Author's Award

    2008/08/22　SICE　Gait Transition between Passive Dynamic Walking and Running by Changing the Body Elasticity

  22. 2008 IEEE Robotics and Automation Society Japan Chapter Young Award (ICRA'08)

    2008/05/21　IEEE Robotics and Automation Society Japan Chapter　On the Embodiment that Enables Passive Dynamic Bipedal Running

  23. 第7回（社）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 優秀講演賞

    2006/12/16　計測自動制御学会　「準受動歩行機械の実時間適応制御」

Show all ︎Show 5

Papers 190

  1. Physics-Informed Learning Framework for Lower Limb Kinematic Prediction with Sparse Sensors and its Application in Chronic Stroke Peer-reviewed

    Yan Guo, Yusuke Sekiguchi, Wen Zeng, Satoru Ebihara, Dai Owaki, Mitsuhiro Hayashibe

    IEEE Transactions on Neural Systems and Rehabilitation Engineering　1-1　2025/06/19

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/tnsre.2025.3581352 　

    ISSN： 1534-4320

    eISSN： 1558-0210

  2. Two-Stage Learning of CPG and Postural Reflex Towards Quadruped Locomotion on Uneven Terrain with Simple Reward Peer-reviewed

    Ryosei Seto, Guanda Li, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    IEEE Access　1-1　2025/06/16

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/access.2025.3579786 　

    eISSN： 2169-3536

  3. Encoding flexible gait strategies in stick insects through data-driven inverse reinforcement learning Peer-reviewed

    Yuchen Wang, Mitsuhiro Hayashibe, Dai Owaki

    Bioinspiration & Biomimetics　20　(4)　046005-046005　2025/06/05

    Publisher: IOP Publishing

    DOI： 10.1088/1748-3190/addc26 　

    ISSN： 1748-3182

    eISSN： 1748-3190

    More details Close

    Abstract Stick insects exhibit remarkable adaptive walking capabilities across diverse environments; however, the mechanisms underlying their gait transitions remain poorly understood. Although reinforcement learning (RL) has been employed to generate insect-like gaits, the design of an appropriate reward function presents a challenge due to the probabilistic and continuous nature of gait transitions. This study utilized maximum entropy inverse RL to infer the reward function that governs stick insect gait selection, incorporating walking dynamic parameters—namely, velocity, direction, and acceleration—alongside antenna joint movements as state variables. By analyzing the inferred reward structures, we clarified the underlying principles that drive gait transitions and emphasized the role of sensory feedback in gait modulation. The efficacy of the inferred policies was validated through an assessment of their ability to reproduce expert trajectories, demonstrating that stick insect gaits can be learned from observable states during locomotion. Furthermore, interspecies variations and noncanonical gait patterns were examined, providing insights into the flexibility and adaptability of insect locomotion. This data-driven approach offers a biologically interpretable framework for gait modeling and contributes to bioinspired robotic design by facilitating adaptive control strategies for hexapod robots.

  4. Harnessing natural embodied intelligence for spontaneous jellyfish cyborgs Peer-reviewed

    Dai Owaki, Max Austin, Shuhei Ikeda, Kazuya Okuizumi, Kohei Nakajima

    Nature Communications　16　(1)　2025/05/23

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1038/s41467-025-59889-7 　

    eISSN： 2041-1723

  5. Synergy-Based Evaluation of Hand Motor Function in Object Handling Using Virtual and Mixed Realities Peer-reviewed

    Yuhei Sorimachi, Hiroki Akaida, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    Sensors　25　(7)　2080-2080　2025/03/26

    Publisher: MDPI AG

    DOI： 10.3390/s25072080 　

    eISSN： 1424-8220

    More details Close

    This study introduces a novel system for evaluating hand motor function through synergy-based analysis during object manipulation in virtual and mixed-reality environments. Conventional assessments of hand function are often subjective, relying on visual observation by therapists or patient-reported outcomes. To address these limitations, we developed a system that utilizes the leap motion controller (LMC) to capture finger motion data without the constraints of glove-type devices. Spatial synergies were extracted using principal component analysis (PCA) and Varimax rotation, providing insights into finger motor coordination with the sparse decomposition. Additionally, we incorporated the HoloLens 2 to create a mixed-reality object manipulation task that enhances spatial awareness for the user, improving natural interaction with virtual objects. Our results demonstrate that synergy-based analysis allows for the systematic detection of hand movement abnormalities that are not captured through traditional task performance metrics. This system demonstrates promise in advancing rehabilitation by enabling more objective and detailed evaluations of finger motor function, facilitating personalized therapy, and potentially contributing to the early detection of motor impairments in the future.

  6. Foot trajectory as a key factor for diverse gait patterns in quadruped robot locomotion Peer-reviewed

    Shura Suzuki, Kosuke Matayoshi, Mitsuhiro Hayashibe, Dai Owaki

    Scientific Reports　15　(1)　2025/01/13

    Publisher: Springer Science and Business Media LLC

    DOI： 10.1038/s41598-024-84060-5 　

    eISSN： 2045-2322

  7. Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors Peer-reviewed

    Taku Sugiyama, Kyo Kutsuzawa, Dai Owaki, Elijah Almanzor, Fumiya Iida, Mitsuhiro Hayashibe

    Frontiers in Robotics and AI　11　2025/01/06

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2024.1504651 　

    eISSN： 2296-9144

    More details Close

    Reliable proprioception and feedback from soft sensors are crucial for enabling soft robots to function intelligently in real-world environments. Nevertheless, soft sensors are fragile and are susceptible to various damage sources in such environments. Some researchers have utilized redundant configuration, where healthy sensors compensate instantaneously for lost ones to maintain proprioception accuracy. However, achieving consistently reliable proprioception under diverse sensor degradation remains a challenge. This paper proposes a novel framework for graceful degradation in redundant soft sensor systems, incorporating a stochastic Long Short-Term Memory (LSTM) and a Time-Delay Feedforward Neural Network (TDFNN). The LSTM estimates readings from healthy sensors to compare them with actual data. Then, statistically abnormal readings are zeroed out. The TDFNN receives the processed sensor readings to perform proprioception. Simulation experiments with a musculoskeletal leg that contains 40 nonlinear soft sensors demonstrate the effectiveness of the proposed framework. Results show that the knee angle proprioception accuracy is retained across four distinct degradation scenarios. Notably, the mean proprioception error increases by less than 1.91°(1.36%) when of the sensors are degraded. These results suggest that the proposed framework enhances the reliability of soft sensor proprioception, thereby improving the robustness of soft robots in real-world applications.

  8. Concerted Control: Modulating Joint Stiffness Using GRF for Gait Generation at Different Speeds Peer-reviewed

    Shunsuke Koseki, Omid Mohseni, Dai Owaki, Mitsuhiro Hayashibe, Andre Seyfarth, Maziar A. Sharbafi

    IEEE Robotics and Automation Letters　1-8　2025

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2025.3542703 　

    eISSN： 2377-3766 2377-3774

  9. Footstep reward for energy-efficient quadruped gait generation and transition through deep reinforcement learning Peer-reviewed

    Lucas Sulpice, Dai Owaki, Mitsuhiro Hayashibe

    Advanced Robotics　1-8　2024/12/24

    Publisher: Informa UK Limited

    DOI： 10.1080/01691864.2024.2442718 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  10. Learning-based object's stiffness and shape estimation with confidence level in multi-fingered hand grasping Peer-reviewed

    Kyo Kutsuzawa, Minami Matsumoto, Dai Owaki, Mitsuhiro Hayashibe

    Frontiers in Neurorobotics　18　2024/11/19

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2024.1466630 　

    eISSN： 1662-5218

    More details Close

    Introduction When humans grasp an object, they are capable of recognizing its characteristics, such as its stiffness and shape, through the sensation of their hands. They can also determine their level of confidence in the estimated object properties. In this study, we developed a method for multi-fingered hands to estimate both physical and geometric properties, such as the stiffness and shape of an object. Their confidence levels were measured using proprioceptive signals, such as joint angles and velocity. Method We have developed a learning framework based on probabilistic inference that does not necessitate hyperparameters to maintain equilibrium between the estimation of diverse types of properties. Using this framework, we have implemented recurrent neural networks that estimate the stiffness and shape of grasped objects with their uncertainty in real time. Results We demonstrated that the trained neural networks are capable of representing the confidence level of estimation that includes the degree of uncertainty and task difficulty in the form of variance and entropy. Discussion We believe that this approach will contribute to reliable state estimation. Our approach would also be able to combine with flexible object manipulation and probabilistic inference-based decision making.

  11. Insect Adaptability Decoded Through Motor, Sensory, and Behavioral Interventions Invited Peer-reviewed

    Dai Owaki, Shunsuke Shigaki, Hitoshi Aonuma

    Journal of the Robotics Society of Japan　42　(8)　725-731　2024/10

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.42.725 　

    ISSN： 0289-1824

    eISSN： 1884-7145

  12. Muscle Control Analysis of Human Walking and Cycling in Speed and Load Variations with Time-Varying Synergy Peer-reviewed

    Takumi Matsumura, Eiji Inomata, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    IEEE Sensors Journal　1-1　2024/10

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/jsen.2024.3486294 　

    ISSN： 1530-437X

    eISSN： 1558-1748 2379-9153

  13. Transferable Deep Learning Models for Accurate Ankle Joint Moment Estimation during Gait Using Electromyography Peer-reviewed

    Amged Elsheikh Abdelgadir Ali, Dai Owaki, Mitsuhiro Hayashibe

    Applied Sciences　14　(19)　8795-8795　2024/09/30

    Publisher: MDPI AG

    DOI： 10.3390/app14198795 　

    eISSN： 2076-3417

    More details Close

    The joint moment is a key measurement in locomotion analysis. Transferable prediction across different subjects is advantageous for calibration-free, practical clinical applications. However, even for similar gait motions, intersubject variance presents a significant challenge in maintaining reliable prediction performance. The optimal deep learning models for ankle moment prediction during dynamic gait motions remain underexplored for both intrasubject and intersubject usage. This study evaluates the feasibility of different deep-learning models for estimating ankle moments using sEMG data to find an optimal intrasubject model against the inverse dynamic approach. We verified and compared the performance of 1302 intrasubject models per subject on 597 steps from seven subjects using various architectures and feature sets. The best-performing intrasubject models were recurrent convolutional neural networks trained using signal energy features. They were then transferred to realize intersubject ankle moment estimation.

  14. Synergy quality assessment of muscle modules for determining learning performance using a realistic musculoskeletal model Peer-reviewed

    Akito Fukunishi, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    Frontiers in Computational Neuroscience　18　2024/05/30

    Publisher: Frontiers Media SA

    DOI： 10.3389/fncom.2024.1355855 　

    eISSN： 1662-5188

    More details Close

    How our central nervous system efficiently controls our complex musculoskeletal system is still debated. The muscle synergy hypothesis is proposed to simplify this complex system by assuming the existence of functional neural modules that coordinate several muscles. Modularity based on muscle synergies can facilitate motor learning without compromising task performance. However, the effectiveness of modularity in motor control remains debated. This ambiguity can, in part, stem from overlooking that the performance of modularity depends on the mechanical aspects of modules of interest, such as the torque the modules exert. To address this issue, this study introduces two criteria to evaluate the quality of module sets based on commonly used performance metrics in motor learning studies: the accuracy of torque production and learning speed. One evaluates the regularity in the direction of mechanical torque the modules exert, while the other evaluates the evenness of its magnitude. For verification of our criteria, we simulated motor learning of torque production tasks in a realistic musculoskeletal system of the upper arm using feed-forward neural networks while changing the control conditions. We found that the proposed criteria successfully explain the tendency of learning performance in various control conditions. These result suggest that regularity in the direction of and evenness in magnitude of mechanical torque of utilized modules are significant factor for determining learning performance. Although the criteria were originally conceived for an error-based learning scheme, the approach to pursue which set of modules is better for motor control can have significant implications in other studies of modularity in general.

  15. Data-Driven Policy Learning Methods from Biological Behavior: A Systematic Review Peer-reviewed

    Yuchen Wang, Mitsuhiro Hayashibe, Dai Owaki

    Applied Sciences　14　(10)　4038-4038　2024/05/09

    Publisher: MDPI AG

    DOI： 10.3390/app14104038 　

    eISSN： 2076-3417

    More details Close

    Policy learning enables agents to learn how to map states to actions, thus enabling adaptive and flexible behavioral generation in complex environments. Policy learning methods are fundamental to reinforcement learning techniques. However, as problem complexity and the requirement for motion flexibility increase, traditional methods that rely on manual design have revealed their limitations. Conversely, data-driven policy learning focuses on extracting strategies from biological behavioral data and aims to replicate these behaviors in real-world environments. This approach enhances the adaptability of agents to dynamic substrates. Furthermore, this approach has been extensively applied in autonomous driving, robot control, and interpretation of biological behavior. In this review, we survey developments in data-driven policy-learning algorithms over the past decade. We categorized them into the following three types according to the purpose of the method: (1) imitation learning (IL), (2) inverse reinforcement learning (IRL), and (3) causal policy learning (CPL). We describe the classification principles, methodologies, progress, and applications of each category in detail. In addition, we discuss the distinct features and practical applications of these methods. Finally, we explore the challenges these methods face and prospective directions for future research.

  16. Effects of ankle-foot orthosis with dorsiflexion resistance on the quasi-joint stiffness of the ankle joint and spatial asymmetry during gait in patients with hemiparesis. International-journal Peer-reviewed

    Keita Honda, Yusuke Sekiguchi, Dai Owaki, Ryusuke Okamoto, Shino Inuzuka, Norihiro Morimoto, Shin-Ichi Izumi

    Clinical biomechanics (Bristol, Avon)　115　106263-106263　2024/05

    DOI： 10.1016/j.clinbiomech.2024.106263 　

    More details Close

    BACKGROUND: Reduced ankle quasi-joint stiffness affects propulsion in the paretic side of patients with hemiparesis, contributing to gait asymmetry. We investigated whether the use of an ankle-foot orthosis with dorsiflexion resistance to compensate for reduced stiffness would increase quasi-joint stiffness and spatiotemporal symmetry in patients with hemiparesis. METHODS: Seventeen patients walked along a 7-m walkway in both ankle-foot orthosis with dorsiflexion resistance and control (i.e., ankle-foot orthosis) conditions. Dorsiflexion resistance by spring and cam was set to increase linearly from zero-degree ankle dorsiflexion. Gait data were analyzed using a three-dimensional motion analysis system. FINDINGS: Ankle-foot orthosis with dorsiflexion resistance significantly increased the quasi-joint stiffness in the early and middle stance phase (P = 0.028 and 0.040). Furthermore, although ankle power generation in the ankle-foot orthosis with dorsiflexion resistance condition was significantly lower than in the control condition (P = 0.003), step length symmetry significantly increased in the ankle-foot orthosis with dorsiflexion resistance condition (P = 0.016). There was no significant difference in swing time ratio between conditions. INTERPRETATION: Applying dorsiflexion resistance in the paretic stance phase increased quasi-joint stiffness but did not lead to an increase in ankle power generation. On the other hand, applying dorsiflexion resistance also resulted in a more symmetrical step length, even though the ankle joint power generation on the paretic side did not increase as expected. Future research should explore whether modifying the magnitude and timing of dorsiflexion resistance, considering the biomechanical characteristics of each patients' ankle joint during gait, enhances ankle joint power generation.

  17. Differences in kinetic factors affecting gait speed between lesion sides in patients with stroke Peer-reviewed

    Yusuke Sekiguchi, Dai Owaki, Keita Honda, Shin-Ichi Izumi, Satoru Ebihara

    Frontiers in Bioengineering and Biotechnology　12　2024/03/19

    Publisher: Frontiers Media SA

    DOI： 10.3389/fbioe.2024.1240339 　

    eISSN： 2296-4185

    More details Close

    The differences in kinetic mechanisms of decreased gait speed across brain lesion sides have not been elucidated, including the arrangement of motor modules reflected by kinetic interjoint coordination. The purpose of this study was to elucidate the differences in the kinetic factors of slow gait speed in patients with stroke on the lesion sides. A three-dimensional motion analysis system was employed to assess joint moment in the lower limb and representative gait parameters in 32 patients with right hemisphere brain damage (RHD) and 38 patients with left hemisphere brain damage (LHD) following stroke as well as 20 healthy controls. Motor module composition and timing were determined using principal component analysis based on the three joint moments in the lower limb in the stance phase, which were the variances accounted for principal components (PCs) and the peak timing in the time series of PCs. A stepwise multiple linear regression analysis was performed to identify the most significant joint moment and PC-associated parameter in explaining gait speed. A negligible difference was observed in age, weight, height, and gait speed among patients with RHD and LHD and controls. The following factors contributed to gait speed: in patients with RHD, larger ankle plantarflexion moment on the paretic (p = 0.001) and nonparetic (p = 0.002) sides and ankle dorsiflexion moment on the nonparetic side (p = 0.004); in patients with LHD, larger ankle plantarflexion moment (p < 0.001) and delayed peak timing of the first PC (p = 0.012) on the paretic side as well as ankle dorsiflexion moment on the nonparetic side (p < 0.001); in the controls, delayed peak timing of the first PC (p = 0.002) on the right side and larger ankle dorsiflexion moment (p = 0.001) as well as larger hip flexion moment on the left side (p = 0.023). The findings suggest that the kinetic mechanisms of gait speed may differ among patients with RHD following patients with stroke with LHD, and controls.

  18. Identifying essential factors for energy-efficient walking control across a wide range of velocities in reflex-based musculoskeletal systems Peer-reviewed

    Shunsuke Koseki, Mitsuhiro Hayashibe, Dai Owaki

    PLOS Computational Biology　20　(1)　e1011771-e1011771　2024/01/19

    Publisher: Public Library of Science (PLoS)

    DOI： 10.1371/journal.pcbi.1011771 　

    eISSN： 1553-7358

    More details Close

    Humans can generate and sustain a wide range of walking velocities while optimizing their energy efficiency. Understanding the intricate mechanisms governing human walking will contribute to the engineering applications such as energy-efficient biped robots and walking assistive devices. Reflex-based control mechanisms, which generate motor patterns in response to sensory feedback, have shown promise in generating human-like walking in musculoskeletal models. However, the precise regulation of velocity remains a major challenge. This limitation makes it difficult to identify the essential reflex circuits for energy-efficient walking. To explore the reflex control mechanism and gain a better understanding of its energy-efficient maintenance mechanism, we extend the reflex-based control system to enable controlled walking velocities based on target speeds. We developed a novel performance-weighted least squares (PWLS) method to design a parameter modulator that optimizes walking efficiency while maintaining target velocity for the reflex-based bipedal system. We have successfully generated walking gaits from 0.7 to 1.6 m/s in a two-dimensional musculoskeletal model based on an input target velocity in the simulation environment. Our detailed analysis of the parameter modulator in a reflex-based system revealed two key reflex circuits that have a significant impact on energy efficiency. Furthermore, this finding was confirmed to be not influenced by setting parameters, i.e., leg length, sensory time delay, and weight coefficients in the objective cost function. These findings provide a powerful tool for exploring the neural bases of locomotion control while shedding light on the intricate mechanisms underlying human walking and hold significant potential for practical engineering applications.

  19. Integrated Quantitative Evaluation of Spatial Cognition and Motor Function with HoloLens Mixed Reality Peer-reviewed

    Kenya Tada, Yuhei Sorimachi, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    Sensors　24　(2)　528-528　2024/01/15

    Publisher: MDPI AG

    DOI： 10.3390/s24020528 　

    eISSN： 1424-8220

    More details Close

    The steady increase in the aging population worldwide is expected to cause a shortage of doctors and therapists for older people. This demographic shift requires more efficient and automated systems for rehabilitation and physical ability evaluations. Rehabilitation using mixed reality (MR) technology has attracted much attention in recent years. MR displays virtual objects on a head-mounted see-through display that overlies the user’s field of vision and allows users to manipulate them as if they exist in reality. However, tasks in previous studies applying MR to rehabilitation have been limited to tasks in which the virtual objects are static and do not interact dynamically with the surrounding environment. Therefore, in this study, we developed an application to evaluate cognitive and motor functions with the aim of realizing a rehabilitation system that is dynamic and has interaction with the surrounding environment using MR technology. The developed application enabled effective evaluation of the user’s spatial cognitive ability, task skillfulness, motor function, and decision-making ability. The results indicate the usefulness and feasibility of MR technology to quantify motor function and spatial cognition both for static and dynamic tasks in rehabilitation.

  20. Speed-Variable Gait Phase Estimation During Ambulation via Temporal Convolutional Network Peer-reviewed

    Yan Guo, Yonatan Hutabarat, Dai Owaki, Mitsuhiro Hayashibe

    IEEE Sensors Journal　1-1　2023/12

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/jsen.2023.3343721 　

    ISSN： 1530-437X

    eISSN： 1558-1748 2379-9153

  21. A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties Peer-reviewed

    Dai Owaki, Volker Dürr, Josef Schmitz

    eLife　12　2023/09/13

    Publisher: eLife Sciences Publications, Ltd

    DOI： 10.7554/elife.85275 　

    eISSN： 2050-084X

    More details Close

    Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control.

  22. LSTM Network-Based Estimation of Ground Reaction Forces During Walking in Stroke Patients Using Markerless Motion Capture System Peer-reviewed

    Ryo Sugai, Shintaro Maeda, Ryosuke Shibuya, Yusuke Sekiguchi, Shin-Ichi Izumi, Mitsuhiro Hayashibe, Dai Owaki

    IEEE Transactions on Medical Robotics and Bionics　1-1　2023/08/30

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/tmrb.2023.3310196 　

    eISSN： 2576-3202

  23. Latent Representation-Based Learning Controller for Pneumatic and Hydraulic Dual Actuation of Pressure-Driven Soft Actuators Peer-reviewed

    Taku Sugiyama, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    Soft Robotics　2023/08/17

    Publisher: Mary Ann Liebert Inc

    DOI： 10.1089/soro.2022.0224 　

    ISSN： 2169-5172

    eISSN： 2169-5180

  24. Morphological Characteristics That Enable Stable and Efficient Walking in Hexapod Robot Driven by Reflex-based Intra-limb Coordination Peer-reviewed

    Wataru Sato, Jun Nishii, Mitsuhiro Hayashibe, Dai Owaki

    2023 IEEE International Conference on Robotics and Automation (ICRA)　2023/05/29

    Publisher: IEEE

    DOI： 10.1109/icra48891.2023.10161107 　

  25. Learnable Tegotae-based Feedback in CPGs with Sparse Observation Produces Efficient and Adaptive Locomotion Peer-reviewed

    Christopher Herneth, Mitsuhiro Hayashibe, Dai Owaki

    2023 IEEE International Conference on Robotics and Automation (ICRA)　2023/05/29

    Publisher: IEEE

    DOI： 10.1109/icra48891.2023.10160571 　

  26. EMG-Based Estimation of Lower Limb Joint Angles and Moments Using Long Short-Term Memory Network Peer-reviewed

    Minh Tat Nhat Truong, Amged Elsheikh Abdelgadir Ali, Dai Owaki, Mitsuhiro Hayashibe

    Sensors　23　(6)　3331-3331　2023/03/22

    Publisher: MDPI AG

    DOI： 10.3390/s23063331 　

    eISSN： 1424-8220

    More details Close

    One of the fundamental limitations in human biomechanics is that we cannot directly obtain joint moments during natural movements without affecting the motion. However, estimating these values is feasible with inverse dynamics computation by employing external force plates, which can cover only a small area of the plate. This work investigated the Long Short-Term Memory (LSTM) network for the kinetics and kinematics prediction of human lower limbs when performing different activities without using force plates after the learning. We measured surface electromyography (sEMG) signals from 14 lower extremities muscles to generate a 112-dimensional input vector from three sets of features: root mean square, mean absolute value, and sixth-order autoregressive model coefficient parameters for each muscle in the LSTM network. With the recorded experimental data from the motion capture system and the force plates, human motions were reconstructed in a biomechanical simulation created using OpenSim v4.1, from which the joint kinematics and kinetics from left and right knees and ankles were retrieved to serve as output for training the LSTM. The estimation results using the LSTM model deviated from labels with average R2 scores (knee angle: 97.25%, knee moment: 94.9%, ankle angle: 91.44%, and ankle moment: 85.44%). These results demonstrate the feasibility of the joint angle and moment estimation based solely on sEMG signals for multiple daily activities without requiring force plates and a motion capture system once the LSTM model is trained.

  27. Multimodal bipedal locomotion generation with passive dynamics via deep reinforcement learning Peer-reviewed

    Shunsuke Koseki, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    Frontiers in Neurorobotics　16　2023/01/23

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2022.1054239 　

    eISSN： 1662-5218

    More details Close

    Generating multimodal locomotion in underactuated bipedal robots requires control solutions that can facilitate motion patterns for drastically different dynamical modes, which is an extremely challenging problem in locomotion-learning tasks. Also, in such multimodal locomotion, utilizing body morphology is important because it leads to energy-efficient locomotion. This study provides a framework that reproduces multimodal bipedal locomotion using passive dynamics through deep reinforcement learning (DRL). An underactuated bipedal model was developed based on a passive walker, and a controller was designed using DRL. By carefully planning the weight parameter settings of the DRL reward function during the learning process based on a curriculum learning method, the bipedal model successfully learned to walk, run, and perform gait transitions by adjusting only one command input. These results indicate that DRL can be applied to generate various gaits with the effective use of passive dynamics.

  28. 手応え制御から創発される多様な脚式ロコモーション Invited Peer-reviewed

    Dai Owaki

    Journal of the Robotics Society of Japan　41　(3)　241-246　2023

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.41.241 　

    ISSN： 0289-1824

    eISSN： 1884-7145

  29. Ground Reaction Force and Moment Estimation through EMG Sensing Using Long Short-Term Memory Network during Posture Coordination Peer-reviewed

    Sei-ichi Sakamoto, Yonatan Hutabarat, Dai Owaki, Mitsuhiro Hayashibe

    Cyborg and Bionic Systems　4　2023/01

    Publisher: American Association for the Advancement of Science (AAAS)

    DOI： 10.34133/cbsystems.0016 　

    eISSN： 2692-7632

    More details Close

    Motion prediction based on kinematic information such as body segment displacement and joint angle has been widely studied. Because motions originate from forces, it is beneficial to estimate dynamic information, such as the ground reaction force (GRF), in addition to kinematic information for advanced motion prediction. In this study, we proposed a method to estimate GRF and ground reaction moment (GRM) from electromyography (EMG) in combination with and without an inertial measurement unit (IMU) sensor using a machine learning technique. A long short-term memory network, which is suitable for processing long time-span data, was constructed with EMG and IMU as input data to estimate GRF during posture control and stepping motion. The results demonstrate that the proposed method can provide the GRF estimation with a root mean square error (RMSE) of 8.22 ± 0.97% (mean ± SE) for the posture control motion and 11.17 ± 2.16% (mean ± SE) for the stepping motion. We could confirm that EMG input is essential especially when we need to predict both GRF and GRM with limited numbers of sensors attached under knees. In addition, we developed a GRF visualization system integrated with ongoing motion in a Unity environment. This system enabled the visualization of the GRF vector in 3-dimensional space and provides predictive motion direction based on the estimated GRF, which can be useful for human motion prediction with portable sensors.

  30. Prediction of Whole-Body Velocity and Direction From Local Leg Joint Movements in Insect Walking via LSTM Neural Networks Peer-reviewed

    Yuchen Wang, Mitsuhiro Hayashibe, Dai Owaki

    IEEE Robotics and Automation Letters　7　(4)　9389-9396　2022/10

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/lra.2022.3191850 　

    eISSN： 2377-3766 2377-3774

  31. Kinetic Interjoint Coordination in Lower Limbs during Gait in Patients with Hemiparesis

    Yusuke Sekiguchi, Dai Owaki, Keita Honda, Shin-Ichi Izumi

    Biomechanics　2022/09

    DOI： 10.3390/biomechanics2030036 　

  32. Motion Hacking – Understanding by Controlling Animals – Peer-reviewed

    Dai Owaki, Volker Dürr

    Journal of Robotics and Mechatronics　34　(2)　301-303　2022/04/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2022.p0301 　

    ISSN： 0915-3942

    eISSN： 1883-8049

    More details Close

    Insects exhibit resilient and flexible capabilities allowing them to adapt their walk in response to changes of the environment or body properties, for example the loss of a leg. While the motor control paradigm governing inter-leg coordination has been extensively studied in the past for such adaptive walking, the neural mechanism remains unknown. To overcome this situation, the project “Motion Hacking” develops a method for hacking leg movements by electrostimulating leg muscles while retaining the natural sensorimotor functions of the insect. This research aims to elucidate the flexible inter-leg coordination mechanism underlying insect walking by observing the adapting process of inter-leg coordination with the insect nervous system when leg movements are externally controlled via motion hacking.

  33. Editorial: Biological and Robotic Inter-Limb Coordination Peer-reviewed

    Dai Owaki, Poramate Manoonpong, Amir Ayali

    Frontiers in Robotics and AI　9　2022/03/22

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2022.875493 　

    eISSN： 2296-9144

  34. Recent Advances in Quantitative Gait Analysis Using Wearable Sensors: A Review Peer-reviewed

    Yonatan Hutabarat, Dai Owaki, Mitsuhiro Hayashibe

    IEEE Sensors Journal　21　(23)　26470-26487　2021/12/01

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/jsen.2021.3119658 　

    ISSN： 1530-437X

    eISSN： 1558-1748 2379-9153

  35. Classification of Ankle Joint Stiffness during Walking to Determine the Use of Ankle Foot Orthosis after Stroke International-journal Peer-reviewed

    Yusuke Sekiguchi, Keita Honda, Dai Owaki, Shin-Ichi Izumi

    Brain Sciences　11　(11)　1512-1512　2021/11/15

    Publisher: MDPI AG

    DOI： 10.3390/brainsci11111512 　

    eISSN： 2076-3425

    More details Close

    Categorization based on quasi-joint stiffness (QJS) may help clinicians select appropriate ankle foot orthoses (AFOs). The objectives of the present study were to classify the gait pattern based on ankle joint stiffness, also called QJS, of the gait in patients after stroke and to clarify differences in the type of AFO among 72 patients after stroke. Hierarchical cluster analysis was used to classify gait patterns based on QJS at least one month before the study, which revealed three distinct subgroups (SGs 1, 2, and 3). The proportion of use of AFOs, articulated AFOs, and non-articulated AFOs were significantly different among SGs 1–3. In SG1, with a higher QJS in the early and middle stance, the proportion of the patients using articulated AFOs was higher, whereas in SG3, with a lower QJS in both stances, the proportion of patients using non-articulated AFOs was higher. In SG2, with a lower QJS in the early stance and higher QJS in the middle stance, the proportion of patients using AFOs was lower. These findings indicate that classification of gait patterns based on QJS in patients after stroke may be helpful in selecting AFO. However, large sample sizes are required to confirm these results.

  36. Spiking Neural Network Discovers Energy-Efficient Hexapod Motion in Deep Reinforcement Learning Peer-reviewed

    Katsumi Naya, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    IEEE Access　9　150345-150354　2021/11/09

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/access.2021.3126311 　

    eISSN： 2169-3536

  37. Two-Week Rehabilitation with Auditory Biofeedback Prosthesis Reduces Whole Body Angular Momentum Range during Walking in Stroke Patients with Hemiplegia: A Randomized Controlled Trial International-journal

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Shin-Ichi Izumi

    Brain Sciences　11　(11)　1461-1461　2021/11/03

    Publisher: MDPI AG

    DOI： 10.3390/brainsci11111461 　

    eISSN： 2076-3425

    More details Close

    Walking rehabilitation is challenging in stroke patients with sensory impairments. In this study, we examined the two-week effect of an auditory biofeedback prosthesis, Auditory Foot (AF), on the change in the frontal whole body angular momentum (WBAM) range, before and after a two-week walking rehabilitation. We conducted a pilot randomized controlled trial (RCT). We employed statistical Bayesian modeling to understand the mechanism of the rehabilitation effect and predict the expected effect in new patients. The best-performing model indicated that the frontal WBAM range was reduced in the AF group by 12.9–28.7%. This suggests that the use of kinesthetic biofeedback in gait rehabilitation contributes to the suppression of frontal WBAM, resulting in an improved walking balance function in stroke patients.

  38. A Survey of Sim-to-Real Transfer Techniques Applied to Reinforcement Learning for Bioinspired Robots Peer-reviewed

    Wei Zhu, Xian Guo, Dai Owaki, Kyo Kutsuzawa, Mitsuhiro Hayashibe

    IEEE Transactions on Neural Networks and Learning Systems　34　(7)　1-16　2021/09/29

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/tnnls.2021.3112718 　

    ISSN： 2162-237X

    eISSN： 2162-2388

  39. Individual deformability compensation of soft hydraulic actuators through iterative learning-based neural network Peer-reviewed

    Taku Sugiyama, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

    Bioinspiration & Biomimetics　16　(5)　056016-056016　2021/09/01

    Publisher: IOP Publishing

    DOI： 10.1088/1748-3190/ac1b6f 　

    ISSN： 1748-3182

    eISSN： 1748-3190

    More details Close

    <title>Abstract</title> Robotic devices with soft actuators have been developed to realize the effective rehabilitation of patients with motor paralysis by enabling soft and safe interaction. However, the control of such robots is challenging, especially owing to the difference in the individual deformability occurring in manual fabrication of soft actuators. Furthermore, soft actuators used in wearable rehabilitation devices involve a large response delay which hinders the application of such devices for at-home rehabilitation. In this paper, a feed-forward control method for soft actuators with a large response delay, comprising a simple feed-forward neural network (FNN) and an iterative learning controller (ILC), is proposed. The proposed method facilitates the effective learning and acquisition of the inverse model (i.e. the model that can generate control input to the soft actuator from a target trajectory) of soft actuators. First, the ILC controls a soft actuator and iteratively learns the actuator deformability. Subsequently, the FNN is trained to obtain the inverse model of the soft actuator. The control results of the ILC are used as training datasets for supervised learning of the FNN to ensure that it can efficiently acquire the inverse model of the soft actuator, including the deformability and the response delay. Experiments with fiber-reinforced soft bending hydraulic actuators are conducted to evaluate the proposed method. The results show that the ILC can learn and compensate for the actuator deformability. Moreover, the iterative learning-based FNN serves to achieve a precise tracking performance on various generalized trajectories. These facts suggest that the proposed method can contribute to the development of robotic rehabilitation devices with soft actuators and the field of soft robotics.

  40. Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback Peer-reviewed

    Riccardo Zamboni, Dai Owaki, Mitsuhiro Hayashibe

    Frontiers in Robotics and AI　8　2021/05/26

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2021.632804 　

    eISSN： 2296-9144

    More details Close

    To obtain biologically inspired robotic control, the architecture of central pattern generators (CPGs) has been extensively adopted to generate periodic patterns for locomotor control. This is attributed to the interesting properties of nonlinear oscillators. Although sensory feedback in CPGs is not necessary for the generation of patterns, it plays a central role in guaranteeing adaptivity to environmental conditions. Nonetheless, its inclusion significantly modifies the dynamics of the CPG architecture, which often leads to bifurcations. For instance, the force feedback can be exploited to derive information regarding the state of the system. In particular, the <italic>Tegotae</italic> approach can be adopted by coupling proprioceptive information with the state of the oscillation itself in the CPG model. This paper discusses this policy with respect to other types of feedback; it provides higher adaptivity and an optimal energy efficiency for reflex-like actuation. We believe this is the first attempt to analyse the optimal energy efficiency along with the adaptivity of the Tegotae approach.

  41. Tegotae-Based Control Produces Adaptive Inter- and Intra-limb Coordination in Bipedal Walking Peer-reviewed

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    Frontiers in Neurorobotics　15　629595-629595　2021/05/12

    Publisher: Frontiers Media SA

    DOI： 10.3389/fnbot.2021.629595 　

    eISSN： 1662-5218

    More details Close

    Despite the appealing concept of central pattern generator (CPG)-based control for bipedal walking robots, there is currently no systematic methodology for designing a CPG-based controller. To remedy this oversight, we attempted to apply the Tegotae approach, a Japanese concept describing how well a perceived reaction, i.e., sensory information, matches an expectation, i.e., an intended motor command, in designing localised controllers in the CPG-based bipedal walking model. To this end, we developed a Tegotae function that quantifies the Tegotae concept. This function allowed incorporating decentralised controllers into the proposed bipedal walking model systematically. We designed a two-dimensional bipedal walking model using Tegotae functions and subsequently implemented it in simulations to validate the proposed design scheme. We found that our model can walk on both flat and uneven terrains and confirmed that the application of the Tegotae functions in all joint controllers results in excellent adaptability to environmental changes.

  42. A Comparative Study of Adaptive Interlimb Coordination Mechanisms for Self-Organized Robot Locomotion Peer-reviewed

    Tao Sun, Xiaofeng Xiong, Zhendong Dai, Dai Owaki, Poramate Manoonpong

    Frontiers in Robotics and AI　8　2021/04/12

    Publisher: Frontiers Media SA

    DOI： 10.3389/frobt.2021.638684 　

    eISSN： 2296-9144

    More details Close

    Walking animals demonstrate impressive self-organized locomotion and adaptation to body property changes by skillfully manipulating their complicated and redundant musculoskeletal systems. Adaptive interlimb coordination plays a crucial role in this achievement. It has been identified that interlimb coordination is generated through dynamical interactions between the neural system, musculoskeletal system, and environment. Based on this principle, two classical interlimb coordination mechanisms (continuous phase modulation and phase resetting) have been proposed independently. These mechanisms use decoupled central pattern generators (CPGs) with sensory feedback, such as ground reaction forces (GRFs), to generate robot locomotion autonomously without predefining it (i.e., self-organized locomotion). A comparative study was conducted on the two mechanisms under decoupled CPG-based control implemented on a quadruped robot in simulation. Their characteristics were compared by observing their CPG phase convergence processes at different control parameter values. Additionally, the mechanisms were investigated when the robot faced various unexpected situations, such as noisy feedback, leg motor damage, and carrying a load. The comparative study reveals that the phase modulation and resetting mechanisms demonstrate satisfactory performance when they are subjected to symmetric and asymmetric GRF distributions, respectively. This work also suggests a strategy for the appropriate selection of adaptive interlimb coordination mechanisms under different conditions and for the optimal setting of their control parameter values to enhance their control performance.

  43. Wearable Vibration Sensor for Measuring the Wing Flapping of Insects Peer-reviewed

    Ryota Yanagisawa, Shunsuke Shigaki, Kotaro Yasui, Dai Owaki, Yasuhiro Sugimoto, Akio Ishiguro, Masahiro Shimizu

    Sensors　21　(593)　2021/01

  44. Leg amputation modifies coordinated activation of the middle leg muscles in the cricket Gryllus bimaculatus Peer-reviewed

    Dai Owaki, Hitoshi Aonuma, Yasuhiro Sugimoto, Akio Ishiguro

    Scientific Reports　11　(1327)　2021/01

  45. Quantitative Gait Assessment With Feature-Rich Diversity Using Two IMU Sensors Peer-reviewed

    Yonatan Hutabarat, Dai Owaki, Mitsuhiro Hayashibe

    IEEE Transactions on Medical Robotics and Bionics　2　(4)　639-648　2020/11

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/tmrb.2020.3021132 　

    eISSN： 2576-3202

  46. Ankle-foot orthosis with dorsiflexion resistance using spring-cam mechanism increases knee flexion in the swing phase during walking in stroke patients with hemiplegia. International-journal Peer-reviewed

    Yusuke Sekiguchi, Dai Owaki, Keita Honda, Kenichiro Fukushi, Noriyoshi Hiroi, Takeo Nozaki, Shin-Ichi Izumi

    Gait & posture　81　27-32　2020/07/02

    Publisher: Elsevier BV

    DOI： 10.1016/j.gaitpost.2020.06.029 　

    ISSN： 0966-6362

    More details Close

    BACKGROUND: Ankle-foot orthoses with plantarflexion resistance (AFO-Ps) improve knee flexion in the stance phase on the paretic side in patients with hemiparesis. However, AFO-Ps decrease ankle power generation in the late stance phase and do not improve the knee flexion in the swing phase based on insufficient push-off at the late stance, resulting in lower toe clearance. RESEARCH QUESTION: This study sought to investigate the effect of an AFO with dorsiflexion resistance, which was implemented by our developed device with spring-cam mechanism attached to the AFO-P (Gait Solution; Pacific Supply Co., Ltd., Japan), on kinetics and kinematics in the lower limb during gait in patients with hemiparesis. METHODS: Eleven patients with hemiparesis due to stroke walked on a 7-m walkway at a self-selected comfortable pace in the following conditions: (a) walking using the AFO-P with the proposed device with a spring-cam mechanism (AFO-PCAM), (b) walking using the AFO-P without our device (AFO-P), and (c) walking using no device (barefoot condition). Gait kinematics and kinetics were collected using a three-dimensional motion analysis system and four ground-reaction force plates. Changes in all parameters from the barefoot to AFO-PCAM and AFO-P conditions were compared using the Wilcoxon signed-rank test. RESULTS: In the AFO-PCAM condition, decrease in the maximum ankle power generation in the late-stance phase was significantly smaller than that in the AFO-P condition (p = 0.041). We noted a significant higher change in knee flexion in the paretic swing phase in the AFO-PCAM condition relative to that in the AFO-P condition (p = 0.016). The effect size for the comparisons of change was large (r ≧ 0.5). SIGNIFICANCE: Our device facilitated the realization of the ankle plantarflexion power in the late-stance phase because of dorsiflexion resistance, increasing the knee flexion angle during the swing phase.

  47. 動物の歩容遷移を再現する四脚ロボット Invited Peer-reviewed

    OWAKI Dai

    日本ロボット学会誌　37　14-19　2019/03

  48. 脚を切られても歩き続ける昆虫とロボット Invited

    OWAKI Dai

    昆虫と自然　54　31-34　2019/02

  49. 脚式ロコモーションに内在する制御メカニズムの解明を目指して Invited Peer-reviewed

    OWAKI Dai

    日本神経回路学会　24　(4)　162-171　2017/11

  50. A Minimal Model Describing Hexapedal Interlimb Coordination: The Tegotae-Based Approach Peer-reviewed

    Dai Owaki, Masashi Goda, Sakiko Miyazawa, Akio Ishiguro

    FRONTIERS IN NEUROROBOTICS　11　(29)　2017/06

    DOI： 10.3389/fnbot.2017.00029 　

    ISSN： 1662-5218

  51. A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping Peer-reviewed

    Dai Owaki, Akio Ishiguro

    SCIENTIFIC REPORTS　7　(277)　2017/03

    DOI： 10.1038/s41598-017-00348-9 　

    ISSN： 2045-2322

  52. Short-Term Effect of Prosthesis Transforming Sensory Modalities on Walking in Stroke Patients with Hemiparesis Peer-reviewed

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Akio Ishiguro, Shin-ichi Izumi

    NEURAL PLASTICITY　20　2016

    DOI： 10.1155/2016/6809879 　

    ISSN： 2090-5904

    eISSN： 1687-5443

  53. Simple robot suggests physical interlimb communication is essential for quadruped walking Peer-reviewed

    Dai Owaki, Takeshi Kano, Ko Nagasawa, Atsushi Tero, Akio Ishiguro

    JOURNAL OF THE ROYAL SOCIETY INTERFACE　10　(78)　2013/01

    DOI： 10.1098/rsif.2012.0669 　

    ISSN： 1742-5689

    eISSN： 1742-5662

  54. 脳卒中後の歩行障害の解明と機器開発

    関口 雄介, 本田 啓太, 大脇 大, 出江 紳一, 海老原 覚

    Medical Science Digest　50　(6)　341-343　2024/06

    Publisher: (株)ニュー・サイエンス社

    ISSN： 1347-4340

  55. 脳卒中片麻痺歩行の運動学的・運動力学的理解に基づく足関節装具の開発

    関口 雄介, 大脇 大, 本田 啓太, 出江 紳一

    臨床神経生理学　49　(5)　280-280　2021/10

    Publisher: (一社)日本臨床神経生理学会

    ISSN： 1345-7101

    eISSN： 2188-031X

  56. 脳卒中片麻痺歩行の運動学的・運動力学的理解に基づく足関節装具の開発

    関口 雄介, 大脇 大, 本田 啓太, 出江 紳一

    臨床神経生理学　49　(5)　280-280　2021/10

    Publisher: (一社)日本臨床神経生理学会

    ISSN： 1345-7101

    eISSN： 2188-031X

  57. 脳卒中片麻痺患者に対する聴覚フィードバックを伴うトレッドミル歩行練習が身体特異性注意及び動的安定性に与える影響 ランダム化比較試験

    関口 雄介, 会津 直樹, 大脇 大, 本田 啓太, 出江 紳一

    理学療法学　47　(Suppl.1)　13-13　2021/03

    Publisher: (公社)日本理学療法士協会

    ISSN： 0289-3770

    eISSN： 2189-602X

  58. Quantitative Evaluation of Muscle Activity on Upper Limbs in Daily Activities Using Wearable EMG Sensor System

    SUGAI Ryo, OTAKI Ryoji, OOUCHIDA Yutaka, HAYASHIBE Mitsuhiro, OWAKI Dai

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2021　2P2-D06　2021

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2021.2P2-D06 　

    More details Close

    <p>One of the factors declining the function of a paretic limb of stroke patients in chronic stage is a learned nonuse phenomenon, learning the disuse of the paretic limb due to clumsiness in daily-life usage of it.Learned non-use causes "negative" use-dependent plasticity in the brain, hence the brain area involved in motor control of the hemiplegic limb shrinks, leading to further functional decline of the hemiplegic limb, which in turn, makes recovery from paralysis more difficult. To resolve this issue, we designed a new rehabilitation system aiming to prevent the learned nonuse of the paretic limb in stroke patients by monitoring the usage of the paretic limb in daily life. As an initial step, the purpose of this study is to quantitatively evaluate the muscle activities of upper limbs in daily-life activities by using a wearable electromyograph (EMG) sensor system.</p>

  59. 片麻痺の歩行障害の運動学的理解と歩行訓練 関節の硬さから考える片麻痺患者の歩行再建

    関口 雄介, 大脇 大, 本田 啓太, 出江 紳一

    臨床神経生理学　48　(5)　414-414　2020/10

    Publisher: (一社)日本臨床神経生理学会

    ISSN： 1345-7101

    eISSN： 2188-031X

  60. Modeling and control of a hybrid wheeled legged robot: Disturbance analysis

    Fahad Raza, Dai Owaki, Mitsuhiro Hayashibe

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM　2020-　466-473　2020/07/01

    Publisher: Institute of Electrical and Electronics Engineers Inc.

    DOI： 10.1109/AIM43001.2020.9158833 　

  61. 産学連携による高齢者の動作理解に基づいた機器開発への挑戦 リハビリテーション医工学とNEC及びTOTO株式会社との取り組み

    出江 紳一, 関口 雄介, 本田 啓太, 大脇 大, 福司 謙一郎, 加藤 智久

    電子情報通信学会技術研究報告(MEとバイオサイバネティックス)　119　(452)　161-161　2020/02

    Publisher: (一社)電子情報通信学会

    ISSN： 0913-5685

    eISSN： 2432-6380

  62. Centipede Type Robot i-CentiPot: From Machine to Creatures Peer-reviewed

    Koichi Osuka, Tetsuya Kinugasa, Ryota Hayashi, Koji Yoshida, Dai Owaki, Akio Ishiguro

    Journal of Robotics and Mechatronics　31　(5)　723-726　2019/10/20

    Publisher: Fuji Technology Press Ltd.

    DOI： 10.20965/jrm.2019.p0723 　

    ISSN： 0915-3942

    eISSN： 1883-8049

    More details Close

    In this study, we have developed a centipede-like multi-legged robot named i-CentiPot. This robot was developed to demonstrate our concept presented in the CREST project. In the project, we show that the existence of implicit control is important. i-CentiPot plays the part of the anchor example for our project.* * This article is a translation from the article: K. Osuka et al., “Centipede type robot i-CentiPot: From machine to creatures,” The 8th Conf. of Transdisciplinary Federation of Science and Technology, D-2-4, 2017 (in Japanese).

  63. Spontaneous gait transition to high-speed galloping by reconciliation between body support and propulsion Peer-reviewed

    Akira Fukuhara, Dai Owaki, Takeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Advanced Robotics　32　794-808　2018/08

  64. Regulation of quasi-joint stiffness by combination of activation of ankle muscles in midstances during gait in patients with hemiparesis. International-journal Peer-reviewed

    Yusuke Sekiguchi, Takayuki Muraki, Dai Owaki, Keita Honda, Shin-Ichi Izumi

    Gait & posture　62　378-383　2018/05

    DOI： 10.1016/j.gaitpost.2018.03.042 　

    More details Close

    BACKGROUND: The regulation of ankle joint stiffness by combination of activation of plantarflexor and dorsiflexor during gait has not been investigated in patients with hemiparesis. The objective of the present study was to examine the relationship between combination of activation of ankle muscles and quasi-joint stiffness (QJS) during the stance phase of gait. METHODS: The activation of the medial head of the gastrocnemius (MG), soleus, and tibialis anterior, gait parameters were collected from 19 patients with hemiparesis due to stroke and from 12 healthy controls using a three-dimensional motion analysis system. The indexes of reciprocal activation and coactivation were calculated from the ratio of plantarflexor to dorsiflexor activation and magnitude of coactivation (MC), which is computed by multiplying an index of simultaneous activation of ankle muscles by plantarflexor activation. RESULTS: QJS was significantly correlated with MC of MG on the paretic side, whereas it correlated with the ratio of MG (r = 0.63, p < 0.05) in healthy controls and the ratio of MG (r = 0.67, p < 0.05) and soleus (r = 0.61, p < 0.05) on the non-paretic side in midstance. Furthermore, QJS on the paretic side was lower than that on the non-paretic side and in healthy controls (p < 0.05). SIGNIFICANCE: Our findings support that the regulation of QJS in midstance by reciprocal activation is altered on the paretic side, whereas it may be regulated by reciprocal activation and enhanced by relatively high activity of plantarflexor on the non-paretic side and in healthy controls.

  65. Myriapod robot i-centipot01 via passive dynamics

    T. Kinugasa, K. Osuka, N. Miyamoto, R. Hayashi, K. Yoshida, D. Owaki, A. Ishiguro

    Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017　375-382　2018

    Publisher: World Scientific Publishing Co. Pte. Ltd.

    DOI： 10.1142/9789813231047_0046 　

  66. 脚の切断状況に応じた歩行運動を生成可能な6脚ロボットの自律分散制御則

    宮澤咲紀子, 大脇大, 福原洸, 加納剛史, 石黒章夫

    第30回自律分散システムシンポジウム資料　127-131　2018

  67. モデルベーストリハビリテーションの基盤となるロボティクス技術 ー医工学連携研究を効果的に推進するための「マナー」と「コツ」ー Invited Peer-reviewed

    大脇大, 関口雄介, 本田啓太

    日本ロボット学会誌　35　29-34　2017/09

  68. Decentralized control mechanism underlying interlimb coordination of millipedes Peer-reviewed

    Takeshi Kano, Kazuhiko Sakai, Kotaro Yasui, Dai Owaki, Akio Ishiguro

    BIOINSPIRATION & BIOMIMETICS　12　(3)　18-28　2017/06

    DOI： 10.1088/1748-3190/aa64a5 　

    ISSN： 1748-3182

    eISSN： 1748-3190

  69. A Minimal Model for Body-limb Coordination in Quadruped Locomotion Peer-reviewed

    S. Suzuki, A. Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    Proceedings of The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　106-107　2017/06

  70. Gait Transition to Gallop via an Interlimb Coordination Mechanism Based on Tegotae from Body Support and Propulsion Peer-reviewed

    Akira Fukuhara, Dai Owaki, Thakeshi Kano, Ryo Kobayashi, Akio Ishiguro

    Proceedings of The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　80-81　2017/06

  71. Walking Rehabilitation Using Auditory Biofeedback Prosthesis for Stroke Patients Peer-reviewed

    Dai Owaki

    Proceedings of The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　2017/06

  72. Inter-limb coordination mechanism underlying sea roach's a uniqle gait transition

    池下義人, 加納剛史, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2017），講演論文集(CD-ROM)　1A1-E07　2017/05

  73. Development of a Quadruped Robot That Can Utilize Tegotae form Body Support and Propulsion

    福原洸, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2017），講演論文集(CD-ROM)　1A1-D09　2017/05

  74. Decentralized control scheme for myriapod robot inspired by adaptive and resilient centipede locomotion Peer-reviewed

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    PLOS ONE　12　(2)　e0171421　2017/02

    DOI： 10.1371/journal.pone.0171421 　

    ISSN： 1932-6203

  75. Robotics Technology Establishing the Bases for Model-based Rehabilitation

    Owaki Dai, Sekiguchi Yusuke, Honda Keita

    Journal of the Robotics Society of Japan　35　(7)　525-530　2017

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.35.525 　

  76. A Simple Body-limb Coordination Model that Mimics Primitive Tetrapod Walking Peer-reviewed

    Shura Suzuki, Akira Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)　12-14　2017

    DOI： 10.23919/SICE.2017.8105624 　

  77. Interlimb Coordination Control of Hexapod Locomotion Based on Tegotae from Body Support and Propulsion

    郷田将, 宮澤咲紀子, 大脇大, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　1-6　2017/01

  78. 身体支持と推進の手応えに基づく脚間協調制御則によるGallopへの歩容遷移

    福原洸, 大脇大, 加納剛史, 小林亮, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　46-50　2017/01

  79. An Ankle Foot Orthosis with Stiffness Change Using Spring-cam Mechanism

    OWAKI Dai, SEKIGUCHI Yusuke, HONDA Keita, HIROI Noriyoshi, FUKUSHI Ken-ichiro, NOZAKI Takeo, ISHIGURO Akio, IZUMI Shin-ichi

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)　2017　(0)　2P1-P11　2017

    Publisher: The Japan Society of Mechanical Engineers

    DOI： 10.1299/jsmermd.2017.2P1-P11 　

    More details Close

    <p>Decreased gait speed is one of challenges for patients with hemiparesis to be overcome during walking rehabilitation. Joint stiffness, i.e. resistance of the corresponding joint, which is defined as the ratio of its moment variation to its joint angle variation, is an essential factor to increase gait speed on walking in patients. Here, we propose an unconventional Ankle Foot Orthosis (AFO) that enables to change the joint stiffness in response to ankle flexion using spring-cam mechanism. In this maniscript, we verified the effect of developed orthosis on walking in one healthy subject. We confirmed the synergetic effect on inter-joint coordination, where increased ankle joint stiffness indirectly decreased both knee and hip joint stiffness, suggesting effectiveness for walking rehabilitation in patients.</p>

  80. Seamless Geit Transition from Low to High Speed Quadruped Locomotion by Changing the Contribution of Body Support and Propulsion

    福原洸, 大脇大, 加納剛史, 小林亮, 石黒章夫

    SICE東北支部第304回研究集会資料集　304-6-304-6　2016/10

  81. 感覚モダリティ変換装具Auditory Footを用いた片麻痺患者における長期的歩行リハビリテーション

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第10回モーターコントロール研究会予稿集　A29　2016/09

  82. A Case Study of Long-Term Walking Rehabilitation Using a Prosthesis That Transforms Sensory Modalities for Stroke Patients Peer-reviewed

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Akio Ishiguro, Shin-ichi Izumi

    Proceedings of the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’16)　2016/08

  83. A minimal model for interlimb coordination in cricket swimming locomotion

    宮澤咲紀子, 郷田将, 大脇大, 加納剛史, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-51-P-51　2016/08

  84. The Interlimb Coordination Mechanism in Isopoda

    池下義人, 大脇大, 加納剛史, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-52-P-52　2016/08

  85. 足部の接地部位に応じた「手応え」を活用する二足歩行制御則の提案

    秋山恭一, 大脇大, 石黒章夫

    第22回創発システム・シンポジウム講演資料集　P-56-P-56　2016/08

  86. 環境からの力覚情報を活用した自律分散型多脚ロボットの開発

    加納剛史, 安井浩太郎, 大脇 大, 石黒 章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2016），講演論文集(CD-ROM)　1A2-03b3　2016/06

  87. 「手応え関数」に基づく6 脚ロコモーションの自律分散制御則ー身体支持に着目した制御則設計ー

    郷田 将, 宮澤 咲紀子, 大脇 大, 加納 剛史, 石黒 章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2016），講演論文集(CD-ROM)　1A2-04a4　2016/06

  88. 「手応え関数」に基づく6脚ロコモーションの自律分散制御則 −推進力に着目した制御則設計−

    宮澤咲紀子, 郷田将, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2016），講演論文集(CD-ROM)　1A2-04a3　2016/06

  89. 局所反射に基づく多脚ロボットの脚間協調制御則

    安井浩太郎, 加納剛史, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2016），講演論文集(CD-ROM)　1A2-03b1　2016/06

  90. 頭部運動を活用した四脚ロボットのWalk-Pace-Rotary gallop間歩容遷移

    大脇大, 鈴木修羅, 福原洸, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2016），講演論文集(CD-ROM)　1A2-05a1　2016/06

  91. 「手応え関数」に基づく6脚歩行の脚間協調制御則の構築

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    SICE東北支部第300回研究集会資料集　2016/02

  92. Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback Peer-reviewed

    Takeshi Kano, Kotaro Yasui, Dai Owaki, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　449-453　2016

    DOI： 10.1007/978-3-319-42417-0_45 　

    ISSN： 0302-9743

  93. Understanding Interlimb Coordination Mechanism of Hexapod Locomotion via "TEGOTAE"-Based Control Peer-reviewed

    Masashi Goda, Sakiko Miyazawa, Susumu Itayama, Dai Owaki, Takeshi Kano, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　441-448　2016

    DOI： 10.1007/978-3-319-42417-0_44 　

    ISSN： 0302-9743

  94. "TEGOTAE"-Based Control of Bipedal Walking Peer-reviewed

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　472-479　2016

    DOI： 10.1007/978-3-319-42417-0_49 　

    ISSN： 0302-9743

  95. Quadruped Gait Transition from Walk to Pace to Rotary Gallop by Exploiting Head Movement Peer-reviewed

    Shura Suzuki, Dai Owaki, Akira Fukuhara, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　532-539　2016

    DOI： 10.1007/978-3-319-42417-0_58 　

    ISSN： 0302-9743

  96. Leg Stiffness Control Based on "TEGOTAE" for Quadruped Locomotion Peer-reviewed

    Akira Fukuhara, Dai Owaki, Takeshi Kano, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　79-84　2016

    DOI： 10.1007/978-3-319-42417-0_8 　

    ISSN： 0302-9743

  97. 足底感覚情報を用いた二足歩行制御の環境適応性に関する検証

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    システム・情報部門学術講演会2015 講演プログラム　2016/01

  98. 「手応え関数」に基づく適応的二足歩行制御

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　2016/01

  99. 環境からの力覚情報を活用した多足類型ロボットの脚間協調制御

    酒井和彦, 安井浩太郎, 加納剛史, 大脇大, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　67-72　2016/01

  100. 「手応え関数」に基づく6脚歩行の脚間協調制御則の設計

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　193-198　2016/01

  101. 頭部運動の活用による四脚ロコモーションの歩容遷移

    鈴木朱羅, 福原 洸, 大脇大, 石黒章夫

    第28回自律分散システムシンポジウム予稿集　112-115　2016/01

  102. 足底圧感覚の聴覚フィードバック装具がもたらす片麻痺患者の歩行への即時的効果

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第28回自律分散システムシンポジウム予稿集　5-8　2016/01

  103. Decentralized Control Scheme for Centipede Locomotion Based on Local Reflexes Peer-reviewed

    Kotaro Yasui, Takeshi Kano, Dai Owaki, Akio Ishiguro

    BIOMIMETIC AND BIOHYBRID SYSTEMS, LIVING MACHINES 2016　9793　545-547　2016

    DOI： 10.1007/978-3-319-42417-0_60 　

    ISSN： 0302-9743

  104. ムカデのロコモーションに内在する自律分散制御則

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    SICE東北支部第299回研究集会資料集　2015/12

  105. Hereditary sensory and autonomic neuropathy types 4 and 5: review and proposal of a new rehabilitation method Peer-reviewed

    Arito Yozu, Nobuhiko Haga, Tetsuro Funato, Dai Owaki, Ryosuke Chiba, Jun Ota

    Neuroscience Research　104　105-111　2015/11/10

    DOI： 10.1016/j.neures.2015.10.011. 　

  106. Development of a measurement and real-time display system for kinematics and muscle synergy of gait Peer-reviewed

    Arito Yozu, Tetsuro Funato, Dai Owaki, Nobuhiko Haga

    Proc. of 2015International Symposium on Micro-NanoMachatronics and Human Science(MHS2015)　38-39　2015/11

  107. New Hypothesis for the Mechanism of Quadruped Gait Transition Peer-reviewed

    Takeshi Kano, Dai Owaki, Akira Fukuhara, Ryo Kobayashi, Akio Ishiguro

    Proc. of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　275-278　2015/10

  108. TEGOTAE-based decentralized control mechanism underlying myriapod locomotion Peer-reviewed

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    Proc. of The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　page not shown　2015/10

  109. Decentralized Control Mechanism Underlying Myriapod Locomotion

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    第25回数理生物学会年会要旨集　P-27　2015/08

  110. 環境からの手応えを活用する多足類の脚間協調制御

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    第21回創発システム・シンポジウム講演資料集　P-07　2015/08

  111. 環境を友とする四脚ロボット

    鈴木朱羅, 大脇大, 石黒章夫

    第21回創発システム・シンポジウム講演資料集　P-10　2015/08

  112. 脚間の力学的相互作用および情報的相互作用を用いた六脚ロボットの歩行制御

    郷田 将, 大脇 大, 加納 剛史, 青沼 仁志, 石黒 章夫

    第21回創発システム・シンポジウム講演資料集　P-13　2015/08

  113. 8～14脚を有する動物の脚間協調メカニズム

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    第21回創発システム・シンポジウム講演資料集　P-14　2015/08

  114. 関節剛性が四脚ロコモーションへ及ぼす影響に関する考察

    福原洸, 大脇大, 加納剛史, 石黒章夫

    第21回創発システム・シンポジウム講演資料集　P-15　2015/08

  115. Cricket switches locomotion patterns from walking to swimming by evaluating reaction forces from the environment Peer-reviewed

    Hitoshi Aonuma, Masashi Goda, Shigeru Kuroda, Takeshi Kano, Dai Owaki, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  116. Experimental Verification of Bipedal Walking Control Exploiting Plantar Sensory Feedback Peer-reviewed

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  117. Implicit Stiffness Control Embedded in Nonlinear Spring Enables Stable and Robust Running Peer-reviewed

    Dai Owaki, Helmut Hauser, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  118. TEGOTAE-based CPG Control for Quadrupd Locomotion Peer-reviewed

    Dai Owaki, Shura Suzuki, Akio Ishiguro

    Proceedings of The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06

  119. Experimental Varification of Bipedal Walking Control That Exploits Plantar Sensation

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015），講演論文集(CD-ROM)　2A2-S04　2015/05

  120. Tegotae-based CPG Control of Quadruped Robot

    鈴木朱羅, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015），講演論文集(CD-ROM)　2A2-S01　2015/05

  121. An Examination of Effects of Stiffness of Body Links for Interlimb Coordination in Quadrupedal Locomotion

    福原洸, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015），講演論文集(CD-ROM)　2A2-T01　2015/05

  122. TEGOTAE-based Interlimb Coordination underlying Multi-legged Robot

    酒井和彦, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015），講演論文集(CD-ROM)　2A2-S06　2015/05

  123. ミニマルなCPGモデルから探る四脚動物の脚間協調メカニズム

    大脇 大, 石黒 章夫

    計測と制御　54　(4)　272-277　2015/04

    Publisher: 計測自動制御学会

    DOI： 10.11499/sicejl.54.272 　

    ISSN： 0453-4662

  124. Auditory foot: A novel auditory feedback system regarding kinesthesia. Peer-reviewed

    Dai Owaki, Yusuke Sekiguchi, Akio Ishiguro, Shin-Ichi Izumi

    Proc. of 2015International Symposium on Micro-NanoMachatronics and Human Science(MHS2015)　1-3　2015

    Publisher: IEEE

    DOI： 10.1109/MHS.2015.7438295 　

  125. 足底感覚から生み出される「足応え」を活用した適応的二足歩行制御

    堀切舜哉, 大脇 大, 西井 淳, 石黒章夫

    第20回創発システム・シンポジウム講演資料集　45-45　2014/08

  126. 脚間協調現象に内在する通底原理の解明のための多脚ロボット実機プラットフォームの開発

    酒井和彦, 大脇大, 加納剛史, 石黒章夫

    第20回創発システム・シンポジウム講演資料集　51-51　2014/08

  127. Mechanism of Quadruped Gait Transition Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Dynamic Walking 2014　T308　2014/06

  128. Neural communication vs. physical communication between limbs: Which is essential for hexapod walking? Peer-reviewed

    Akio Ishiguro, Ken Nakamura, Takeshi Kano, Dai Owaki

    Dynamic Walking 2014　T406　2014/06

  129. Reconsidering Interlimb Coordination Mechanism of Hexapod Locomotionfrom Quadruped Locomotion

    中村憲, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2014），講演論文集(CD-ROM)　1A1-W03　2014/05

  130. Generation Mechanism of Canter Gait

    大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2014），講演論文集(CD-ROM)　1A1-V02　2014/05

  131. Adaptive Walking Control of Bipedal Robot by Exploiting Plantar Sensation Generated from Deformable Feet

    大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2014），講演論文集(CD-ROM)　1P2-U05　2014/05

  132. CPG-BASED CONTROL OF BIPEDAL WALKING BY EXPLOITING PLANTAR SENSATION Peer-reviewed

    D. Owaki, A. Ishiguro

    MOBILE SERVICE ROBOTICS　335-342　2014

  133. A Simple Measure for Evaluating Gait Patterns during Multi-Legged Locomotion Peer-reviewed

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    The SICE Journal of Control, Measurement, and System Integration　7　214-218　2014

    DOI： 10.9746/jcmsi.7.214 　

  134. Emergence of Dynamical Order in Heterogeneous Multi-body Systems - A Case Study with the Formation of Friendship in Human Society -

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム資料集　243-248　2014/01

  135. On the Minimalist Model of Inter-limb Coordination Mechanism of Hexapod Locomotion

    中村憲, 大脇大, 加納剛史, 石黒章夫

    第26回自律分散システムシンポジウム資料集　209-212　2014/01

  136. 自発的歩容遷移を可能とする四脚ロボットのCPG制御

    森川玲於奈, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム資料集　133-136　2014/01

  137. CPG-based Control of Bipedal Robot That Exploits Plantar Sensation

    福田裕樹, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム資料集　205-208　2014/01

  138. Stabilization mechanism underlying passive dynamic running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    ADVANCED ROBOTICS　27　(18)　1399-1407　2013/12

    DOI： 10.1080/01691864.2013.839087 　

    ISSN： 0169-1864

    eISSN： 1568-5535

  139. Nonlinearity in Ankle Elasticity Enhances Robustness on Bipedal Walking Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Workshop Digest of 2013 International Workshop pn Soft Robotics and Morphological Computation　P-9　2013/07

  140. Why do quadrupeds exhibits exclusively either trot or pace gaits? Peer-reviewed

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    Dynamic Walking 2013　2013/06

  141. What is the key to postural stabilization on bipedal walking? Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Dynamic Walking 2013　2013/06

  142. 筋肉群の協働的励起に基づく立位姿勢制御

    福田裕樹, 大脇大, 西井淳, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2013）講演論文集　2A1-I06　2013/05

  143. 脚間の力学的相互作用を活用した 6 脚ロボットの CPG 制御

    中村憲, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2013）講演論文集　2A1-O07　2013/05

  144. 脚間の力学的相互作用を活用したCPG制御に基づく筋駆動四脚ロボット

    森川玲於奈, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2013）講演論文集　2A1-O06　2013/05

  145. Role of Passive Properties in Producing Adaptive Motion in Robotic and Biological Systems Invited Peer-reviewed

    Manny Azizi, Dai Owaki

    Proc. of 6th International Symposium on Adaptive Motion of Animals and Machines　2013/03

  146. From Walk to Trot to Bound: Quadruped Gait Transition Induced by Simple Local Force Feedback Mechanism Peer-reviewed

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    Proc. of 6th International Symposium on Adaptive Motion of Animals and Machines　2013/03

  147. 身体の力学的特性に応じた歩容生成を可能とするCPGモデル —トロット歩容とペース歩容の排他的発現の実験的検証−

    森川玲於奈, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　2012/09

  148. ミニマリストな CPG モデルから探る二脚ロコモーションに内在する脚間協調と脚内協調の発現機序

    福田裕樹, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会，予稿集(CD-ROM)　2012/09

  149. 脚間協調と脚内協調の有機的整合が可能なCPGに基づく四脚ロコモーション制御

    彌本一輝, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2012），講演論文集(CD-ROM)　2P1H01-2P1H01　2012/05

  150. Gait Transition of Quadruped Robot without interlimb neural connections Peer-reviewed

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    Dynamic Walking2012　2012/05

  151. Soft Deformable Feet Yield Sensory-motor Coordination for Adaptive Bipedal Walking Peer-reviewed

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    Dynamic Walking2012　2012/05

  152. 脚間の力学的相互作用を活用したCPG制御に基づく四脚歩容遷移の実験的検証

    森川玲於奈, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2012），講演論文集(CD-ROM)　2P1-H02-2P1-H02　2012/05

  153. 足部の表在感覚情報をCPG制御に活用した適応的二脚歩行の実験的検証

    福田裕樹, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2012），講演論文集(CD-ROM)　2P1-H03-2P1-H03　2012/05

  154. Reconsidering Inter- and Intra-limb Coordination Mechanisms in Quadruped Locomotion Peer-reviewed

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　4873-4878　2012

    DOI： 10.1109/IROS.2012.6385598 　

    ISSN： 2153-0858

  155. Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion Peer-reviewed

    Dai Owaki, Takeshi Kano, Atsushi Tero, Masakazu Akiyma, Akio Ishiguro

    The 12th International Conference on Intelligent Autonomous Systems (IAS12)　F1A-S. 5-F1A-S. 5　2012

  156. Listen to Body's Message: Quadruped Robot That Fully Exploits Physical Interaction between Legs Peer-reviewed

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　1943-1948　2012

    DOI： 10.1109/IROS.2012.6385857 　

    ISSN： 2153-0858

  157. Adaptive Bipedal Walking through Sensory-motor Coordination Yielded from Soft Deformable Feet Peer-reviewed

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　4257-4263　2012

    DOI： 10.1109/IROS.2012.6385894 　

    ISSN： 2153-0858

  158. Decentralized Control Scheme That Enables Well-balanced Coupling between Inter-limb and Intra-limb Coordination for Quadruped Locomotion

    糸澤祐太, 彌本一輝, 大脇大, 加納剛史, 石黒章夫

    第24回自律分散システム・シンポジウム予稿集　15-20　2012/01

  159. A CPG-based Control of Bipeda Locomotion by Exploiting Defrmable Feet Peer-reviewed

    Dai Owaki, Shota Kubo, Akio Ishiguro

    Proc. of the 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　79-80　2011/10

  160. A CPG-based Decentralized Control by Exploiting Spontaneous Transition between Oscillayory and Exitatory Regimes Peer-reviewed

    Dai Owaki, Kou Nagasawa, Takeshi Kano, Atsuchi Tero, Akio Ishiguro

    Proc. of Dynamic Walking 2011　2011/07

  161. A CPG-based Adaptive Control of Bipeda Locomotion by Swtching between Ocsillayory and Exitatory Regimes Peer-reviewed

    Dai Owaki, Shota Kubo, Akio Ishiguro

    Proc. of Dynamic Walking 2011　2011/07

  162. Experimental Verification of Adaptive Quadrupedal Contro Based on Spontaneous Transition between Oscillatory and Excitatory Regimes

    長澤 昂, 加納 剛史, 大脇 大, 手老 篤史, 石黒 章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）予稿集　2P2-K03　2011/05

  163. Experimental Verification of Decentralized Control That Enables Well-balanced Coupling between Phasic and Tonic Control-A Case Study with a Real Quadruped Robot-

    糸澤祐太, 佐藤貴英, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）予稿集　2P2-J16　2011/05

  164. A CPG-based Control of Bipedal Locomotion by Exploiting Deformable Feet with Plantar Aponeurosis

    大脇大, 熊原渉, 久保翔達, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）予稿集　2P2-I08　2011/05

  165. Adaptive Bipedal Walking Based on Spontaneous Transition between Oscillatory and Excitatory Regimes by Exploiting Sensory Information Stemming from Deformable Feet

    久保翔達, 熊原渉, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）予稿集　2P2-K01　2011/05

  166. A 2-D Passive-Dynamic-Running Biped With Elastic Elements Peer-reviewed

    Dai Owaki, Masatoshi Koyama, Shin&apos;ichi Yamaguchi, Shota Kubo, Akio Ishiguro

    IEEE TRANSACTIONS ON ROBOTICS　27　(1)　156-162　2011/02

    DOI： 10.1109/TRO.2010.2098610 　

    ISSN： 1552-3098

  167. An Oscillator Model That Enables Motion Stabilization and Motion Exploration by Exploiting Multi-Rhythmicity Peer-reviewed

    Dai Owaki, Satoshi Ishida, Atsushi Tero, Kentaro Ito, Koh Nagasawa, Akio Ishiguro

    ADVANCED ROBOTICS　25　(9-10)　1139-1158　2011

    DOI： 10.1163/016918611X574650 　

    ISSN： 0169-1864

  168. 柔軟な足の変形から生み出される感覚情報を活用した 適応的二脚歩行制御

    久保翔達, 熊原渉, 加納剛史, 大脇大, 石黒章夫

    第22回自律分散システム・シンポジウムProceedings　247-252　2011/01

  169. Experimental Verification of Applicability of Decentralized Control Scheme Extracted from True Slime Mold- A Case Study with a Real Physical Quadruped Robot -

    長澤昂, 加納剛史, 大脇大, 手老篤史, 石黒章夫

    第22回自律分散システム・シンポジウムProceedings　51-56　2011/01

  170. Coupling between Explicit and Implicit Control That Enables Stable Pseudo-passive Dynamic Running

    山口伸一, 久保翔達, 大脇大, 杉本靖博, 大須賀公一, 石黒章夫

    計測自動制御学会SI部門講演会SI2010予稿集　715-718　2010/12

  171. Development of a Quadruped Robot Using Decentralized Control Scheme Extracted from True Slime Mold

    長澤昂, 加納剛史, 大脇大, 手老篤史, 石黒章夫

    計測自動制御学会SI部門講演会SI2010予稿集　418-421　2010/12

  172. Enhancing the Stability of Passive Dynamic Runner by Exploiting the Upper Body

    大脇大, 久保翔達, 山口伸一, 手老篤史, マウスモリツ, モフロァクリストフ, サイファートアンドレ, 石黒章夫

    第53回自動制御連合講演会予稿集　284-289　2010/11

  173. A CPG-based decentralized control of a quadruped robot based on discrepancy function Peer-reviewed

    Takeshi Kano, Koh Nagasawa, Dai Owaki, Atsushi Tero, Akio Ishiguro

    Proc. of CLAWAR2010　157-164　2010/09

  174. 運動安定化と運動探索をシームレスに統合可能なマルチリズミックオシレータモデルの提案 -一次元ホッピングロボットの跳躍運動への適用- Peer-reviewed

    大脇大, 坂井善行, 石田怜, 手老篤史, 石黒章夫

    計測自動制御学会論文集　46　(9)　562-571　2010/09

    Publisher:

    DOI： 10.9746/sicetr.46.562 　

    ISSN： 0453-4654

  175. A Two-dimensional Passive Dynamic Runing Biped with Kees Peer-reviewed

    Dai Owaki, Masatoshi Koyama, Shin'ichi Yamaguchi, Shota Kubo, Akio Ishiguro

    Proc. of 2010 IEEE International Conference on Robotics and Automation　5237-5242　2010/06

    DOI： 10.1109/ROBOT.2010.5509166 　

  176. Implicit Control Law Embedded in Control System Solves Problem of Adaptive Function!?

    大須賀公一, 石黒章夫, ZHENG Xin‐Zhi, 杉本靖博, 大脇大

    日本ロボット学会誌　28　(4)　491-502　2010/05/15

    Publisher: The Robotics Society of Japan

    DOI： 10.7210/jrsj.28.491 　

    ISSN： 0289-1824

    More details Close

    In this note, we consider a control system that underlies in a biological system. We point out the existence of the Problem of Inseparability in the control system. To understand the principle of mobile adaptability embedded in the control system, we have to solve the Problem of Indivisibility. To solve the problem, we propose a concept of Implicit control law. Finally, we show the Implicit control law plays an important role for constructing the adaptive function of living thing and robot.

  177. 制御系に埋め込まれた陰的制御則が適応機能の鍵を握る！？

    大須賀公一, 石黒章夫, 鄭心知, 杉本靖博, 大脇大

    日本ロボット学会誌　28　(4)　123-134　2010/05

  178. Implicit Control Law in passive dynamic walking

    Koichi Osuka, Yasuhiro Sugimoto, Akio Ishiguro, Dai Owaki, Xin-Zhi Zheng

    Proceedings of the SICE Annual Conference　2788-2789　2010

    Publisher: Society of Instrument and Control Engineers (SICE)

  179. A TWO-DIMENSIONAL PASSIVE DYNAMIC RUNNER WITH UPPER BODY Peer-reviewed

    D. Owaki, S. Kubo, S. Yamaguchi, A. Ishiguro, A. Tero, H-M Maus, C. Maufroy, A. Seyfarth

    EMERGING TRENDS IN MOBILE ROBOTICS　622-630　2010

  180. A CPG-based Decentralized Control of a Quadruped Robot Inspired by True Slime Mold Peer-reviewed

    Takeshi Kano, Koh Nagasawa, Dai Owaki, Atsushi Tero, Akio Ishiguro

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　4928-4933　2010

    DOI： 10.1109/IROS.2010.5650318 　

    ISSN： 2153-0858

  181. Dual Structure of Mobiligence -Implicit Control and Explicit Control- Peer-reviewed

    Koichi Osuka, Akio Ishiguro, Xin-Zhi Zheng, Yasuhiro Sugimoto, Dai Owaki

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　2407-2412　2010

    DOI： 10.1109/IROS.2010.5653968 　

    ISSN： 2153-0858

  182. Understanding the Common Principle underlying Passive Dynamic Walking and Running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3208-3213　2009

  183. An Oscillator Model That Can Self-tune Frequency and Phase by Exploiting Multi-rhythmicity -A Case Study with a One-dimensional Hopping Robot-

    坂井 善行, 石田 怜, 大脇 大, 手老 篤史, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　3O1-02　2008/09/09

  184. Understanding of the Stabilization Mechanism underlying Passive Dynamic Running

    大脇 大, 大須賀 公一, 石黒 章夫

    第26回 日本ロボット学会学術講演会 予稿集　3B1-09　2008/09/09

    More details Close

    日本ロボット学会 第24回研究奨励賞<br /> 受賞日：2009年9月16日

  185. On the embodiment that enables passive dynamic bipedal running Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　341-+　2008

    ISSN： 1050-4729

  186. Gait Transition between Passive Dynamic Walking and Running by Changing the Body Elasticity Peer-reviewed

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7　2412-+　2008

  187. Mechanical Dynamics that Enables Stable Passive Dynamic Bipedal Running -Enhancing Self-Stability by Exploiting Nonlinearity in the Leg Elasticity- Peer-reviewed

    Dai Owaki, Akio Ishiguro

    Journal of Robotics and Mechatronis　2007/08

  188. Efficient and Adaptive Control of Walking Biped by Exploiting a Pulsed-CPG Peer-reviewed

    D. Owaki, Y. Matsuno, A. Ishiguro

    2007 IEEE/ICME International Conference on Complex Medical Engineering　111-115　2007

  189. Enhancing stability of a passive dynamic running biped by exploiting a nonlinear spring Peer-reviewed

    Dai Owaki, Akio Ishiguro

    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　4923-+　2006

  190. ウェルバランスト・コントロールを目指して－受動歩行機械を起点とした一考察－

    石黒章夫, 大脇大

    システム/制御/情報　49　(10)　417-422　2005

    Publisher: Institute of Systems, Control and Information Engineers

    ISSN： 0916-1600

Show all ︎Show first 5

Misc. 9

  1. 脳卒中片麻痺患者に対する足底圧感覚の聴覚フィードバックを伴うトレッドミル歩行練習の効果

    本田啓太, 関口雄介, 大脇大, 会津直樹, 出江紳一

    日本ニューロリハビリテーション学会学術集会プログラム・抄録集　9th　59　2018

  2. 慢性期脳卒中片麻痺者の麻痺足の身体特異性注意の特性

    会津直樹, 大内田裕, 関口雄介, 本田啓太, 大脇大, 出江紳一

    日本ニューロリハビリテーション学会学術集会プログラム・抄録集　9th　62　2018

  3. 脳卒中片麻痺患者の歩行中における水平面上の回転方向の身体制御と運動耐用能およびバランス能力との関連について

    関口雄介, 本田啓太, 大脇大, 出江紳一

    日本ニューロリハビリテーション学会学術集会プログラム・抄録集　9th　65　2018

  4. ウェアラブル歩行解析を実現する床反力・足圧中心位置推定技術

    福司謙一郎, 関口雄介, 本田啓太, 大脇大, 野崎岳夫, 出江紳一

    日本ニューロリハビリテーション学会学術集会プログラム・抄録集　9th　64　2018

  5. 足底圧感覚の聴覚フィードバック装具が脳卒中片麻痺患者の歩行安定性に及ぼす影響

    本田啓太, 関口雄介, 大脇大, 出江紳一, 出江紳一

    バイオメカニズム学術講演会予稿集　38th　145‐146-146　2017/11/04

    Publisher: バイオメカニズム学会

  6. 弾性調整型股関節装具と足関節装具の組み合わせが脳卒中片麻痺患者の歩行に及ぼす効果について

    関口 雄介, 大脇 大, 本田 啓太, 広井 典良, 福司 謙一郎, 野崎 岳夫, 出江 紳一

    バイオメカニズム学術講演会予稿集　38回　159-160　2017/11

    Publisher: バイオメカニズム学会

  7. 足底圧感覚の聴覚フィードバック装具が脳卒中片麻痺患者の歩行安定性に及ぼす影響

    本田 啓太, 関口 雄介, 大脇 大, 出江 紳一

    バイオメカニズム学術講演会予稿集　38回　145-146　2017/11

    Publisher: バイオメカニズム学会

  8. 弾性調整型股関節装具と足関節装具の組み合わせが脳卒中片麻痺患者の歩行に及ぼす効果について

    関口 雄介, 大脇 大, 本田 啓太, 広井 典良, 福司 謙一郎, 野崎 岳夫, 出江 紳一

    バイオメカニズム学術講演会予稿集　38回　159-160　2017/11

    Publisher: バイオメカニズム学会

  9. カム-バネ継手付きゲイトソリューションが脳卒中片麻痺患者の歩行パフォーマンスに及ぼす効果について

    関口雄介, 大脇大, 本田啓太, 広井典良, 福司謙一郎, 野崎岳夫, 出江紳一

    日本義肢装具学会誌　33　2017

    ISSN： 0910-4720

Show all ︎Show first 5

Books and Other Publications 3

  1. 教えて！ クラゲのほんと: 世界一のクラゲ水族館が答える100の質問

    鶴岡市立加茂水族館

    緑書房　2024/10/30

    ISBN: 486811008X

  2. 身体性システムとリハビリテーションの科学1 運動制御

    太田, 順, 内藤, 栄一, 芳賀, 信彦 (リハビリテーション医学)

    東京大学出版会　2018/11/19

    ISBN: 4130644017

  3. ロボット制御学ハンドブック

    大脇大, 石黒章夫

    近代科学社　2016

Presentations 184

  1. Embodied Intelligence: A New Paradigm for System & Control（身体性知能とシステム・制御） Invited

    大脇大, 増田容一, 福原洸

    ロボティクス・メカトロニクス講演会2025シンポジウム『 “いいかげん”を科学して未来を創るソフトロボット学6』　2025/06/04

  2. 運動への介入から紐解く生物の潜在的適応能 Invited

    大脇大

    第一回システム行動学研究会　2025/05/31

  3. A Jellyfish Cyborg Exploiting Natural Embodied Intelligence Invited

    Dai Owaki, Max Austin, Shuhei Ikeda, Kazuya Okuizumi, Kohei Nakajima

    SWARM2024 in September, Workshop on EMBODIED LOCOMOTION MECHANISMS IN ANIMALS AND ROBOTS: FROM MORPHOLOGICAL TO NEURAL COMPUTATIONS　2024/09/18

  4. Post-amputation Gait Recovery with Prosthetic Legs in the Cricket - a Robotics-inspired Approach Invited

    Dai Owaki, Hitoshi Aonuma

    International Congress on Entomology　2024/08/30

  5. Spatiotemporal Pulsatile Floating Pattern Analysis for Cyborg Jellyfish Control

    Dai Owaki, Max Austin, Shuhei Ikeda, Kazuya Okuizumi, Kohei Nakajima

    International Congress on Neuroethology　2024/07/30

  6. Motion Hackingによるミズクラゲの浮遊運動の理解と制御 Invited

    大脇大

    ロボティクス・メカトロニクス講演会2024シンポジウム『 “いいかげん”を科学して未来を創るソフトロボット学5』　2024/05/29

  7. 脳卒中患者のデータ駆動型AI歩行診断システムの開発と展望 Invited

    大脇大

    第20回日本神経理学療法学会学術大会　2022/10/15

  8. Robotic and Biological Interlimb Coordination Invited

    Dai Owaki

    Dynamic Walking 2021　2021/06/11

  9. Motion Hacking –Toward Control of Insect Walking– International-presentation

    D. Owaki, V. Durr, J. Schmitz

    The 9th International Symposium on Adaptive Motion of Animals and Machines (AMAM2019)　2019/08

  10. Motion Hacking: A Method for Interference with Neural Control of Walking, Based on External Muscle Stimulation in Stick Insects International-presentation

    D. Owaki, V. Durr, J. Schmitz

    The 13th Gottingen Meeting of the German Neuroscience Society　2019/03/23

  11. Long-term Effect of Auditory Biofeedback Prosthesis on Walking in Stroke Patients International-presentation Invited

    Dai Owaki

    The 2nd International Symposium on Embodied-Brain Systems Science (EmboSS 2018)　2018/12/06

  12. Change in Electromyographic Patterns After Leg Amputation in the Cricket International-presentation Invited

    D. Owaki, Y. Sugimoto, A. Ishiguro, H. Aonuma

    ICN2018　2018/07

  13. 昆虫を創りたい！？ －ロボット工学の限界と可能性－ Invited

    OWAKI Dai

    日本比較生理生化学会 第39回福岡大会 若手の会「秋の合宿」　2017/11/24

  14. Inter and intralimb coordination for adaptive bipedal walking: Tegotae-based approach International-presentation Invited

    Dai Owaki

    SWARM2017 Workshop on Bio-inspired control for interlimb coordination and adaptation in legged robots,　2017/10/29

  15. Motion Hacking: Understanding by Controlling Jellyfish Pulsatile Locomotion Invited

    Dai Owaki

    Symposium: Adaptive behavior and its ecological foundations 2025　2025/02/21

  16. Motion Hacking -昆虫の歩行を制御する研究-

    D. Owaki, V. Durr, J. Schmitz

    第31回自律分散システム・シンポジウム　2019/01/24

  17. Motion Hacking: Joint Torque Control Based on External Electrostimulation of Leg Muscles in the Stick Insects

    D. Owaki, V. Durr, J. Schmitz

    Japanese Society of Comparative Physiology and Biochemistry 2018　2018/11/23

  18. Change in coordinated motor patterns after leg amputation in the cricket

    D. Owaki, Y. Sugimoto, A. Ishiguro, H. Aonuma

    Japanese Society of Comparative Physiology and Biochemistry 2017　2017/11/24

  19. ロボティクス技術がもたらすモデルベースト・リハビリテーション基盤 Invited

    OWAKI Dai

    第2回「身体性システム」公開シンポジウム　2017/10/14

  20. A Minimal Model for Body-limb Coordination in Quadruped Locomotion International-presentation

    S. Suzuki, A. Fukuhara, Dai Owaki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

    The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　2017/06/27

  21. Walking Rehabilitation Using Auditory Biofeedback Prosthesis for Stroke Patients International-presentation Invited

    Dai Owaki

    The 8th International Symposium on Adaptive Motion of Animals and Machines（AMAM2017)　2017/06/27

  22. フナムシ特有の歩容変化から学ぶ脚間協調制御則

    池下義人, 加納剛史, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2017）　2017/05/10

  23. Spring-cam機構を用いた可変剛性足関節装具

    大脇大, 関口雄介, 本他啓太, 広井典良, 福司謙一郎, 野崎岳夫, 石黒章夫, 出江紳一

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2017）　2017/05/10

  24. 身体支持と推進のTegotaeに基づく6 脚ロコモーションの脚間協調制御則

    郷田将, 宮澤咲紀子, 大脇大, 石黒章夫

    第29回自律分散システム・シンポジウム　2017/01/30

  25. 身体支持と推進の手応えに基づく脚間協調制御則によるGallopへの歩容遷移

    福原洸, 大脇大, 加納剛史, 小林亮, 石黒章夫

    第29回自律分散システム・シンポジウム　2017/01/30

  26. 身体の支持と推進の寄与変化に基づく低速から高速へのシームレスな四脚歩容遷移の実現

    福原洸, 大脇大, 加納剛史, 小林亮, 石黒章夫

    SICE東北支部第304回研究集会　2016/10/21

  27. 班間連携による筋シナジーベーストリハビリテーションに向けた取り組み Invited

    身体性システム講演会　2016/09/15

  28. 感覚モダリティ変換装具Auditory Footを用いた片麻痺患者における長期的歩行リハビリテーション

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第10回モーターコントロール研究会　2016/09/01

  29. ミニマルな脚間協調制御則でコオロギの遊泳ロコモーションの再現に挑む

    宮澤咲紀子, 郷田将, 大脇大, 加納剛史, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  30. 等脚類の脚間協調メカニズム

    池下義人, 大脇大, 加納剛史, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  31. 足部の接地部位に応じた「手応え」を活用する二足歩行制御則の提案

    秋山恭一, 大脇大, 石黒章夫

    第22回創発システムシンポジウム　2016/08/24

  32. A Case Study of Long-Term Walking Rehabilitation Using a Prosthesis That Transforms Sensory Modalities for Stroke Patients International-presentation

    Dai Owaki, Yusuke Sekiguchi, Keita Honda, Akio Ishiguro, Shin-ichi Izumi

    The 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’16)　2016/08/16

  33. Decentralized Control Scheme for Myriapod Locomotion That Exploits Local Force Feedback International-presentation

    T. Kano, K. Yasui, D. Owaki, A. Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  34. Understanding Interlimb Coordination Mechanism of Hexapod Locomotion via “TEGOTAE”-based Control International-presentation

    Masashi Goda, Sakiko Miyazawa, Susumu Itayama, Dai Owaki, Takeshi Kano, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  35. Decentralized Control Scheme for Centipede Locomotion Based on Local Reflexes International-presentation

    Kotaro Yasui, Takeshi Kano, Dai Owaki, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  36. "TEGOTAE"-based Control of Bipedal Walking International-presentation

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  37. Quadruped Gait Transition from Walk to Pace to Rotary Gallop by Exploiting Head Movements International-presentation

    Shura Suzuki, Dai Owaki, Akira Fukuhara, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  38. Leg Stiffness Control Based on "TEGOTAE" for Quadruped Locomotion International-presentation

    Akira Fukuhara, Dai Owaki, Takeshi Kano, Akio Ishiguro

    5th International Conference, Living machines 2016　2016/07/19

  39. 局所反射に基づくムカデの脚間協調制御則

    安井浩太郎, 加納剛史, 大脇大, 石黒章夫

    東北大学附置研究所若手アンサンブルワークショップ　2016/07/12

  40. 環境からの力覚情報を活用した自律分散型多脚ロボットの開発

    加納剛史, 安井浩太郎, 大脇 大, 石黒 章夫

    日本機械学会ロボティクス・メカトロニクス講演会 in Yokohama（ROBOMEC2016）　2016/06/09

  41. 「手応え関数」に基づく6 脚ロコモーションの自律分散制御則ー身体支持に着目した制御則設計ー

    郷田 将, 宮澤 咲紀子, 大脇 大, 加納 剛史, 石黒 章夫

    日本機械学会ロボティクス・メカトロニクス講演会 in Yokohama（ROBOMEC2016）　2016/06/09

  42. 「手応え関数」に基づく6脚ロコモーションの自律分散制御則 −推進力に着目した制御則設計−

    宮澤咲紀子, 郷田将, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会 in Yokohama（ROBOMEC2016）　2016/06/09

  43. 局所反射に基づく多脚ロボットの脚間協調制御則

    安井浩太郎, 加納剛史, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会 in Yokohama（ROBOMEC2016）　2016/06/09

  44. 頭部運動を活用した四脚ロボットのWalk-Pace-Rotary gallop間歩容遷移

    大脇大, 鈴木修羅, 福原洸, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会 in Yokohama（ROBOMEC2016）　2016/06/09

  45. 「手応え関数」に基づく6脚歩行の脚間協調制御則の構築

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    SICE東北支部第300回研究集会　2016/02/19

  46. 「手応え関数」に基づく適応的二足歩行制御

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  47. 環境からの力覚情報を活用した多足類型ロボットの脚間協調制御

    酒井和彦, 安井浩太郎, 加納剛史, 大脇大, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  48. 「手応え関数」に基づく6脚歩行の脚間協調制御則の設計

    郷田将, 宮澤咲紀子, 板山晋, 大脇大, 加納剛史, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  49. 頭部運動の活用による四脚ロコモーションの歩容遷移

    鈴木朱羅, 福原 洸, 大脇大, 石黒章夫

    第28回自律分散システムシンポジウム　2016/01/21

  50. 足底圧感覚の聴覚フィードバック装具がもたらす片麻痺患者の歩行への即時的効果

    大脇大, 関口雄介, 本田啓太, 石黒章夫, 出江紳一

    第28回自律分散システムシンポジウム　2016/01/21

  51. 足底感覚情報を用いた二足歩行制御の環境適応性に関する検証

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    第16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（SI2015）　2015/12/14

  52. ムカデのロコモーションに内在する自律分散制御則

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    SICE東北支部第299回研究集会　2015/12/05

  53. Auditory Foot: A Novel Auditory Feedback System Regarding Kinesthesia International-presentation

    Dai Owaki, Yusuke Sekiguchi, Akio Ishiguro, Shin-ichi Izumi

    2015International Symposium on Micro-NanoMachatronics and Human Science(MHS2015)　2015/11/23

  54. Development of a measurement and real-time display system for kinematics and muscle synergy of gait International-presentation

    Arito Yozu, Tetsuro Funato, Dai Owaki, Nobuhiko Haga

    2015International Symposium on Micro-NanoMachatronics and Human Science(MHS2015)　2015/11/23

  55. New Hypothesis for the Mechanism of Quadruped Gait Transition International-presentation

    Takeshi Kano, Dai Owaki, Akira Fukuhara, Ryo Kobayashi, Akio Ishiguro

    The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　2015/10/28

  56. TEGOTAE-based decentralized control mechanism underlying myriapod locomotion International-presentation

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    The First International Symposium on Swarm Behavior and Bio-Inspired Robotics(SWARM2015)　2015/10/28

  57. 環境からの手応えを活用する多足類の脚間協調制御

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  58. 環境を友とする四脚ロボット

    鈴木朱羅, 大脇大, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  59. 脚間の力学的相互作用および情報的相互作用を用いた六脚ロボットの歩行制御

    郷田 将, 大脇 大, 加納 剛史, 青沼 仁志, 石黒 章夫

    第21回創発システムシンポジウム　2015/08/30

  60. 8~14脚を有する動物の脚間協調メカニズム

    安井浩太郎, 酒井和彦, 加納剛史, 大脇大, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  61. 関節剛性が四脚ロコモーションへ及ぼす影響に関する考察

    福原洸, 大脇大, 加納剛史, 石黒章夫

    第21回創発システムシンポジウム　2015/08/30

  62. Decentralized Control Mechanism Underlying Myriapod Locomotion

    Kotaro Yasui, Kazuhiko Sakai, Takeshi Kano, Dai Owaki, Akio Ishiguro

    第25回数理生物学会年会　2015/08/26

  63. 自律分散制御則から切り拓く四脚ロコモーションの発現機序

    福原洸, 大脇大, 加納剛史, 石黒章夫

    東北大学附置研究所若手アンサンブルワークショップ　2015/07/23

  64. Cricket switches locomotion patterns from walking to swimming by evaluating reaction forces from the environment International-presentation

    Hitoshi Aonuma, Masashi Goda, Shigeru Kuroda, Takeshi Kano, Dai Owaki, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  65. Experimental Verification of Bipedal Walking Control Exploiting Plantar Sensory Feedback International-presentation

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  66. TEGOTAE-based CPG Control for Quadrupd Locomotion International-presentation

    Dai Owaki, Shura Suzuki, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  67. Implicit Stiffness Control Embedded in Nonlinear Spring Enables Stable and Robust Running International-presentation

    Dai Owaki, Helmut Hauser, Akio Ishiguro

    The 7th International Symposium on Adaptive Motion of Animals and Machines (AMAM2015)　2015/06/21

  68. A Minimal CPG Model for Interlimb Coordination in Quadruped Locomotion International-presentation

    Dai Owaki, Akio Ishiguro

    IEEE Robotics & Automation Society CPGs Workshop (ICRA2015 CPG Workshop)　2015/05/30

  69. Load-dependent Interlimb Coordination for Bipedal Walking International-presentation

    Dai Owaki, Shun-ya Horikiri, Jun Nishii, Akio Ishiguro

    IEEE Robotics & Automation Society CPGs Workshop (ICRA2015 CPG Workshop)　2015/05/30

  70. A Minimal CPG Model for Interlimb Coordination on Quadruped Locomotion International-presentation Invited

    Dai Owaki

    Workshop on ICRA2015　2015/05/30

  71. 足底感覚情報を活用した二足歩行制御の実験的検証

    堀切舜哉, 大脇大, 西井淳, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015）　2015/05/17

  72. 環境からの手応えを活用する四脚ロボットのCPG制御

    鈴木朱羅, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015）　2015/05/17

  73. 関節剛性が脚間協調へ及ぼす影響に関する考察

    福原洸, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015）　2015/05/17

  74. 環境からの手応えを活用した超多脚ロボットの脚間協調制御

    酒井和彦, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2015）　2015/05/17

  75. 足底感覚から生み出される「足応え」を活用した適応的二足歩行制御

    堀切舜哉, 大脇 大, 西井 淳, 石黒章夫

    第20回創発システムシンポジウム　2014/08/31

  76. 脚間協調現象に内在する通底原理の解明のための多脚ロボット実機プラットフォームの開発

    酒井和彦, 大脇大, 加納剛史, 石黒章夫

    第20回創発システムシンポジウム　2014/08/31

  77. Load-dependent Interlimb Coordination International-presentation Invited

    Dai Owaki

    Living Machine 2014 Workshop　2014/07/29

  78. Mechanism of Quadruped Gait Transition International-presentation

    Dai Owaki, Akio Ishiguro

    Dynamic Walking 2014　2014/06/10

  79. Neural communication vs. physical communication between limbs: Which is essential for hexapod walking? International-presentation

    Akio Ishiguro, Ken Nakamura, Takeshi Kano, Dai Owaki

    Dynamic Walking 2014　2014/06/10

  80. 不思議な歩容Canterの発現メカニズム

    大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2013）　2014/05/26

  81. 柔軟な足部から生み出される足底感覚情報を活用した適応的動歩行制御

    大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2014）　2014/05/26

  82. 「個性」を持つ粒子集団が創り出す動的秩序 ～人間社会における交友関係を採り上げた事例研究～

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  83. 6 脚歩行における脚間協調メカニズムのミニマリストモデルを探る

    中村憲, 大脇大, 加納剛史, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  84. 自発的歩容遷移を可能とする四脚ロボットのCPG制御

    森川玲於奈, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  85. 足底感覚情報を活用した二脚ロボットのCPG制御

    福田裕樹, 大脇大, 石黒章夫

    第26回自律分散システムシンポジウム　2014/01/23

  86. 交友関係の自己組織化過程の数理モデル

    加納剛史, 大須賀公一, 小林亮, 青沼仁志, 石川将人, 杉本靖博, 大脇大, 石黒章夫

    第19回交通流のシュミレーションシンポジウム　2013/12/16

  87. Nonlinearity in Ankle Elasticity Enhances Robustness on Bipedal Walking International-presentation

    Dai Owaki, Akio Ishiguro

    2013 International Workshop on Soft Robotics and Morphological Computation　2013/07/14

  88. Why do quadrupeds exhibits exclusively either trot or pace gaits? International-presentation

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    Dynamic Walking 2013　2013/06/10

  89. What is the key to postural stabilization on bipedal walking? International-presentation

    Dai Owaki, Akio Ishiguro

    Dynamic Walking 2013　2013/06/10

  90. 筋肉群の協働的励起に基づく立位姿勢制御

    福田裕樹, 大脇大, 西井淳, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2013）　2013/05/23

  91. 脚間の力学的相互作用を活用した 6 脚ロボットの CPG 制御

    中村憲, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2013）　2013/05/23

  92. 脚間の力学的相互作用を活用したCPG制御に基づく筋駆動四脚ロボット

    森川玲於奈, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2013）　2013/05/23

  93. The role of passive properties in producing adaptive motion in robotic and biological systems International-presentation Invited

    M. Azizi, D. Owaki

    The 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM2013)　2013/03/13

  94. From Walk to Trot to Bound: Quadruped Gait Transition Induced by Simple Local Force Feedback Mechanism International-presentation

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    6th International Symposium on Adaptive Motion of Animals and Machines（AMAM2013)　2013/03/11

  95. Role of Passive Properties in Producing Adaptive Motion in Robotic and Biological Systems International-presentation

    Manny Azizi, Dai Owaki

    6th International Symposium on Adaptive Motion of Animals and Machines（AMAM2013)　2013/03/11

  96. Listen to Body's Message: Quadruped Robot That Fully Exploits Physical Interaction between Legs International-presentation

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  97. Adaptive Bipedal Walking through Sensory-motor Coordination Yielded from Soft Deformable Feet International-presentation

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  98. Reconsidering Inter- and Intra-limb Coordination Mechanisms in Quadruped Locomotion International-presentation

    Takeshi Kano, Dai Owaki, Akio Ishiguro

    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. (IROS 2012)　2012/10/07

  99. 身体の力学的特性に応じた歩容生成を可能とするCPGモデル —トロット歩容とペース歩容の排他的発現の実験的検証−

    森川玲於奈, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会　2012/09/10

  100. ミニマリストな CPG モデルから探る二脚ロコモーションに内在する脚間協調と脚内協調の発現機序

    福田裕樹, 大脇大, 石黒章夫

    第30回日本ロボット学会学術講演会　2012/09/10

  101. Minimalist CPG Model for Inter- and Intra-limb Coordination in Bipedal Locomotion International-presentation

    Dai Owaki, Takeshi Kano, Atsushi Tero, Masakazu Akiyama, Akio Ishiguro

    The 12th International Conference on Intelligent Autonomous System　2012/06/26

  102. 足部の表在感覚情報をCPG制御に活用した適応的二脚歩行の実験的検証

    福田裕樹, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2012）　2012/05/28

  103. 脚間協調と脚内協調の有機的整合が可能なCPGに基づく四脚ロコモーション制御

    彌本一輝, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2012）　2012/05/28

  104. 脚間の力学的相互作用を活用したCPG制御に基づく四脚歩容遷移の実験的検証

    森川玲於奈, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2012）　2012/05/28

  105. Soft Deformable Feet Yield Sensory-motor Coordination for Adaptive Bipedal Walking International-presentation

    Dai Owaki, Hiroki Fukuda, Akio Ishiguro

    7th Annual Dynamic Walking Conference　2012/05/21

  106. Gait Transition of Quadruped Robot without interlimb neural connections International-presentation

    Dai Owaki, Leona Morikawa, Akio Ishiguro

    7th Annual Dynamic Walking Conference　2012/05/21

  107. 脚間協調と脚内協調の有機的整合が可能な四脚ロコモーションの自律分散制御則

    糸澤祐太, 彌本一輝, 大脇大, 加納剛史, 石黒章夫

    第24回自律分散システム・シンポジウム　2012/01/27

  108. 身体の力学的特性を活用した脚間協調に基づく四脚ロボットの適応的ロコモーション生成

    長澤昂, 大脇大, 森川玲於奈, 加納剛史, 石黒章夫

    SICE東北支部 第269回研究集会　2011/12/12

  109. A CPG-based Control of Bipeda Locomotion by Exploiting Defrmable Feet International-presentation

    Dai Owaki, Shota Kubo, Akio Ishiguro

    The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011)　2011/10/11

  110. A CPG-based Decentralized Control by Exploiting Spontaneous Transition between Oscillatory and Excitatory Regimes International-presentation Invited

    Dai Owaki

    Dynamic Walking2011　2011/07/21

  111. A CPG-based Decentralized Control by Exploiting Spontaneous Transition between Oscillatory and Excitatory Regimes -A Case Study with a Real Quadruped Robot- International-presentation

    Dai Owaki, Kou Nagasawa, Takeshi Kano, Atsushi Tero, Akio Ishiguro

    Dynamic Walking 2011　2011/07/18

  112. CPG-based Adaptive Control of Bipedal Locomotion by Switching between Oscillatory and Excitatory Regimes International-presentation

    Akio Ishiguro, Shota Kubo, Dai Owaki

    Dynamic Walking 2011　2011/07/18

  113. 振動性・興奮性の自発的遷移に基づく適応的四脚歩行制御の実験的検証

    長澤 昂, 加納 剛史, 大脇 大, 手老 篤史, 石黒 章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）　2011/05/27

  114. 位相制御と筋緊張制御の有機的整合か?可能な自律分散制御則の実験的検証

    糸澤祐太, 佐藤貴英, 大脇大, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）　2011/05/27

  115. 柔軟な足部の表在感覚情報を活用した振動性・興奮性の 自律的遷移に基つ?く適応的動歩行制御

    久保翔達, 熊原渉, 大脇大, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）　2011/05/27

  116. 足底腱膜を有する足部の可変形性を活用した二脚歩行ロボットのCPG制御

    大脇大, 熊原渉, 久保翔達, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2011）　2011/05/27

  117. 柔軟な足の変形から生み出される感覚情報を活用した 適応的二脚歩行制御

    久保翔達, 熊原渉, 加納剛史, 大脇大, 石黒章夫

    第22回自律分散システム・シンポジウム　2011/01/29

  118. 真正粘菌から抽出した自律分散制御則の適用可能性の実験的検証?四脚ロボット実機を用いた事例研究?

    長澤昂, 加納剛史, 大脇大, 手老篤史, 石黒章夫

    第22回自律分散システム・シンポジウム　2011/01/29

  119. 安定な準受動走行を実現する陰的制御則と陽的制御則の連関様式

    山口伸一, 久保翔達, 大脇大, 杉本靖博, 大須賀公一, 石黒章夫

    計測自動制御学会SI部門講演会SI2010　2010/12/23

  120. 真正粘菌から抽出した自律分散制御則を用いた四脚ロボットの実機開発

    長澤昂, 加納剛史, 大脇大, 手老篤史, 石黒章夫

    計測自動制御学会SI部門講演会SI2010　2010/12/23

  121. 上体を活用した受動走行機械の安定性向上

    大脇大, 久保翔達, 山口伸一, 手老篤史, マウスモリツ, モフロァクリストフ, サイファートアンドレ, 石黒章夫

    第53回自動制御連合講演会　2010/11/04

  122. Dual Structure of Mobiligence -Implicit Control and Explicit Control- International-presentation

    Koichi Osuka, Akio Ishiguro, Xin-Zhi Zheng, Yasuhiro Sugimoto, Dai Owaki

    The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)　2010/10/18

  123. A CPG-based Decentralized Control of a Quadruped Robot Inspired by True Slime Mold International-presentation

    Takeshi Kano, Koh Nagasawa, Dai Owaki, Atsushi Tero, Akio Ishiguro

    The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)　2010/10/18

  124. A Two-dimensional Passive Dynamic Runner with Upper Body International-presentation

    Dai Owaki, Shota Kubo, Shin’ichi Yamaguchi, Atsushi Tero, Moritz Maus, Christophe Maufroy, Andre Seyfarth, Akio Ishiguro

    The 13th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Robots (CLAWAR2010)　2010/08/31

  125. A CPG-based Decentralized Control of A Quadruped Robot Based on Discrepancy Function International-presentation

    Takeshi Kano, Koh Nagasawa, Dai Owaki, Atsushi Tero, Akio Ishiguro

    The 13th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Robots (CLAWAR2010)　2010/08/31

  126. 受動走行のポアンカレマップに内在する陰的制御則と整合する陽的制御則の設計

    山口伸一, 久保翔達, 大脇大, 杉本靖博, 大須賀公一, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2010）　2010/06/13

  127. 上体を有する受動走行機械

    大脇大, 久保翔達, 山口伸一, Moritz Maus, Christophe Maufroy, Andre Seyfarth, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2010）　2010/06/13

  128. マルチリズミックオシレータを活用した多自由度運動パターンの自律的獲得

    大脇大, 石田怜, 塚辺有哉, 手老篤史, 伊藤賢太郎, 加納剛史, 石黒章夫

    日本機械学会ロボティクス・メカトロニクス講演会（ROBOMEC2010）　2010/06/13

  129. A Two-dimensional Passive Dynamic Running Biped with Knees International-presentation

    Dai Owaki, Masatoshi Koyama, Shinichi Yamaguchi, Shota Kubo, Akio Ishiguro

    2010 IEEE International Conference on Robotics and Automation (ICRA2010)　2010/05/03

  130. What are the Key Properties that Enables Stable Passive Dynamic Running? -A Repot of My Stay in Lauflabor- International-presentation

    Lab talk at Locomotion Lab., Freidrich Shciller University of Jena　2010/02/18

  131. What are the Key Properties that Enables Stable Passive Dynamic Running? -A Research Plan for My Stay in Lauflabor- International-presentation

    Lab talk at Locomotion Lab., Freidrich Shciller University of Jena　2010/02/04

  132. グローバルエントレインメントを生起させる脳・身体間連関様式の再考 〜四脚ロボットを用いたCPG制御の基本論理の理解〜

    手老篤史, 長澤昴, 秋山正和, 加納剛史, 大脇大, 伊藤賢太郎, 小林亮, 石黒章夫

    第２２回自律分散システム・シンポジウム　2010/01/30

  133. Implicit Control Law that Enables Stable Running International-presentation

    Dai Owaki, Koichi Osuka, Akio Ishiguro

    The 3rd International Symposium on Mobiligence in Awaji　2009/11/19

  134. Implicit Control Law: A Common Principle of Mobiligence International-presentation

    Koichi Osuka, Akio Ishiguro, X-Z. Zhen, Yasuhiro Sugimoto, Dai Owaki

    The 3rd International Symposium on Mobiligence in Awaji　2009/11/19

  135. 受動歩行と受動走行に内在する力学的共通原理

    2008年度第８回NLPMコロキウム　2009/11/17

  136. Understanding the Common Principle underlying Passive Dynamic Walking and Running International-presentation

    The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)　2009/10/11

  137. Toward Understanding the Stabilization Mechanism underlying Passive Dynamic Running International-presentation

    Lab talk at Locomotion Lab., Freidrich Shciller University of Jena　2009/09/25

  138. 膝付き受動走行機械の実現

    小山真理, 山口伸一, 久保翔達, 大脇大, 石黒章夫

    第27回日本ロボット学会学術講演会　2009/09/15

  139. 身体の力学的特性を活用した運動発現が可能なマルチリズミックオシレータモデル

    石田怜, 長澤昂, 大脇大, 手老篤史, 伊藤賢太郎, 石黒章夫

    SICE東北支部45周年記念講演会　2009/09/07

  140. A Two-Dimensional Passive Dynamic Running Biped with Elastic Elements International-presentation

    Dynamic Walking 2009　2009/06/08

  141. 弾性要素を活用した受動走行の実機実現

    小山真理

    ロボティクス・メカトロニクス講演会’09　2009/05/24

  142. 多重リズム性を活用した運動安定化と運動探索機能が共存可能なオシレータモデルの提案

    ロボティクス・メカトロニクス講演会’09　2009/05/24

  143. 弾性要素を活用した受動的ロコモーションの背後に潜む多重時間スケールの統合

    ロボティクス・メカトロニクス講演会’09　2009/05/24

  144. 受動歩行・受動走行から探る二脚ロコモーションに内在するImplicit Control Law

    第1回ロコモーション研究会　2009/04/25

  145. 運動生成と運動学習をシームレスに統合可能なマルチリズミックオシレータ

    石黒章夫, 石田怜, 大脇大, 伊藤賢太郎, 手老篤史

    第48回日本生体医工学会大会　2009/04/23

  146. 受動歩行と受動走行に内在する力学的共通原理

    第135回複雑系セミナー　2009/04/10

  147. 受動歩行と受動走行に内在する力学的共通原理の解明

    第14回ロボティクスシンポジア　2009/03/16

  148. 運動安定化と運動探索をシームレスに統合可能なマルチリズミックオシレータモデルの提案

    石田怜

    第21 回自律分散システム・シンポジウム　2009/01/22

  149. 受動歩行と受動走行に内在する力学的共通原理

    歩行のシンポジウム　2009/01/05

  150. 周波数と位相の自律的調整が可能なマルチリズミックオシレータモデルの提案

    坂井善行

    第9 回計測自動制御学会（SICE）システムインテグレーション部門講演会(SI2008)　2008/12/05

  151. 受動歩行と受動走行に内在する力学的共通原理

    東北大学理学研究科物性理論研究室セミナー　2008/11/20

  152. 分子動力学法を活用した受動歩行シミュレータの開発

    小山真理

    第26回日本ロボット学会学術講演会　2008/09/09

  153. 多重リズム性を活用した周波数と位相の自律的調整が可能なオシレータモデルの提案 －一次元ホッピングロボットの跳躍運動学習への適用－

    坂井善行

    第26回日本ロボット学会学術講演会　2008/09/09

  154. 受動走行の背後に潜む安定化構造の解明

    第26回日本ロボット学会学術講演会　2008/09/09

  155. Gait Transition between Passive Dynamic Walking and Running by Changing the Body Elasticity International-presentation

    SICE Annual Conference 2008　2008/08/20

  156. 膝関節の過伸展を活用した二脚受動歩行の安定化

    小山真理

    第14 回創発システムシンポジウム　2008/08/17

  157. 周波数と位相の自律的調整が可能なマルチリズミックオシレータの提案 －一次元ホッピングロボットの跳躍運動学習への適用－

    石田怜

    第14 回創発システムシンポジウム　2008/08/17

  158. 受動歩行と受動走行の違いは何か？

    第14 回創発システムシンポジウム　2008/08/17

  159. 筋群の協働的励起パターンに基づく制御系と機構系の連関様式に関する考察

    石田怜

    ロボティクス・メカトロニクス講演会’08　2008/06/05

  160. Adaptive Gait Transition between Passive Dynamic Walking and Running International-presentation

    4th International Symposium on Adaptive Motion of Animals and Mechanics (AMAM2008)　2008/06/01

  161. On the Embodiment that Enables Passive Dynamic Bipedal Running International-presentation

    2008 IEEE International Conference on Robotics and Aoutomation (ICRA2008)　2008/05/19

  162. 適応的歩行動作のための筋肉群の時空間的励起方策

    松野善幸

    第20回 自律分散システム・シンポジウム　2008/01/24

  163. 身体の力学的特性改変による受動歩行と受動走行間の歩容遷移

    第20回 自律分散システム・シンポジウム　2008/01/24

  164. 安定な受動走行を実現する身体性に関する考察

    第8回 計測自動制御学会（SICE）システムインテグレーション部門講演会 SI2007　2007/12/20

  165. Stable Passive Dynamic Biipedal Running by Exploiting the Body Dynamics Properties International-presentation

    2nd International Symposium on Mobiligence in Awaji　2007/07/18

  166. Efficient and Adaptive Control of Walking Biped by Exploiting a Pulsed-CPG International-presentation

    2007 IEEE/ICME International Conference on Complex Medical Engineering (CME2007)　2007/05/23

  167. 身体剛性の動的改変による安定な四脚歩容遷移の実現

    坂井善行

    ロボティクス・メカトロニクス講演会’07　2007/05/10

  168. パルス化CPGを活用した二脚歩行ロボットの実時間適応制御

    松野善幸

    ロボティクス・メカトロニクス講演会’07　2007/05/10

  169. 身体の力学的特性の改変による受動歩行と受動走行間の環境適応的選択

    ロボティクス・メカトロニクス講演会’07　2007/05/10

  170. 身体剛性の動的改変による四脚歩容遷移時の初期値依存性の緩和

    佐藤 智紀

    第19回 自律分散システム・シンポジウム　2007/01/29

  171. 運動軌道の「あそび」に着目した制御系と機構系の有機的連関 -二脚歩行ロボットを用いた事例研究-

    第19回 自律分散システム・シンポジウム　2007/01/29

  172. 準受動歩行機械の実時間適応制御 - パルス化CPGを活用した適応性の向上-

    第7回 計測自動制御学会（SICE）システムインテグレーション部門講演会 SI2006　2006/12/14

  173. パルス化CPGを活用した二脚歩行ロボットの高効率実時間適応制御

    第49回自動制御連合講演会　2006/11/25

  174. Enhancing Self-stability of a Passive Dynamic Runner by Exploiting Nonlinearity in the Leg Elasticity International-presentation

    SICE-ICASE International Joint Conference 2006 (SICE-ICCAS2006)　2006/10/18

  175. Enhancing Stability of a Passive Dynamic Running Biped by Exploiting a Nonlinear Spring International-presentation

    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)　2006/10/09

  176. Simple Linear Spring Is Not Sufficient? –Stabilizing Passive Dynamic Running by Exploiting the Intrinsic Body Dynamics- International-presentation

    50th Anniversary Summit of Artificial Inteligence　2006/07/09

  177. 身体ダイナミクスの動的改変による四脚ロボットの歩容遷移安定化

    佐藤智紀

    ロボティクス・メカトロニクス講演会’06　2006/05/26

  178. 機構系ダイナミクスの能動的改変による環境適応的走行運動の実現

    ロボティクス・メカトロニクス講演会’06　2006/05/26

  179. 非線形弾性要素を有する二脚受動走行機械の安定性解析

    第18回自律分散システム・シンポジウム　2006/01/26

  180. 非線形バネを活用した安定な二脚受動走行の実現

    計測自動制御学会 システム・情報部門学術講演会2005　2005/11/28

  181. 安定な二脚受動走行を実現する機構系ダイナミクス

    第23回日本ロボット学会学術講演会　2005/09/15

  182. 非線形バネを活用した二脚受動走行の安定化

    第11回創発システム・シンポジウム　2005/08/18

  183. A Simple Linear Spring Is Not Enough? -Analysis of the Effect of Leg Elasticity on the Stability of Bipedal Passive Dynamic Running- International-presentation

    IROS2005 Workshop on Morphology, Control, and Passive Dynamics　2005/08/02

  184. 可変弾性要素を活用した二脚ロボットにおける歩行と走行間の遷移

    ロボティクス・メカトロニクス講演会’05　2005/06/09

Show all Show first 5

Industrial Property Rights 2

  1. 分析装置、分析方法、分析プログラム、及 び、生成装置

    大脇大, 関口雄介, 本田啓太, 出江紳一

    Property Type: Patent

  2. 最適弾性強度計算装置、最適弾性強度計算システム、運動補助システム、最適弾性強度計算方法および最適弾性強度計算プログラム

    福司謙一郎, 電気株式会社, 日本電気株式会社, 東北大学共同出願

    Property Type: Patent

Research Projects 23

  1. Environment Adaptation Mechanisms Decoded from Control of Insect-Peripersonal Space (i-PPS) Through Sensory, Motor, and Brain Interventions

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Scientific Research (A)

    Institution: Tohoku University

    2023/04 - 2027/03

  2. Understanding and Control of Swimming Motion in Jerryfish via Motion Hacking

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Challenging Research (Exploratory)

    Institution: Tohoku University

    2023/06 - 2026/03

  3. 2024年度 超省エネクラゲバイオハイブリッドロボットの技術開発 補助事業

    Offer Organization: 公益財団法人 JKA

    System: 研究助成

    2024/04 - 2025/03

  4. Motion Hackingを用いた運動への介入から紐解く昆虫の適応能力

    Offer Organization: 公益財団法人 立石科学技術振興財団

    System: 研究助成（A）

    2023/04 - 2024/03

  5. Motion Hacking Elucidates Flexible Inter-leg Coordination Mechanism in Insect Locomotion

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Category: Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Institution: Tohoku University

    2021/04 - 2023/03

  6. Bayesian Model-based Rehabilitation

    Dai Owaki, Yusuke Sekiguchi

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Grant-in-Aid for Scientific Research (B)

    Category: Grant-in-Aid for Scientific Research (B)

    Institution: Tohoku University

    2020/04 - 2023/03

  7. 脳卒中患者のデータ駆動型AI歩行診断システムの開発と事業化検証

    Offer Organization: 東北大学

    System: 東北大学 ビジネス・インキュベーション・プログラム（BIP）

    2021/04 - 2022/03

  8. Development of Rehabilitation System That Controls Learned Non-use of Paretic Arm in Chronic Patients with Stroke

    Owaki Dai

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research Challenging Research (Exploratory)

    Category: Challenging Research (Exploratory)

    Institution: Tohoku University

    2019/06 - 2022/03

    More details Close

    The purpose of this study is to develop a rehabilitation system to overcome the greatest barrier in rehabilitation for stroke patients, “learned non-use of the paretic arm”. Chronic stroke patients with hemiplegia are known to learn not to use the paretic arm due to functional decline of the paretic arm and excessive use of the healthy arm, which is called “learned non-use". This learned non-use causes negative use-dependent plasticity in the brain, resulting in the shrinkage of brain regions involved in motor control of the paretic arm. This change further reduces the frequency of use of the paretic arm, which contributes to further functional decline. In this study, we developed a wearable sensor that measures the use of both arm by surface electromyography (EMG) in order to control use-dependent plasticity of the paretic arm.

  9. 姿勢制御を司る反射系が歩行運動において果たす役割の解明 Competitive

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Grant-in-Aid for Scientific Research (B)

    2018/04 - 2021/03

  10. Understanding brain plasticity on body representations to promote their adaptive functions

    Ota Jun

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

    Institution: The University of Tokyo

    2015/11/06 - 2020/03/31

    More details Close

    In FY2015, we prepared the system on how to support international activities and started the discussion with overseas research collaborators. Since 2016, we have dispatched young researchers to overseas, invited well-known researchers, and held international seminars/workshops, based on open recruitment within the Embodied-Brain Systems Science program. In the four years since 2016, 16 young researchers dispatched to important laboratories in the United States, United Kingdom, Italy, etc., where neuroscience, rehabilitation medicine and robotics are actively studied as interdisciplinary research. We promoted joint research and supported the construction of an international network of these researchers. In addition, we supported the invitation and held seminars/workshops of a total of 23 well-known researchers, and aimed at internationalization of our Embodied-Brain Systems Science program in this area.

  11. 環境モデルや振動子モデルに依存しない環境適応学習による多様な運動の発現機序 Competitive

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Grant-in-Aid for Scientific Research (B)

    2018/04 - 2020/03

  12. Motion Hacking:昆虫の歩行を司る脚間協調機序を紐解く介入法の開拓 Competitive

    OWAKI Dai

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Application Procedures for Fund for the Promotion of Joint International Research (Fostering Joint International Research)

    2018/04 - 2020/03

  13. Understanding Interlimb Coordination Mechanism Based on Walking Intervention with Prosthetic Legs

    Owaki Dai, Miyazawa Sakiko, Goda Masashi, Ishiguro Akio

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Scientific Research (B)

    Institution: Tohoku University

    2016/04/01 - 2019/03/31

    More details Close

    This study aims to elucidate the interlimb coordination mechanism in adaptive insect locomotion with the intervention method into walking by using prosthetic legs. To this end, at the first fiscal year, we developed a simultaneous recording system of leg motions and leg muscle electromyography (EMG) by using high-speed camera and EMG amplifier. Then, using the developed system, we simultaneously measured leg motions and muscle activities in cricket walking before and after leg amputation. By analyzing the obtained data in 5 female crickets, we found that muscle activation timings of the both middle legs tend to be in-phase synchronization pattern from anti-phase synchronization pattern according to the “amount” of remaining leg parts. In the final fiscal year, we conducted a preliminary prosthetic experiments, suggesting that gait patterns were “reproduced” with the prosthetic legs even after leg amputation.

  14. Improvement of gait performance by the combination of stiffness-adjustable ankle and hip orthosis which have the property of elasticity

    Sekiguchi Yusuke, OWAKI Dai, HONDA Keita

    Offer Organization: Japan Society for the Promotion of Science

    System: Grants-in-Aid for Scientific Research

    Category: Grant-in-Aid for Young Scientists (B)

    Institution: Tohoku University

    2015/04/01 - 2018/03/31

    More details Close

    In the research project, two experiments were conducted. Firstly, we analyzed the kinetic data during gait in patients with hemiparesis to develop the orthosis. Secondly, the ankle orthosis that can control joint stiffness was developed. Then, we examined the effect of the ankle orthosis and hip orthosis on gait in patients with hemiparesis. In the results, the characteristics of ankle and hip stiffness and kinetic coordination in lower limb during gait and the effect of the ankle and hip orthosis on gait in patient with hemiparesis were clarified.The findings may contribute to the evidence-based and more effective orthotic treatment.

  15. ロボット義足を用いた歩行運動への介入から解き明かす昆虫の脚間協調メカニズム Competitive

    OWAKI Dai

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Grant-in-Aid for Scientific Research (B)

    2016/04 - 2018/03

  16. 感覚入力への介入を用いた姿勢・歩行リハビリテーション Competitive

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Grant-in-Aid for Scientific Research on Innovative Areas

    2013/09 - 2018/03

  17. 網羅的視野から解き明かす四脚動物の多様な歩容の発現機序 Competitive

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Grant-in-Aid for Young Scientists (A)

    2013/04 - 2016/03

  18. 生物ロコモーションの本質理解から切り拓く大自由度ロボッ トの革新的自律分散制御技術 Competitive

    Offer Organization: NEDO

    System: 次世代ロボット中核技術開発

    2015 - 2016

  19. 柔軟な足裏の変形から生み出される感覚運動協調に基づく動歩行制御 Competitive

    OWAKI Dai

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Grant-in-Aid for Young Scientists (B)

    2011/04 - 2012/03

  20. 柔軟な足裏の変形から生み出される感覚情報処理メカニズムの解明 Competitive

    OWAKI Dai

    Offer Organization: 立石科学技術振興財団

    System: 研究助成

    2011 - 2012

  21. 二脚ロコモーションの背後に潜む多重時間スケールの共存メカニズムの解明 Competitive

    OWAKI Dai

    Offer Organization: Grant-in-Aid for Scientific Research

    System: Grant-in-Aid for Young Scientists (Start-up)

    2009/04 - 2010/03

  22. 柔軟な足のレオロジー的性質から創発される感覚運動協調に学ぶ適応的動歩行制御 Competitive

    OWAKI Dai

    Offer Organization: 積水化学 自然に学ぶものづくり

    System: 研究助成プログラム

    2010 - 2010

  23. ハーネシングに着想を得た創発的動歩行制御 -パルス化CPGを用いた適応的歩行生成- Competitive

    OWAKI Dai

    Offer Organization: Grant-in-Aid for Scientific Research

    System: 特別研究員奨励費

    2007/04 - 2008/03

Show all Show first 5

Teaching Experience 15

  1. Neuro Robotics　Tohoku University, Graduate School of Engineering

  2. ロボティクス特論　東北大学 大学院工学研究科

  3. Control Engineering I　Tohoku University

  4. ロボット工学I　東北大学工学部

  5. 創造工学研修　東北大学

  6. ロボット工学（集中講義）　富山大学（非常勤講師）

  7. リハビリテーション医学に役立つロボット技術開発　宮城県石巻高校（R3年度大学模擬講義）

  8. 生き物が動く「しくみ」を理解するための ロボティクス　宮城県角田高校（大学出張講義）

  9. ロボット工学II　東北大学工学部（IMAC-U, 2018）

  10. 情報ナノシステム（Computational Motor Control）　東北大学大学院工学研究科機械知能系(2017, 2018)

  11. ロボットシステム工学（Human Robotics）　東北大学大学院工学研究科機械知能系（IMAC-G, 2018-）

  12. 電気工学実験「オペアンプの基礎」　東北大学工学部機械知能系，材料マテリアル系

  13. 電気・情報系 実験B「神経方程式の動的特性，光ファイバー，レーザー光」　東北大学工学部電気・情報系

  14. 電気・情報系 実験A「プラズマ工学」　東北大学工学部電気・情報系

  15. 電気・情報系 実験C「制御系設計の基礎，デジタル信号処理，コンピュータネットワーク」　東北大学工学部電気・情報系

Show all Show first 5

Social Activities 8

  1. Four-Legged Machines are Proto ‘Westworld’ Robots

    Inverse.com

    2017/03/23 - 2017/03/23

  2. コカトピ！「走る速さに合わせて足並を変える4脚ロボット」

    2017/05/10 -

  3. 速度に応じて走り方変化 – 4脚ロボ，東北大が開発

    2017/03/31 -

  4. ウマのように歩くロボ -東北大 4本の脚，独立し作動

    2017/03/30 -

  5. Four-leg robot spontaneously trots, canters, then gallops

    2017/03/23 -

  6. 受動走行をする脚ロボット

    2010/01 -

    More details Close

    第27回日本ロボット学会学術講演会の特集記事にて 当研究室で開発したロボットが紹介された．

  7. 東北大、背骨の柔らかい４脚ロボ試作－犬の歩行・走行を再現

    2007/04/06 -

    More details Close

    東北大学の石黒章夫教授らは犬や猫が歩き、走る際の背骨の部分の動きまでまねた４脚ロボットを試作した。歩くときは背骨が硬く、走るときは柔らかくなる仕組みにし、歩行から走行へと安定かつ迅速に移れるようにした。動き方に応じて体を制御しやすい状態に変えることは、ロボットの多様な振る舞いを実現するために重要。こうした研究が今後注目を集めそうだ。 犬などの動物は中速で歩くとき、右前脚と左後脚を同時に接地した後、左前脚と右後脚を同時に接地するのを交互にくり返す「トロット」という歩き方をする。 一方、走るときの脚の運び方は異なり、左右両前脚を同時に接地した後、左右両後脚を同時に接地するのを交互にくり返す。この走り方を「バウンス」という。 今回、空気圧アクチュエーターを使って４脚ロボットの背骨の硬さを制御。バウンスで走るときだけ空気圧アクチュエーターの空気を抜いて背骨を柔らかくし、バウンスをしやすい、背骨

  8. 背骨軟らかく4脚ロボ東北大が試作

    2007/04/06 -

Show all Show first 5

Media Coverage 9

  1. 自然な運動を「知能」として利用

    科学新聞社　科学新聞　6面

    2025/06/20

    Type: Newspaper, magazine

  2. 電気刺激でクラゲ誘導成功

    河北新報社　河北新報　20面，web: https://kahoku.news/articles/20250616khn000080.html

    2025/06/17

    Type: Newspaper, magazine

  3. 海洋調査、クラゲに託す 加茂水族館×東北大×東大、「サイボーグ」開発へ

    山形新聞社　山形新聞　1面, web: https://www.yamagata-np.jp/news/202506/08/kj_2025060800185.php

    2025/06/08

    Type: Newspaper, magazine

  4. 電気刺激でクラゲの遊泳方向を自在に 東北大学、海洋調査ロボに応用

    日本経済新聞社　日本経済新聞　電子版: https://www.nikkei.com/article/DGXZQOSG232P40T20C25A5000000/

    2025/06/03

    Type: Newspaper, magazine

  5. 昆虫やクラゲがロボットの一部となる！ 生物サイボーグの開発 Myself

    河合塾　みらいブック　https://miraibook.jp/researcher/w23072

    2024/04

    Type: Internet

  6. 【TOHOKU University Researcher in Focus】Vol.021 生きものに学ぶロコモーション

    東北大学　【TOHOKU University Researcher in Focus】　東北大学webサイト

    2023/01/19

    Type: Internet

  7. 片まひ患者向け軽量なアシスト装置を開発

    BSフジ　知りたい！ SDGｓ（第111回）

    2021/11/11

    Type: TV or radio program

  8. （科学の扉）鳥・虫ヒント、次世代ロボ 環境変化へっちゃら/宅配や災害現場で応用

    朝日新聞社　朝日新聞　22面 科学の扉

    2019/06/03

    Type: Newspaper, magazine

  9. 柔軟な足で自律歩行を実現

    2012/08/07

    Type: Newspaper, magazine

Show all Show first 5