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Hirai Hiroaki
平井　宏明
Hirai Hiroaki
平井　宏明
Institutional repository
Graduate School of Engineering Science　Department of Mechanical Science and Bioengineering, Associate Professor

keyword Robotics，Motor Control，Rehabilitation

Institutional repository

Research History 9

  1. 2016/04 - Present
    Osaka University　Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science　Associate Professor

  2. 2016/01 - 2016/03
    Massachusetts Institute of Technology

  3. 2010/10 - 2016/03
    Osaka University　Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science　Associate Professor

  4. 2015/07 - 2015/10
    Massachusetts Institute of Technology

  5. 2014/12 - 2015/03
    Massachusetts Institute of Technology

  6. 2012/12 - 2013/02
    Massachusetts Institute of Technology

  7. 2007/04 - 2010/09
    Osaka University　Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science　Assistant Professor

  8. 2005/10 - 2007/03
    Osaka University　Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science　Assistant Professor

  9. 2004/04 - 2005/09
    Ritsumeikan University　Research Organization of Science and Engineering　Postdoctoral Fellow

Education 5

  1. Osaka University　Graduate School of Engineering Science　Dept. Mechanical Science and Bioengineering

    2001/04 - 2004/03

  2. Osaka University　Graduate School of Engineering Science　Dept. Mechanical Science and Bioengineering

    1997/04 - 1999/03

  3. Osaka University　Graduate School, Division of Engineering Science

    - 1999

  4. Osaka University　School of Engineering Science　Dept. Mechanical Engineering

    1993/04 - 1997/03

  5. Osaka University　Faculty of Engineering Science

    - 1997

Committee Memberships 4

  1. 日本ロボット学会　学会誌論文賞選考小委員会委員　Academic society

    2017/04 - 2019/03

  2. 日本ロボット学会　論文査読小委員会委員　Academic society

    2016/04 - 2018/03

  3. 日本ロボット学会　代議員　Academic society

    2013/04 - 2016/03

  4. 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014)　Committee Member　Academic society

    2014/08 - 2014/08

Professional Memberships 3

  1. IEEE (Robotics and Automation Society, Engineering in Medicine and Biology Society, Systems, Man, and Cybernetics Society)

  2. THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS

  3. THE ROBOTICS SOCIETY OF JAPAN

Research Areas 3

  1. Life sciences / Rehabilitation science /

  2. Informatics / Mechanics and mechatronics /

  3. Informatics / Robotics and intelligent systems /

Awards 10

  1. SI2016 優秀講演賞

    黒岩 晃, 平井 宏明, 吉川 史哲, 長川 祐磨, 渡邉 英知, 片岡 夏美, 植村 充典, 宮崎 文夫　計測自動制御学会システムインテグレーション部門　2016/12

  2. Humanoids2016 Finalists Interactive Paper Award

    E. Watanabe, T. Oku, H. Hirai, F. Yoshikawa, Y. Nagakawa, A. Kuroiwa, E. P. Grabke, M. Uemura, F. Miyazaki, H. I. Krebs　2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids2016)　2016/11

  3. IEEE EMBS Japan Chapter Young Researcher Award (JpCOMPEmbs14)

    T. Oku, K. Uno, T. Nishi, M. Kageyama, P. Phatiwuttipat, K. Koba, Y. Yamashita, K. Murakami, M. Uemura, H. Hirai, F. Miyazaki, H. Naritomi　IEEE EMBS Japan Chapter　2014/09

  4. Best Paper Award

    H. Hirai, T. Iimura, K. Inoue, F. Miyazaki　The Robotics Society of Japan　2013/09

  5. SI2012 優秀講演賞

    松居和寛, 菱井康生, 植村充典, 平井宏明, 宮崎文夫　計測自動制御学会システムインテグレーション部門　2012/12

  6. SI2011 優秀講演賞

    井上恵太, 飯村太紀, 奥貴紀, 植村充典, 平井宏明, 宮崎文夫　計測自動制御学会システムインテグレーション部門　2011/12

  7. IEEE Robotics and Automation Society Japan Chapter Young Award

    T. Iimura, K. Inoue, H. T. T. Pham, H. Hirai, F. Miyazaki　IEEE Robotics and Automation Society Japan Chapter　2011/09

  8. A Finalist for Young Author Paper Award

    H. Hirai, F. Miyazaki　International Federation of Automatic Control　2006/09

  9. Marquis Who's Who of Emerging Leaders

    2006

  10. Young Investigation Excellence Award

    H. Hirai, F. Miyazaki　The Robotics Society of Japan　2005/09

Papers 87

  1. Physio-avatar EB: aftereffects in error learning with EMG manipulation of first-person avatar experience

    Tetsuya Ando, Kazuhiro Matsui, Yuto Okamoto, Keita Atsuumi, Kazuhiro Taniguchi, Hiroaki Hirai, Atsushi Nishikawa

    Frontiers in Bioengineering and Biotechnology　Vol. 12　2024/10/09　Research paper (scientific journal)

    Publisher: Frontiers Media SA

  2. The effect of electrical muscle stimulation on intentional binding and explicit sense of agency

    Miwa Nagai, Kazuhiro Matsui, Keita Atsuumi, Kazuhiro Taniguchi, Hiroaki Hirai, Atsushi Nishikawa

    PeerJ　Vol. 12　p. e17977-e17977　2024/09/19　Research paper (scientific journal)

    Publisher: PeerJ

  3. Transverse Pelvic/Saddle Rotation Characterizing Push-Off Initiation During Saddle-Seat-Type Body-Weight-Supported Treadmill Walking

    Ryohei Terada, Hiroaki Hirai, Kosei Sasaki, Hirokazu Kuga, Keisuke Furukawa, Kazuhiro Matsui, Atsushi Nishikawa, Hermano Igo Krebs

    2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)　p. 876-882　2024/09/01　Research paper (international conference proceedings)

    Publisher: IEEE

  4. Comparison of Parameters of Regression Equations for Estimating the Perceptual Quantity of Pseudo-Haptics

    Kazuhiro Matsui, Iori Kikuchi, Kotaro Okada, Keita Atsuumi, Kazuhiro Taniguchi, Hiroaki Hirai, Atsushi Nishikawa

    Journal of Robotics and Mechatronics　Vol. 36　No. 4　p. 823-835　2024/08/20　Research paper (scientific journal)

    Publisher: Fuji Technology Press Ltd.

  5. 導電糸を用いた表情識別マスクによる個人認証の実現可能性の検討

    Keitaro Yamaguchi, Kazuki Okuyama, Keita Atsuumi, Kazuhiro Matsui, Kazuhiro Taniguchi, Hiroaki Hirai, Atsushi Nishikawa

    IEEJ Transactions on Electronics, Information and Systems　Vol. 144　No. 5　p. 469-470　2024/05/01　Research paper (scientific journal)

    Publisher: Institute of Electrical Engineers of Japan (IEE Japan)

  6. ラップトップPCと振動子による自動ラバーハンド錯覚誘起に関する研究

    Kazuhiro Matsui, Takuya Hama, Kotaro Okada, Hiroaki Hirai, Atsushi Nishikawa

    IEEJ Transactions on Electronics, Information and Systems　Vol. 144　No. 5　p. 459-460　2024/05/01　Research paper (scientific journal)

    Publisher: Institute of Electrical Engineers of Japan (IEE Japan)

  7. A Study of Spatial Perception in Virtual Space via Display and the Intervention Effects of Haptic Feedback

    Kotaro Okada, Kazuhiro Matsui, Keita Atsuumi, Kazuhiro Taniguchi, Hiroaki Hirai, Atsushi Nishikawa

    IEEE Access　Vol. 12　p. 90124-90134　2024　Research paper (scientific journal)

    Publisher: Institute of Electrical and Electronics Engineers (IEEE)

  8. Feasibility of Human Wrist-joint Neuromuscular System Identification Method Using Functional Electrical Stimulation in Clinical Examinations

    Yuya SUZUKI, Kazuhiro MATSUI, Keita ATSUUMI, Kazuhiro TANIGUCHI, Hiroaki HIRAI, Atsushi NISHIKAWA

    Advanced Biomedical Engineering　Vol. 13　p. 205-213　2024　Research paper (scientific journal)

    Publisher: Japanese Society for Medical and Biological Engineering

  9. 内視鏡下耳科手術支援ロボットの自律化に向けた深層学習を用いた複数手術器具検出

    丸川 可南子, 松居 和寛, 厚海 慶太, 藤田 岳, 上原 奈津美, 山下 俊彦, 河合 俊和, 鈴木 寿, 谷口 和弘, 平井 宏明, 西川 敦

    日本コンピュータ外科学会誌　Vol. 25　No. 3　p. 178-178　2023/11

    Publisher: (一社)日本コンピュータ外科学会

  10. 内視鏡下耳科手術支援ロボット制御に向けた術者の姿勢・動作の画像解析

    西田 周誠, 松居 和寛, 厚海 慶太, 藤田 岳, 上原 奈津美, 山下 俊彦, 河合 俊和, 鈴木 寿, 谷口 和弘, 平井 宏明, 西川 敦

    日本コンピュータ外科学会誌　Vol. 25　No. 3　p. 242-242　2023/11

    Publisher: (一社)日本コンピュータ外科学会

  11. Visual EMG Biofeedback System in a Virtual Reality Space for Relearning Internal Models: Case studies focusing on equilibrium point velocity

    Tetsuya Ando, Yuto Okamoto, Kazuhiro Matsui, Keita Atsuumi, Kazuhiro Taniguchi, Hiroaki Hirai, Atsushi Nishikawa

    2023 IEEE/SICE International Symposium on System Integration (SII)　2023/01/17　Research paper (international conference proceedings)

    Publisher: IEEE

  12. 内部モデルの再学習を目的とした仮想現実空間における視覚的筋電図バイオフィードバックシステムの開発―ヒト肘関節運動における平衡点の挙動に与える影響の検討―

    岡本 湧人, 安藤 哲也, 松居 和寛, 厚海 慶太, 谷口 和弘, 平井 宏明, 西川 敦

    生体医工学　Vol. Annual60　No. Abstract　p. 164_2-164_2　2022

    Publisher: 公益社団法人 日本生体医工学会

  13. Inter-limb Asymmetry of Equilibrium Regulation in the Legs of 10-11-Year-Old Boys during Overground Sprinting.

    Kazuto Noro, Hiroaki Hirai, Hideya Okamoto, Daisuke Kogawa, Chikako Kamimukai, Hiroshi Nagao, Yasunori Kaneko, Kaito Hori, Satoru Yamamoto, Naoto Yamada, Takashi Yajima, Kazuhiro Matsui, Atsushi Nishikawa, Hermano Igo Krebs

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference　Vol. 2021　p. 4787-4791　2021/11　Research paper (scientific journal)

  14. Electrical stimulation to modulate human ankle impedance: effects of intervention on balance control in quiet and perturbed stances

    K. Kozasa, P. D, H. Hoang, H. Hirai, K. Hori, H. Niwa, R. Fujihara, K. Matsui, A. Nishikawa, H. I. Krebs

    Proceedings of 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob2020)　p. 265-270　2020/11　Research paper (international conference proceedings)

  15. Identification of metacarpophalangeal joint movement model using functional electrical stimulation based on muscle synergy hypothesis - confirmation of the three models of finger movement

    M. Nagai, K. Matsui, K. Atsuumi, K. Taniguchi, H. Hirai, A. Nishikawa

    Proceedings of 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2020)　p. 2365-2365　2020/07　Research paper (international conference proceedings)

  16. Coactivation synergies as physiological markers of locomotor skills in athletes

    K. Hori, H. Hirai, D. Kogawa, H. Nagao, Y. Kaneko, R. Fujihara, S. Yamaguchi, T. Hikawa, K. Kozasa, N. Yamada, S. Yamamoto, K. Matsui, A. Nishikawa, H. I. Krebs

    Proceedings of 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2020)　p. 2230-2230　2020/07　Research paper (international conference proceedings)

  17. Modeling and stiffness control of elbow joint movement using functional electrical stimulation

    S. Gong, K. Matsui, R. Fukui, H. Hirai, A. Nishikawa

    Proceedings of 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2020)　2020/07　Research paper (international conference proceedings)

  18. Classification of the runner's preferences in running shoes based on equilibrium-point-based muscle synergies

    D. Kogawa, H. Hirai, H. Okamoto

    Proceedings 2020 (This article belongs to the Proceedings of The 13th Conference of the International Sports Engineering Association)　Vol. 49　No. 85　p. 1-7　2020/06　Research paper (international conference proceedings)

  19. Equilibrium point-based control of muscle-driven anthropomorphic legs reveals modularity of human motor control during pedalling

    E. Watanabe, H. Hirai, H. I. Krebs

    Advanced Robotics　Vol. 34　No. 5　p. 328-342　2020/01　Research paper (scientific journal)

  20. Standing and stepping control with switching rules for bipedal robots based on angular momentum around ankle

    M. Uemura, H. Hirai

    International Journal of Humanoid Robotics　Vol. 16　No. 5　2019　Research paper (scientific journal)

  21. Phase Plane Analysis in a Series of Motions from Standing Up to Initiating Gait

    Ippei Kamada, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    IEEJ Transactions on Electronics, Information and Systems　Vol. 139　No. 9　p. 1020-1026　2019　Research paper (scientific journal)

  22. Modeling of metacarpophalangeal joint movement using functional electrical stimulation by controlling the equilibrium-point

    M. Nagai, K. Atsuumi, K. Taniguchi, K. Matsui, H. Hirai, A. Nishikawa

    Proceedings of 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2019)　2019　Research paper (international conference proceedings)

  23. Virtual trajectory in human walking and running: dynamic patterns depended on gait speed

    R. Fujihara, H. Hirai, K. Kozasa, E. Watanabe, A. Nishikawa, D. Kogawa, H. Nagao, Y. Kaneko, H. I. Krebs

    Proceedings of 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2019)　2019　Research paper (international conference proceedings)

  24. Exploiting the invariant structure for controlling multiple muscles in anthropomorphic legs: III. reproducing hemiparetic walking from equilibrium point-based synergies

    E. Watanabe, K. Kozasa, R. Fujihara, H. Hirai, K. Yoshida, H. Naritomi, H. I. Krebs

    Proceedings of 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR2019)　p. 1227-1232　2019　Research paper (international conference proceedings)

  25. Alteration in foot strike pattern during running with elastic insoles: a case study on the effect of long-term training

    R. Fujihara, K. Kozasa, H. Hirai, H. I. Krebs

    Proceeding of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2018)　p. 390-395　2018　Research paper (international conference proceedings)

  26. An investigation into rhythmic and discrete gait using the MIT skywalker

    B. L. Jackson, R. M. Coelho, H. Hirai, H. I. Krebs

    Proceeding of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2018)　p. 922-927　2018　Research paper (international conference proceedings)

  27. Interference electrical stimulation applied to soleus muscle in humans: preliminary study on relationship among stimulation parameters, force output and pain sensation

    K. Kozasa, R. Fujihara, H. Hirai, H. I. Krebs

    Proceeding of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2018)　p. 1038-1043　2018　Research paper (international conference proceedings)

  28. Gait interventions with partial body-weight support, a split-belt treadmill, and functional electrical stimulation: novel gait-training platform and preliminary evidence

    N. Kataoka, H. Hirai, T. Hamilton, F. Yoshikawa, A. Kuroiwa, Y. Nagakawa, E. Watanabe, Y. Ninomaru, Y. Saeki, M. Uemura, F. Miyazaki, H. Nakata, T. Nishi, H. Naritomi, H. I. Krebs

    Transactions of the Society of Instrument and Control Engineers　Vol. 54　No. 4　p. 412-420　2018　Research paper (scientific journal)

  29. Efficacy of a knee orthosis that uses an elastic element

    Ippei Kamada, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS　p. 942-945　2017/09/13　Research paper (international conference proceedings)

    Publisher: Institute of Electrical and Electronics Engineers Inc.

  30. Effects of partial body-weight support and functional electrical stimulation on gait characteristics during treadmill locomotion: Pros and cons of saddle-seat-type body-weight support

    Natsumi Kataoka, Hiroaki Hirai, Taya Hamilton, Fumiaki Yoshikawa, Akira Kuroiwa, Yuma Nagakawa, Eichi Watanabe, Yudai Ninomaru, Yuri Saeki, Mitsunori Uemura, Fumio Miyazaki, Hiroshi Nakata, Tomoki Nishi, Hiroaki Naritomi, Hermano Igo Krebs

    IEEE International Conference on Rehabilitation Robotics　p. 381-386　2017/08/11　Research paper (international conference proceedings)

    Publisher: IEEE Computer Society

  31. MIT-Skywalker: Evaluating comfort of bicycle/saddle seat

    Rogerio S. Goncalves, Taya Hamilton, Ali R. Daher, Hiroaki Hirai, Hermano I. Krebs

    IEEE International Conference on Rehabilitation Robotics　p. 516-520　2017/08/11　Research paper (international conference proceedings)

    Publisher: IEEE Computer Society

  32. Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: equilibrium-point-based control approach to constrained motion

    E. Watanbe, H. Hirai, Y. Ninomaru, N. Kataoka, Y. Saeki, M. Uemura, F. Miyazaki, H. I. Krebs

    Proceeding of Progress in Motor Control XI (PMC XI)　2017　Research paper (international conference proceedings)

  33. Motor control based on the muscle synergy hypothesis

    Hiroaki Hirai, Hang Pham, Yohei Ariga, Kanna Uno, Fumio Miyazaki

    Cognitive Neuroscience Robotics A: Synthetic Approaches to Human Understanding　p. 25-50　2016/01/01　Part of collection (book)

    Publisher: Springer Japan

  34. Exploiting Invariant Structure for Controlling Multiple Muscles in Anthropomorphic Legs: II. Experimental Evidence for Three Equilibrium-point-based Synergies during Human Pedaling

    Eichi Watanabe, Takanori Oku, Hiroaki Hirai, Fumiaki Yoshikawa, Yuma Nagakawa, Akira Kuroiwa, Emerson Paul Grabke, Mitsunori Uemura, Fumio Miyazaki, Hermano Igo Krebs

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 1167-1172　2016　Research paper (international conference proceedings)

  35. Equilibrium-point-based Synergies that Encode Coordinates in Task Space: A Practical Method for Translating Functional Synergies from Human to Musculoskeletal Robot Arm

    Fumiaki Yoshikawa, Hiroaki Hirai, Eichi Watanabe, Yuma Nagakawa, Akira Kuroiwa, Emerson Grabke, Mitsunori Uemura, Fumio Miyazaki, Hermano Igo Krebs

    2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 1135-1140　2016　Research paper (international conference proceedings)

  36. Functional muscle synergies invariant across human gaits

    K. Tominaga, T. Iimura, M. Uemura, H. Hirai, F. Miyazaki

    Transactions of the Society of Instrument and Control Engineers　Vol. 52　No. 1　p. 37-45　2016　Research paper (scientific journal)

    Publisher: The Society of Instrument and Control Engineers

  37. An analysis of human motor control during bipedal walking with passive knee orthoses

    I. Kamada, M. Uemura, H. Hirai, F. Miyazaki

    Transactions of the Japan Society of Mechanical Engineers　Vol. 82　No. 843　p. 16-00236-00236-16-00236　2016　Research paper (scientific journal)

    Publisher: The Japan Society of Mechanical Engineers

  38. Analysis of equilibrium-point control model using two-channel functional electrical stimulation to extend elbow joint movement to an unconstrained environment on the horizontal plane

    Kazuhiro Matsui, Kazuya Maegaki, Yuto Yamashita, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    Transactions of Japanese Society for Medical and Biological Engineering　Vol. 53　No. 1　p. 14-20　2015/06/01　Research paper (scientific journal)

    Publisher: Japan Soc. of Med. Electronics and Biol. Engineering

  39. A Feasibility Study to Assess Intralimb Coordination in Stroke Rehabilitation: Two Indices of Mechanical Impedance by Coactivation of Agonist Muscles

    Takanori Oku, Kanna Uno, Tomoki Nishi, Masayuki Kageyama, Keitaro Koba, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki, Hiroaki Naritomi

    PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015)　p. 899-904　2015　Research paper (international conference proceedings)

  40. Exploiting Invariant Structure for Controlling Multiple Muscles in Anthropomorphic Legs: An Inspiration from Electromyography Analysis of Human Pedaling

    Eichi Wantanabe, Takanori Oku, Hiroaki Hirai, Kanna Uno, Mitsunori Uemura, Fumio Miyazaki

    2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 88-93　2015　Research paper (international conference proceedings)

  41. Adaptive Tracking Control with Partial Regressor for Multi-joint Robot

    Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    IECON 2015 - 41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY　p. 4441-4446　2015　Research paper (international conference proceedings)

  42. On the origin of muscle synergies: invariant balance in the co-activation of agonist and antagonist muscle pairs

    H. Hirai, F. Miyazaki, H. Naritomi, K. Koba, T. Oku, K. Uno, M. Uemura, T. Nishi, M. Kageyama, H. I. Krebs

    Frontiers in Bioengineering and Biotechnology　Vol. 3　No. 192　p. 1-16　2015　Research paper (scientific journal)

  43. Tacit representation of muscle activities during coordination training: Muscle synergy analysis to visualize motor enhancement in virtual trajectory of multi-joint arm movement

    Keitaro Koba, Kenta Murakami, Takanori Oku, Kanna Uno, Pipatthana Phatiwuttipat, Yuto Yamashita, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　p. 270-275　2014/09/30　Research paper (international conference proceedings)

    Publisher: IEEE Computer Society

  44. A novel muscle synergy extraction method to explain the equilibrium-point trajectory and endpoint stiffness during human upper-limb movements on a horizontal plane

    Kanna Uno, Takanori Oku, Pipatthana Phatiwuttipat, Keitaro Koba, Yuto Yamashita, Kenta Murakami, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　p. 621-626　2014/09/30　Research paper (international conference proceedings)

    Publisher: IEEE Computer Society

  45. Equilibrium-point control of human elbow-joint movement under isometric environment by using multichannel functional electrical stimulation

    Kazuhiro Matsui, Yasuo Hishii, Kazuya Maegaki, Yuto Yamashita, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    FRONTIERS IN NEUROSCIENCE　Vol. 8　No. 164　p. 1-9　2014/06　Research paper (scientific journal)

  46. Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement

    Hang Pham, Yohei Ariga, Kenta Tominaga, Takanori Oku, Kanna Nakayama, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    ADVANCED ROBOTICS　Vol. 28　No. 11　p. 745-757　2014/06　Research paper (scientific journal)

  47. Iterative Motion Learning with Stiffness Adaptation for Multi-joint Robots

    Mitsunori Uemura, Sadao Kawamura, Hiroaki Hirai, Fumio Miyazaki

    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014　p. 1088-1093　2014　Research paper (international conference proceedings)

  48. 水平面内におけるヒト上肢運動時のEMG信号を利用した筋シナジー，平衡点軌道および手先剛性の新しい評価法の提案

    宇野かんな, 奥貴紀, 植村充典, 平井宏明, 宮崎文夫

    日本ロボット学会誌　Vol. 32　No. 7　p. 603-614　2014　Research paper (scientific journal)

  49. Reconstruction of human skills by using PCA and transferring them to a robot

    Masahiro Takeuchi, Jun Shimodaira, Yuki Amaoka, Shinsuke Hamatani, Hiroaki Hirai, Fumio Miyazaki

    Journal of Robotics and Mechatronics　Vol. 26　No. 1　p. 51-58　2014　Research paper (scientific journal)

    Publisher: Fuji Technology Press

  50. FUNCTIONAL ELECTRICAL STIMULATION FOR EQUILIBRIUM-POINT CONTROL OF HUMAN ANKLE MOVEMENT: FREQUENCY DOMAIN SYSTEM IDENTIFICATION OF HUMAN ANKLE DYNAMICS

    Yuto Yamashita, Kazuya Maegaki, Kazuhiro Matsui, Takanori Oku, Kanna Uno, Keitaro Koba, Pipatthana Phatiwuttipat, Kenta Murakami, Mitsunori Uennura, Hiroaki Hirai, Fumio Miyazaki

    7TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2014, VOL 2　p. 6200-1-6200-5　2014　Research paper (international conference proceedings)

  51. Abnormal muscle synergies significantly alter endpoint stiffness and virtual trajectory while drawing in a horizontal plane

    T. Oku, K. Uno, T. Nishi, M. Kageyama, P. Phatiwuttipat, K. Koba, Y. Yamashita, M. Uemura, H. Hirai, F. Miyazaki, H. Naritomi

    Proceedings of 1st Clinical Movement Analysis World Conference (ESMAC-SIAMOC2014)　2014　Research paper (international conference proceedings)

  52. Pilot Study on Quantitative Assessment of Muscle Imbalance: Differences of Muscle Synergies, Equilibrium-point Trajectories, and Endpoint Stiffness in Normal and Pathological Upper-limb Movements

    Takanori Oku, Kanna Uno, Tomoki Nishi, Masayuki Kageyama, Pipatthana Phatiwuttipat, Keitaro Koba, Yuto Yamashita, Kenta Murakami, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki, Hiroaki Naritomi

    2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　p. 5784-5787　2014　Research paper (international conference proceedings)

  53. A Novel Muscle Synergy Extraction Method to Explain the Equilibrium-point Trajectory and Endpoint Stiffness during Human Upper-limb Movements on a Horizontal Plane

    Kanna Uno, Takanori Oku, Pipatthana Phatiwuttipat, Keitaro Koba, Yuto Yamashita, Kenta Murakami, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)　p. 621-626　2014　Research paper (international conference proceedings)

  54. Tacit Representation of Muscle Activities during Coordination Training: Muscle Synergy Analysis to Visualize Motor Enhancement in Virtual Trajectory of Multi-Joint Arm Movement

    Keitaro Koba, Kenta Murakami, Takanori Oku, Kanna Uno, Pipatthana Phatiwuttipat, Yuto Yamashita, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)　p. 270-275　2014　Research paper (international conference proceedings)

  55. The linear control of antagonistic-driven system using A-A ratio and A-A activity and its application to the EMG interface

    Y. Ariga, D. Maeda, K. Uno, H. T. T. Pham, M. Uemura, H. Hirai, F. Miyazaki

    Journal of the Robotics Society of Japan　Vol. 31　No. 5　p. 517-526　2013　Research paper (scientific journal)

    Publisher: The Robotics Society of Japan

  56. Identifying the Building Blocks of a Human Walking based on the EMG Ratio of Agonist-antagonsit Muscle Pairs

    HIRAI Hiroaki, IIMURA Taiki, INOUE Keita, MIYAZAKI Fumio

    JRSJ　Vol. 30　No. 5　p. 524-533　2012/06/15

    Publisher: The Robotics Society of Japan

  57. Extraction of Muscle Synergies in Hand-Force Control and Implementation to Musculoskeletal Robots

    H. T. T. Pham, M. Hazata, D. Maeda, H. Hirai, F. Miyazaki

    Journal of Japan Society for Fuzzy Theory and Intelligent Informatics　Vol. 24　No. 1　p. 536-544　2012　Research paper (scientific journal)

    Publisher: Japan Society for Fuzzy Theory and Intelligent Informatics

  58. Analysis of Muscle Coordination in Human Pedaling and Implementation with a Musculoskeletal Robot

    Takanori Oku, Keita Inoue, Pham T. T. Hang, Kenta Tominaga, Daisuke Maeda, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)　p. 606-611　2012　Research paper (international conference proceedings)

  59. Muscle Synergy Analysis of Human Adaptation to a Variable-Stiffness Exoskeleton: Human Walk with a Knee Exoskeleton with Pneumatic Artificial Muscles

    Daisuke Maeda, Kenta Tominaga, Takanori Oku, Hang T. T. Pham, Shin Saeki, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)　p. 638-644　2012　Research paper (international conference proceedings)

  60. Novel Equilibrium-Point Control of Agonist-Antagonist System with Pneumatic Artificial Muscles

    Yohei Ariga, Hang T. T. Pham, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 1470-1475　2012　Research paper (international conference proceedings)

  61. Novel Equilibrium-Point Control of Agonist-Antagonist System with Pneumatic Artificial Muscles: II. Application to EMG-based Human-machine Interface for an Elbow-joint System

    Yohei Ariga, Daisuke Maeda, Hang T. T. Pham, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 4380-4385　2012　Research paper (international conference proceedings)

  62. Analysis of human swing movement and transferring into robot

    J. Shimodaira, Y. Amaoka, S. Hamatani, M. Takeuchi, H. Hirai, F. Miyazaki

    Transactions of the Society of Instrument and Control Engineers　Vol. 47　No. 10　p. 485-492　2011　Research paper (scientific journal)

  63. Decomposition of limb movement based on muscular coordination during human running

    Taiki Iimura, Keita Inoue, Hang T. T. Pham, Hiroaki Hirai, Fumio Miyazaki

    Journal of Advanced Computational Intelligence and Intelligent Informatics　Vol. 15　No. 8　p. 980-987　2011　Research paper (scientific journal)

    Publisher: Fuji Technology Press

  64. Extraction and Implementation of Muscle Synergies in Hand-Force Control

    Hang T. T. Pham, Mariko Kimura, Hiroaki Hirai, Fumio Miyazaki

    2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 3658-3663　2011　Research paper (international conference proceedings)

  65. A Preliminary Experiment for Transferring Human Motion to a Musculoskeletal Robot-Decomposition of Human Running based on Muscular Coordination

    Taiki Iimura, Keita Inoue, Hang T. T. Pham, Hiroaki Hirai, Fumio Miyazaki

    2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 4496-4501　2011　Research paper (international conference proceedings)

  66. An experimental study of muscle coordination and function during human locomotion

    K. Inoue, T. Iimura, T. Oku, H. T. T. Pham, H. Hirai, F. Miyazaki

    BIO Web of Conferences/International Conference SKILLS 2011　Vol. 1　p. 00040-1-00040-4　2011　Research paper (international conference proceedings)

  67. Reconstruction of human skill by using PCA and transferring it to the robot

    Y. Amaoka, J. Shimodaira, H. Hirai, F. Miyazaki

    Journal of the Robotics Society of Japan　Vol. 28　No. 8　p. 989-995　2010　Research paper (scientific journal)

    Publisher: The Robotics Society of Japan

  68. Modular Control of Limb Kinematics During Human Walking

    Hiroaki Hirai, Kazuhiro Matsui, Taiki Iimura, Keigo Mitsumori, Fumio Miyazaki

    2010 3RD IEEE RAS AND EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS　p. 716-721　2010　Research paper (international conference proceedings)

  69. A Study on Dynamical Role Division in a Crank-rotation Task from the Viewpoint of Kinetics and Muscle Activity Analysis

    Hang T. T. Pham, Ryohei Ueha, Hiroaki Hirai, Fumio Miyazaki

    IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　p. 2188-2193　2010　Research paper (international conference proceedings)

  70. Dynamical Role Division between Two Subjects in a Crank-rotation Task

    Ryohei Ueha, Hang T. T. Pham, Hiroaki Hirai, Fumio Miyazaki

    2009 IEEE 11TH INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, VOLS 1 AND 2　p. 816-821　2009　Research paper (international conference proceedings)

  71. A Simple Control Design for Human-Robot Coordination Based on the Knowledge of Dynamical Role Division

    Ryohei Ueha, Hang T. T. Pham, Hiroaki Hirai, Fumio Miyazaki

    2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 3051-3056　2009　Research paper (international conference proceedings)

  72. Motor skill performance in action

    H. Hirai, F. Miyazaki

    Journal of the Robotics Society of Japan　Vol. 26　No. 3　p. 234-237　2008　Research paper (scientific journal)

    Publisher: The Robotics Society of Japan

  73. Table tennis rallies between a person and a robot

    F. Miyazaki, H. Hirai

    Proceedings of 14th International Conference on Perception and Action (ICPA14)　p. 110-111　2007　Research paper (international conference proceedings)

  74. Robot jugglers: harmonic behaviour of ball-passing robots

    H. Hirai, F. Miyazaki

    Proceedings of 14th International Conference on Perception and Action (ICPA14)　p. 108-109　2007　Research paper (international conference proceedings)

  75. Dynamic coordination between robots: Self-organized timing selection in a juggling-like ball-passing task

    Hiroaki Hirai, Fumio Miyazaki

    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS　Vol. 36　No. 4　p. 738-754　2006/08　Research paper (scientific journal)

  76. Emergence of a dynamic pattern in wall-bouncing juggling: self-organized timing selection for rhythmic movement

    Hiroaki Hirai, Fumio Miyazaki

    ROBOTICA　Vol. 24　No. 3　p. 273-293　2006/05　Research paper (scientific journal)

  77. Dynamic temporal pattern and timing skill in wall-bouncing juggling

    H. Hirai, F. Miyazaki

    Transactions of the Institute of Systems, Control and Information Engineers　Vol. 19　No. 1　p. 15-27　2006　Research paper (scientific journal)

    Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

  78. Dynamic temporal patterns between robots: The self-organized timing selection in juggling-like passing the balls

    Hiroaki Hirai, Fumio Miyazaki

    2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS　p. 511-+　2006　Research paper (international conference proceedings)

  79. Development of an ankle-foot orthosis with a pneumatic passive element

    Hiroaki Hirai, Ryuta Ozawa, Satoru Goto, Hiroki Fujigaya, Shodo Yamasaki, Yasuhiko Hatanaka, Sadao Kawamura

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication　p. 220-225　2006　Research paper (international conference proceedings)

  80. Passive stabilization of juggling-like ball-passing task

    Hiroaki Hirai, Fumio Miyazaki

    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10　p. 2590-+　2006　Research paper (international conference proceedings)

  81. A dynamical systems approach to rhythmic coordination between robots

    H. Hirai, F. Miyazaki

    Proceedings of 4th IFAC Symposium Mechatronic Systems (Mechatronics2006)　p. 163-168　2006　Research paper (international conference proceedings)

  82. A couple of robots that juggle balls: the complementary mechanisms for dynamic coordination

    H. Hirai, F. Miyazaki

    Proceedings of 3rd International Conference on Enactive Interfaces (Enactive/06)　p. 151-152　2006　Research paper (international conference proceedings)

  83. What are key mechanisms for adaptive wall-bouncing control?

    H Hirai, F Miyazaki

    IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS　p. 907-912　2004　Research paper (international conference proceedings)

  84. Motion estimation of unknown rigid body rotating freely under zero gravity condition

    H. Hirai, Y. Masutani, F. Miyazaki

    Transactions of the Society of Instrument and Control Engineers　Vol. 39　No. 2　p. 89-96　2003　Research paper (scientific journal)

    Publisher:

  85. A bidirectional weak coupling approach to rhythmic movement

    H. Hirai, F. Miyazaki

    Proceedings of International Symposium on Adaptive Motion of Animals and Machines (AMAM2003)　2003　Research paper (international conference proceedings)

  86. Rhythmic movement by neural oscillator with periodic stimulus

    H Hirai, F Miyazaki

    2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　Vol. 1　p. 226-231　2003　Research paper (international conference proceedings)

  87. Motion estimation of an unknown rigid body rotating freely in zero gravity based on complex spectrum of position of a point on the body

    H Hirai, Y Masutani, F Miyazaki

    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4　Vol. 1　p. 907-912　1998　Research paper (international conference proceedings)

Misc. 113

  1. Research on spatial perception in virtual space via display-Verification of intervention effect on spatial perception by tactile feedback-

    岡田耕太郎, 松居和寛, 厚海慶太, 厚海慶太, 谷口和弘, 谷口和弘, 平井宏明, 西川敦

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　Vol. 2023　2023

  2. 内部モデルの再学習を目的とした仮想現実空間における視覚的筋電図バイオフィードバックシステムの開発-プロトタイプを用いた健常者におけるケーススタディ-

    安藤哲也, 岡本湧人, 松居和寛, 厚海慶太, 厚海慶太, 谷口和弘, 谷口和弘, 平井宏明, 西川敦

    日本ロボット学会学術講演会予稿集(CD-ROM)　Vol. 40th　2022

  3. マスクの伸縮と導電糸を用いた表情識別システムの開発デバイス構成の比較と評価

    奥山和輝, 山口慶太郎, 厚海慶太, 厚海慶太, 松居和寛, 平井宏明, 西川敦, 谷口和弘, 谷口和弘

    日本ロボット学会学術講演会予稿集(CD-ROM)　Vol. 39th　2021

  4. 二次元視覚情報下でのヒトの奥行き知覚能力の分析と触覚フィードバックの意義

    奥野真輝, 松居和寛, 下城拓真, 厚海慶太, 厚海慶太, 谷口和弘, 谷口和弘, 平井宏明, 西川敦

    日本ロボット学会学術講演会予稿集(CD-ROM)　Vol. 39th　2021

  5. ヒト上肢筋骨格系の粘弾性調和構造に基づく力制御

    山本慧, 平井宏明, 日野匠太朗, 淺香智輝, 堀開登, 松居和寛, 西川敦, Hermano Igo Krebs

    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（SI2020）講演論文集　p. 1544-1545　2020/12　Research paper, summary (national, other academic conference)

  6. 上級ランナーの走行時における足先平衡点の離散制御

    堀開登, 平井宏明, 古川大輔, 長尾裕史, 金子靖仙, 山本慧, 山田直人, 野呂和主, 彌島卓, 松居和寛, 西川敦, Hermano Igo Krebs

    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（SI2020）講演論文集　p. 367-368　2020/12　Research paper, summary (national, other academic conference)

  7. 機能的電気刺激を用いたヒト足関節インピーダンス変調

    渡邉泰良, 平井宏明, 小笹航平, 堀開登, 山本慧, 松居和寛, 西川敦, Hermano Igo Krebs

    第38回日本ロボット学会学術講演会（RSJ2020）予稿集　2020/10　Research paper, summary (national, other academic conference)

  8. ヒトの指腹部へ触覚提示を行うデバイスの開発と知覚の定量化

    下城拓真, 松居和寛, 厚海慶太, 谷口和弘, 平井宏明, 西川敦

    第38回日本ロボット学会学術講演会（RSJ2020）予稿集　2020/10　Research paper, summary (national, other academic conference)

  9. 上級ランナーの走行時における下肢筋群の同時活性とその調和構造

    堀開登, 平井宏明, 古川大輔, 長尾裕史, 金子靖仙, 山田直人, 山本慧, 松居和寛, 西川敦, Hermano Igo Krebs

    第38回日本ロボット学会学術講演会（RSJ2020）予稿集　2020/10　Research paper, summary (national, other academic conference)

  10. ヒト上肢の手先力・把持力に伴う筋協調，手先平衡点及び手先剛性の調整

    山本慧, 平井宏明, 堀開登, 渡邉泰良, 松居和寛, 西川敦, Hermano Igo Krebs

    第38回日本ロボット学会学術講演会（RSJ2020）予稿集　2020/10　Research paper, summary (national, other academic conference)

  11. 筋シナジーに基づく機能的電気刺激を用いた中手指節関節運動のモデル化

    永井美和, 松居和寛, 厚海慶太, 谷口和弘, 平井宏明, 西川敦

    日本機械学会ロボティクス・メカトロニクス講演会2020 (ROBOMECH2020) 講演概要集　2020/05　Research paper, summary (national, other academic conference)

  12. 噛みしめ動作をインタフェースに用いた機能的電気刺激によるヒト手指関節制御の検討

    大野正太朗, 松居和寛, 谷口和弘, 厚海慶太, 永井美和, 平井宏明, 西川敦

    日本機械学会ロボティクス・メカトロニクス講演会2020 (ROBOMECH2020) 講演概要集　2020/05　Research paper, summary (national, other academic conference)

  13. 機能的電気刺激（FES）を用いたヒト関節剛性制御の姿勢依存性の検討

    松居和寛, 福井隆之介, Shuogang Gong, 平井宏明, 西川敦

    第59回日本生体医工学会大会　2020/05　Research paper, summary (national, other academic conference)

  14. 中長距離ランナーの走行時の下肢仮想軌道の推定 ― 運動速度に依存した動的パターンの形成 ―

    藤原諒, 平井宏明, 古川大輔, 長尾裕史, 金子靖仙, 小笹航平, 山口修平, 肥川知樹, 渡邉英知, 西川敦, Hermano Igo Krebs

    第20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（SI2019）講演論文集　p. 1696-1697　2019/12　Research paper, summary (national, other academic conference)

  15. 機能的電気刺激を用いたヒト足関節インピーダンス変調 ― 立位バランス制御への影響 ―

    小笹航平, 平井宏明, 堀開登, 丹羽英人, 藤原諒, 渡邉英知, 西川敦, Hermano Igo Krebs

    第20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（SI2019）講演論文集　p. 1750-1751　2019/12　Research paper, summary (national, other academic conference)

  16. ヒト運動制御戦略に基づく機能的電気刺激を用いた中手指節関節運動制御モデルの同定と評価

    永井美和, 松居和寛, 厚海慶太, 谷口和弘, 平井宏明, 西川敦

    生体医工学シンポジウム2019　2019/09　Research paper, summary (national, other academic conference)

  17. 機能的電気刺激における噛み締め動作を利用した制御入力機器の提案

    大野正太朗, 松居和寛, 谷口和弘, 厚海慶太, 平井宏明, 西川敦

    生体医工学シンポジウム2019　2019/09　Research paper, summary (national, other academic conference)

  18. 機能的電気刺激によるヒト足関節のインピーダンス変調

    小笹航平, 平井宏明, 堀開登, 丹羽英人, 藤原諒, 渡邉英知, 西川敦, Hermano Igo Krebs

    第37回日本ロボット学会学術講演会（RSJ2019）予稿集　Vol. RSJ2019AC1J1-03　2019/09　Research paper, summary (national, other academic conference)

  19. ヒト歩行・走行運動における下肢仮想軌道の推定

    藤原諒, 平井宏明, 小笹航平, 渡邉英知, 山口修平, 肥川知樹, 西川敦, 古川大輔, 長尾裕史, 金子靖仙, Hermano Igo Krebs

    第37回日本ロボット学会学術講演会（RSJ2019）予稿集　2019/09　Research paper, summary (national, other academic conference)

  20. Landing Control for Legged Robot by Using Angular Momentum around Ankle

    S. Uekawa, M. Uemura, H. Hirai

    Proc. the 19th SICE System Integration Division Annual Conference (SI2018)　p. 228-233　2018/12　Research paper, summary (national, other academic conference)

  21. Use of Musculoskeletal Robot as Substitute for Human in Biomechanical Research Involving Human Subjects: Case Report of Gait Rehabilitation Device

    E. Watanabe, H. Hirai, K. Kozasa, R. Fujihara, H. I. Krebs

    Proc. the 19th SICE System Integration Division Annual Conference (SI2018)　p. 1533-1535　2018/12　Research paper, summary (national, other academic conference)

  22. Long-term Effects of Running Training with Elastic Shoes and Insoles: A Case Study of the Change in Foot Strike Pattern

    R. Fujihara, K. Kozasa, H. Hirai, E. Watanabe, H. I. Krebs

    Proc. the 19th SICE System Integration Division Annual Conference (SI2018)　p. 938-940　2018/12　Research paper, summary (national, other academic conference)

  23. Selective Activation of Human Soleus Muscle with Interferential Current: A Pilot Study on the Relationship among Stimulation Parameters, Force Output, and Pain Sensation

    K. Kozasa, R. Fujihara, H. Hirai, E. Watanabe, H. I. Krebs

    Proc. the 19th SICE System Integration Division Annual Conference (SI2018)　p. 1499-1501　2018/12　Research paper, summary (national, other academic conference)

  24. Gait Interventions with Saddle-seat-type Body-weight-support, Split-belt Treadmill and Soft Wearable Ankle-assisting Orthosis

    Y. Saeki, H. Hirai, Y. Ninomaru, N. Kataoka, E. Watanabe, M. Uemura, F. Miyazaki, H. I. Krebs

    Proc. the 18th SICE System Integration Division Annual Conference (SI2017)　p. 1648-1650　2017/12　Research paper, summary (national, other academic conference)

  25. Revisiting Theory of Human Arm Conrol: Equilibrium-point-based Synergies that Encode Coordinates in Task Space, and Virtual Trajectory Formation

    Y. Ninomaru, H. Hirai, Y. Saeki, E. Watanabe, N. Kataoka, M. Uemura, F. Miyazaki, H. I. Krebs

    Proc. the 18th SICE System Integration Division Annual Conference (SI2017)　p. 1645-1647　2017/12　Research paper, summary (national, other academic conference)

  26. サドル支持型部分体重免荷装置, 左右分離型トレッドミル, 機能的電気刺激を用いた歩行への介入とその効果

    片岡 夏美, 平井 宏明, T. Hamilton, 吉川 史哲, 黒岩 晃, 長川祐磨, 渡邉英知, 二ノ丸雄大, 佐伯 友里, 植村 充典, 宮崎 文夫, 中田 裕士, 西 知紀, 成冨 博章, Hermano Igo Krebs

    第35回日本ロボット学会学術講演会（RSJ2017）予稿集　2017/09　Research paper, summary (national, other academic conference)

  27. 先端化学繊維ロープを用いた軽量脚・腕ロボット

    植村 充典, 八木 聡明, 平井 宏明, 宮崎 文夫, 川村貞夫

    第35回日本ロボット学会学術講演会（RSJ2017）予稿集　2017/09　Internal/External technical report, pre-print, etc.

  28. 卓球ロボットのための, ヒトのラケットの動きを考慮した打撃点予測

    池口 誠人, 真鍋 仁, 武内 将洋, 植村 充典, 平井 宏明, 宮崎 文夫

    第35回日本ロボット学会学術講演会（RSJ2017）予稿集　2017/09　Research paper, summary (national, other academic conference)

  29. ヒトのドライブスイング移植による 卓球ロボットの返球飛距離制御

    真鍋 仁, 池口 誠人, 武内 将洋, 植村 充典, 平井 宏明, 宮崎 文夫

    第35回日本ロボット学会学術講演会（RSJ2017）予稿集　2017/09　Research paper, summary (national, other academic conference)

  30. 部分体重免荷, 左右分離型トレッドミル, 機能的電気刺激を用いた歩行への 介入と効果 ― サドル支持型体重免荷の利点と限界 ―

    小笹 航平, 藤原 諒, 林 伸樹, 片岡 夏美, 平井 宏明, 吉川 史哲, 黒岩 晃, 長川 祐磨, 渡邉 英知, 二ノ丸 雄大, 佐伯 友里, 植村 充典, 宮崎 文夫, 中田 裕士, 西 知紀, 成冨 博章, Taya Hamilton, Hermano Igo Krebs

    第11回 Motor Control 研究会　2017/08　Research paper, summary (national, other academic conference)

  31. Development and experimental evaluation of a robotic knee exoskeleton with a variable stiffness mechanism

    K. Suzuki, Y. Terada, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 2017 JSME Conference on Robotics and Mechatronics　Vol. 2017　p. 1P1-K12-K12　2017/05　Research paper, summary (national, other academic conference)

    Publisher: The Japan Society of Mechanical Engineers

  32. An experimental study of balance control for bipedal robots based on ankle angular momentum

    S. Yagi, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 2017 JSME Conference on Robotics and Mechatronics　Vol. 2017　p. 1A1-P09-P09　2017/05　Research paper, summary (national, other academic conference)

    Publisher: The Japan Society of Mechanical Engineers

  33. Gait Interventions with Saddle-type Body-weight-support, a Split Treadmill and Functional Electrical Stimulation

    A. Kuroiwa, H. Hirai, F. Yoshikawa, Y. Nagakawa, E. Watanabe, N. Kataoka, M. Uemura, F. Miyazaki

    Proc. the 17th SICE System Integration Division Annual Conference (SI2016)　p. 2880-2882　2016/12　Research paper, summary (national, other academic conference)

  34. サドル支持型体重免荷トレッドミル歩行の運動解析 ―下肢の平衡点軌道, 足先剛性の可視化―

    長川 祐磨, 吉川 史哲, 平井 宏明, 黒岩 晃, 渡邉 英知, 植村 充典, 宮崎 文夫

    第10回 Motor Control 研究会　2016/09　Research paper, summary (national, other academic conference)

  35. 体重免荷方式の違いが歩行に与える影響：吊り上げ型とサドル支持型の比較

    吉川 史哲, 長川 祐磨, 平井 宏明, 黒岩 晃, 渡邉 英知, 植村 充典, 宮崎 文夫

    第10回 Motor Control 研究会　2016/09　Research paper, summary (national, other academic conference)

  36. 足首周りの角運動量を用いたバランス指標に基づく 脚ロボットの歩行制御

    植村 充典, 平井 宏明, 宮崎 文夫

    第34回日本ロボット学会学術講演会（RSJ2016）予稿集　2016/09　Research paper, summary (national, other academic conference)

  37. 下肢筋骨格ロボットによる前方ペダリングの再現と考察 ―筋シナジーに基づくヒトの運動戦略の解析と制御への応用―

    渡邉 英知, 奥 貴紀, 平井 宏明, 吉川 史哲, 植村 充典, 宮崎 文夫

    第34回日本ロボット学会学術講演会（RSJ2016）予稿集　2016/09　Research paper, summary (national, other academic conference)

  38. ヒト上肢の姿勢保持時における終点と平衡点の一致を利用した 新しい筋シナジー推定法の提案

    吉川 史哲, 平井 宏明, 渡邉 英知, 植村 充典, 宮崎 文夫

    第34回日本ロボット学会学術講演会（RSJ2016）予稿集　2016/09　Research paper, summary (national, other academic conference)

  39. Design, Modeling, and Control of Anthropomorphic Lower-limb Robot: Muscle Synergy Approach to Realization of Forward and Backward Pedaling

    E. Watanabe, T. Oku, H. Hirai, K. Uno, M. Uemura, F. Miyazaki

    Proc. the 16th SICE System Integration Division Annual Conference (SI2015)　p. 1587-1589　2015/12　Research paper, summary (national, other academic conference)

  40. 足首周りの角運動量に基づく脚ロボットの立位可安定性

    植村 充典, 平井 宏明, 宮崎 文夫

    第33回日本ロボット学会学術講演会（RSJ2015）予稿集　2015/09　Research paper, summary (national, other academic conference)

  41. ヒトの走行運動のエネルギー解析

    亀田 誠二, 松岡 慎也, 富永 健太, 植村 充典, 平井 宏明, 宮崎 文夫

    第33回日本ロボット学会学術講演会（RSJ2015）予稿集　2015/09　Research paper, summary (national, other academic conference)

  42. ヒール靴着用時の歩行運動における下肢の筋協調解析

    辻 真緒, 富永 健太, 植村 充典, 平井 宏明, 宮崎 文夫

    第33回日本ロボット学会学術講演会（RSJ2015）予稿集　2015/09　Research paper, summary (national, other academic conference)

  43. 筋シナジー制御法を実装した筋骨格アームロボットの動的挙動

    吉川 史哲, 北野 翔大, 富永 健太, 奥 貴紀, 古場 啓太郎, 植村 充典, 平井 宏明, 宮崎 文夫

    第33回日本ロボット学会学術講演会（RSJ2015）予稿集　2015/09　Research paper, summary (national, other academic conference)

  44. アシストロボットのための接地センサを用いない歩行相推定アルゴリズム

    寺田 祐基, 植村 充典, 平井 宏明, 宮崎 文夫

    第33回日本ロボット学会学術講演会（RSJ2015）予稿集　2015/09　Research paper, summary (national, other academic conference)

  45. 非駆動関節を有するロボットに対する共振を利用した運動と関節剛性の調節法

    植村 充典, 平井 宏明, 宮崎 文夫

    第32回日本ロボット学会学術講演会（RSJ2014）予稿集　2014/09　Research paper, summary (national, other academic conference)

  46. 非拘束環境下における多チャンネル型機能的電気刺激（FES）による平衡点制御モデルの解析

    松居 和寛, 前垣 和也, 山下 雄人, 植村 充典, 平井 宏明, 宮崎 文夫

    2014/09　Research paper, summary (national, other academic conference)

  47. 筋シナジー解析に基づく歩行運動時の平衡点軌道及び足先剛性の推定

    北村 貴志, 古場 啓太郎, 富永 健太, 宇野 かんな, 植村 充典, 平井 宏明, 宮崎 文夫

    生体医工学シンポジウム 2014 講演予稿集　2014/09　Research paper, summary (national, other academic conference)

  48. ヒール靴着用時の歩行運動における足関節拮抗筋対の協調作用の解析

    辻 真緒, 富永 健太, 奥 貴紀, 植村 充典, 平井 宏明, 宮崎 文夫

    生体医工学シンポジウム2014講演予稿集　2014/09　Research paper, summary (national, other academic conference)

  49. 走行運動における足先平衡点軌道の推定と予測

    富永 健太, 古場 啓太郎, 宇野 かんな, 奥 貴紀, 植村 充典, 平井 宏明, 宮崎 文夫

    2014/08　Research paper, summary (national, other academic conference)

  50. ヒト腕/脚運動に適用可能な新しい筋シナジー抽出法の提案 ー数理モデルに基づく筋シナジーの物理的解釈－

    宇野 かんな, 奥 貴紀, 富永 健太, 古場 啓太郎, 植村 充典, 平井 宏明, 宮崎 文夫

    2014/08　Research paper, summary (national, other academic conference)

  51. 片麻痺による筋シナジーの変化が平衡点軌道・手先剛性に与える影響について ー水平面内における上肢リーチングタスクの運動戦略の解析－

    奥 貴紀, 宇野 かんな, 西 知紀, 景山 昌行, 古場 啓太郎, 富永 健太, 植村 充典, 平井 宏明, 宮崎 文夫, 成富 博章

    2014/08　Research paper, summary (national, other academic conference)

  52. 螺旋描画におけるヒト腕の運動学習と制御 －運動学習に伴う仮想軌道の洗練化ー

    古場 啓太郎, 宇野 かんな, 奥 貴紀, 富永 健太, 植村 充典, 平井 宏明, 宮崎 文夫

    第8回 Motor Control 研究会　2014/08　Research paper, summary (national, other academic conference)

  53. Equilibrium-point Control of Human Elbow-joint Movement by Using Multichannel Functional Electrical Stimulation

    Kazuhiro MATSUI, Yasuo HISHII, Kazuya MAEGAKI, Yuto YAMASHITA, Mitsunori UEMURA, Hiroaki HIRAI, Fumio MIYAZAKI

    Transactions of the Society of Instrument and Control Engineers　Vol. 50　No. 11　p. 755-762　2014　Research paper, summary (national, other academic conference)

    Publisher: The Society of Instrument and Control Engineers

  54. 筋シナジー制御法による筋骨格型ロボットの平衡点制御

    奥 貴紀, 植村 充典, 平井 宏明, 宮崎 文夫

    第14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（SI2013）講演論文集　p. 2518-2521　2013/12　Research paper, summary (national, other academic conference)

  55. 上肢リーチングタスク中の筋シナジー解析と手先剛性に関する考察

    宇野 かんな, 奥 貴紀, 植村 充典, 平井 宏明, 宮崎 文夫

    第14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（SI2013）講演論文集　p. 2510-2514　2013/12　Research paper, summary (national, other academic conference)

  56. 力学解析に基づくヒトの歩行動作における筋協調解析 ー統計的手法による筋協調解析との比較ー

    富永健太, 宇野 かんな, 植村 充典, 平井 宏明, 宮崎 文夫

    第14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（SI2013）講演論文集　p. 2498-2500　2013/12　Research paper, summary (national, other academic conference)

  57. 部分的適応制御による多関節ロボットの軌道追従制御

    植村 充典, 前田 大輔, 平井 宏明, 宮崎 文夫

    第14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（SI2013）講演論文集　2013/12　Research paper, summary (national, other academic conference)

  58. 関節剛性を適応的に最適化する運動制御法

    植村 充典, 松阪 憲人, 川村 貞夫, 平井 宏明, 宮崎 文夫

    計測自動制御学会システム・情報部門学術講演会2013（SSI2013）講演論文集　p. 196-198　2013/11　Research paper, summary (national, other academic conference)

  59. 一定外力場下におけるヒト上肢到達運動の筋電解析

    村上 健太, 植村 充典, 平井 宏明, 宮崎 文夫

    計測自動制御学会システム・情報部門学術講演会2013（SSI2013）講演論文集　p. 205-209　2013/11　Research paper, summary (national, other academic conference)

  60. 共振を利用した繰り返し運動学習法

    植村 充典, 川村 貞夫, 平井 宏明, 宮崎 文夫

    第31回日本ロボット学会学術講演会（RSJ2013）予稿集　2013/09　Research paper, summary (national, other academic conference)

  61. 多様なヒト上肢運動間で共通する筋協調パターンの抽出

    宇野 かんな, 富永 健太, 奥 貴紀, 松居 和寛, 植村 充典, 平井 宏明, 宮崎 文夫

    第31回日本ロボット学会学術講演会（RSJ2013）予稿集　2013/09　Research paper, summary (national, other academic conference)

  62. Estimation of Hand Stiffness and Equilibrium Point Using EMG for Human Motion Visualization

    K. Uno, D. Maeda, K. Tominaga, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 2013 JSME Conference on Robotics and Mechatronics　2013/05　Research paper, summary (national, other academic conference)

  63. 可変剛性機構を用いた膝関節用省エネルギーアシスト装具の階段昇降運動への適用

    鎌田 一平, 植村 充典, 平井 宏明, 宮崎 文夫

    第13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（SI2012）講演論文集　2012/12　Research paper, summary (national, other academic conference)

  64. Change in movement strategy during paddle juggling

    T. Kawai, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)　2012/12　Research paper, summary (national, other academic conference)

  65. Muscle Synergy Analysis of Human Arm Movement in a Three-Dimensional Reaching Task

    N. Hasegawa, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)　2012/12　Research paper, summary (national, other academic conference)

  66. Comparison of Muscle Coordination between Human Walking and Pedaling

    K. Tominaga, T. Oku, H. T. T. Pham, S. Saeki, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)　2012/12　Research paper, summary (national, other academic conference)

  67. Human Adaptation to Hybrid Assistance of Equilibrium Trajectory and of Stiffness Adjustment

    K. Tominaga, D. Maeda, S. Saeki, T. Oku, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)　2012/12　Research paper, summary (national, other academic conference)

  68. 時間軸変換を用いた多関節ロボットの省エネルギー周期運動生成

    植村 充典, 平井 宏明, 宮崎 文夫

    日本ロボット学会第30回記念学術講演会（RSJ2012）予稿集　2012/09　Research paper, summary (national, other academic conference)

  69. 可変剛性機構を用いた膝関節の歩行アシスト装具の筋電計測による評価

    鎌田 一平, 植村 充典, 平井 宏明, 宮崎 文夫

    日本ロボット学会第30回記念学術講演会（RSJ2012）予稿集　2012/09　Research paper, summary (national, other academic conference)

  70. ヒトのペダリング運動時の筋協調パターン解析に基づく筋骨格ロボットの制御と解析

    奥 貴紀, 井上 恵太, 富永 健太, 前田 大輔, 植村 充典, 平井 宏明, 宮崎 文夫

    日本ロボット学会第30回記念学術講演会（RSJ2012）予稿集　2012/09　Research paper, summary (national, other academic conference)

  71. EMG変化に基づく剛性支援へのヒトの運動適応

    前田 大輔, 富永 健太, 植村 充典, 平井 宏明, 宮崎 文夫

    日本ロボット学会第30回記念学術講演会（RSJ2012）予稿集　2012/09　Research paper, summary (national, other academic conference)

  72. A Robotic Approach toward Understanding Human Motor Control: Novel Equilibrium-Point Control of Agonist-Antagonist Systems

    H. Hirai, K. Inoue, T. Oku, H. T. T. Pham, K. Tominaga, D. Maeda, M. Uemura, F. Miyazaki

    Proceedings of the Fuzzy System Symposium　Vol. 28　p. 1229-1230　2012/09　Research paper, summary (national, other academic conference)

    Publisher: Japan Society for Fuzzy Theory and Intelligent Informatics

  73. 上肢2次元運動におけるEMGを用いた手先平衡点の推定

    中山 かんな, 有賀 陽平, 前田 大輔, 植村 充典, 平井 宏明, 宮崎 文夫

    生体医工学シンポジウム2012（JBMES2012）講演予稿集　p. 179-183　2012/09　Research paper, summary (national, other academic conference)

  74. 3次元方向等尺性運動時の上肢筋協調パターンの導出

    長谷川 直人, 前田 大輔, 村上 健太, 植村 充典, 平井 宏明, 宮崎 文夫

    生体医工学シンポジウム2012（JBMES2012）講演予稿集　p. 175-178　2012/09　Research paper, summary (national, other academic conference)

  75. 牽引による重力補償が歩行運動に及ぼす影響

    佐伯 晋, 富永 健太, 植村 充典, 平井 宏明, 宮崎 文夫

    生体医工学シンポジウム2012（JBMES2012）講演予稿集　p. 171-174　2012/09　Research paper, summary (national, other academic conference)

  76. Extraction and Visualization of Mortor Primitives during Human Slope Walking

    K. Tominaga, T. Iimura, S. Saeki, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 2012 JSME Conference on Robotics and Mechatronics　p. 2A2-F02(1)-2A2-F02(4)　2012/05　Research paper, summary (national, other academic conference)

  77. Motor adaptation to a directional force eld during continuous reaching movement

    K. Murakami, M. Nakajima, Y. Ariga, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 2012 JSME Conference on Robotics and Mechatronics　p. 2A2-F03(1)-2A2-F03(4)　2012/05　Research paper, summary (national, other academic conference)

  78. Analysis of Muscle synergies in Hand-Force Control

    D. Maeda, H. T. T. Pham, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 2012 JSME Conference on Robotics and Mechatronics　p. 2A2-F05(1)-2A2-F05(4)　2012/05　Research paper, summary (national, other academic conference)

  79. Development of A Knee Assist Device with A Variable Stiffness Mechanism

    I. Kamada, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 2012 JSME Conference on Robotics and Mechatronics　p. 1A1-V07(1)-1A1-V07(3)　2012/05　Research paper, summary (national, other academic conference)

  80. Analysis of Muscle Coordination in Human Pedaling and Implementation with a Musculoskeletal Robot

    Takanori Oku, Keita Inoue, Pham T. T. Hang, Kenta Tominaga, Daisuke Maeda, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki

    2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)　p. 606-611　2012　Research paper, summary (national, other academic conference)

  81. A Comparison among Motor Primitives in Muscle Space during Human Slope Walking

    T. Iimura, K. Inoue, S. Saeki, K. Tominaga, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)　p. 1669-1672　2011/12　Research paper, summary (national, other academic conference)

  82. Muscle Synergy Analysis of Human Pedaling

    K. Inoue, T. Iimura, T. Oku, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)　p. 1666-1668　2011/12　Research paper, summary (national, other academic conference)

  83. The Equilibrium-Point Control of a Musculo-skeletal Robot using EMG Signals

    Y. Ariga, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)　p. 1662-1665　2011/12　Research paper, summary (national, other academic conference)

  84. Comparison between Human Hand Stiffness Estimated from EMG Data and Calculated from Kinetic Data

    Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)　p. 1658-1661　2011/12　Research paper, summary (national, other academic conference)

  85. Functional Electrical Stimulation (FES) Control of Elbow Joint Movement based on Muscle Coordination

    Y. Hishii, M. Nakajima, M. Uemura, H. Hirai, F. Miyazaki

    Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)　p. 1654-1657　2011/12　Research paper, summary (national, other academic conference)

  86. 共振に基づいた多関節跳躍ロボットのパラメータ・運動調節法

    植村 充典, 松阪 憲人, 川村 貞夫, 平井 宏明, 宮崎 文夫

    第29回日本ロボット学会学術講演会（RSJ2011）予稿集　2011/09　Research paper, summary (national, other academic conference)

  87. 筋拮抗比を用いた空気圧ゴム人工筋の拮抗駆動制御

    有賀 陽平, 植村 充典, 平井 宏明, 宮崎 文夫

    第29回日本ロボット学会学術講演会（RSJ2011）予稿集　2011/09　Research paper, summary (national, other academic conference)

  88. Decomposition and Combination of Motions based on Muscular Coordination during Human Running

    T. Iimura, K. Inoue, H. Hirai, F. Miyazaki

    Proc. the 11st SICE System Integration Division Annual Conference (SI2010)　p. 904-907　2010/12　Research paper, summary (national, other academic conference)

  89. Synergy Control of Arm Robot using Nomalized Agonist-Antagonistic Muscle Pairs Ratio

    M. Kimura, H. Hirai, F. Miyazaki

    Proc. the 28th Annual Conf The RSJ (RSJ2010)　2010/09　Research paper, summary (national, other academic conference)

  90. Mudular Building Blocks of Limb Kinematics in Human Locomotion

    H. Hirai, K. Matsui, K. Inoue, T. Iimura, F. Miyazaki

    Proc. the 28th Annual Conf The RSJ (RSJ2010)　2010/09　Research paper, summary (national, other academic conference)

  91. Upper and lower body action of human swing movement and transferring it to the robot

    J. Shimodaira, Y. Amaoka, S. Hamatani, H. Hirai, F. Miyazaki

    Proc. the 28th Annual Conf The RSJ (RSJ2010)　2010/09　Research paper, summary (national, other academic conference)

  92. EMG Analysis to reveal similar muscle coordination in walking and running

    R. Tanaka, H. Hirai, F. Miyazaki

    Proc. the 28th Annual Conf The RSJ (RSJ2010)　2010/09　Research paper, summary (national, other academic conference)

  93. Muscle Synergy Monitoring System Using Agonist-Antagonist Muscle Pairs Ratio

    Y. Ariga, H. Hirai, F. Miyazaki

    Proc. the 28th Annual Conf The RSJ (RSJ2010)　2010/09　Research paper, summary (national, other academic conference)

  94. Roles of PCs of Agonist-Antagonist Muscle Pairs Ratio in Human Walking

    K. Inoue, T. Iimura, H. Hirai, F. Miyazaki

    Proc. the 28th Annual Conf The RSJ (RSJ2010)　2010/09

  95. A High Correlation Estimation of Hand-Force based on Muscle Activities

    H. Pham, Y. Honda, Y. Ariga, H. Hirai, F. Miyazaki

    Proc. the 28th Annual Conf The RSJ (RSJ2010)　2010/09　Research paper, summary (national, other academic conference)

  96. Dynamical Role Division: A Skill-sharing Approach to Human-robot Cooperation

    H. Hirai, R. Ueha, H. T. T. Pham, F. Miyazaki

    Proc. the 27th Annual Conf The RSJ (RSJ2009)　2009/09　Research paper, summary (national, other academic conference)

  97. Operating analysis with antagonistic muscle ratio for human upper extremity motion

    S. Kawagoe, K. Matsui, H. Hirai, F. Miyazaki

    Proc. the 27th Annual Conf The RSJ (RSJ2009)　2009/09　Research paper, summary (national, other academic conference)

  98. EMG Analysis focusing on antagonistic muscle ratio of muscle coordnation

    K. Matsui, H. Hirai, F. Miyazaki

    Proc. the 27th Annual Conf The RSJ (RSJ2009)　2009/09　Research paper, summary (national, other academic conference)

  99. Motor Skills Transfer from Human to Robots based on Motion Analysis

    Y. Amaoka, H. Hirai, F. Miyazaki

    Proc. the 27th Annual Conf The RSJ (RSJ2009)　2009/09　Research paper, summary (national, other academic conference)

  100. Specialized roles for coordinated motion between two people

    R. Ueha, H. Hirai, F. Miyazaki

    Proc. the 26th Annual Conf The RSJ (RSJ2008)　2008/09　Research paper, summary (national, other academic conference)

  101. Development of a patient-adaptive ankle-foot orthosis with a pneumatic passive device

    R. Taniguchi, H. Hirai, F. Miyazaki

    Proc. the 2008 JSME Conference on Robotics and Mechatronics　p. 1P1-D13(1)-1P1-D13(4)　2008/06　Research paper, summary (national, other academic conference)

  102. Development of an ankle foot orthosis with pneumatic passive elements - negative pressure control based on walking cycle -

    R. Ozawa, S. Goto, S. Yamasaki, A. Nakamura, H. Hirai, S. Kawamura, Y. Hatanaka

    Proc. the 2006 JSME Conference on Robotics and Mechatronics　p. 1P1-A15(1)-1P1-A15(4)　2006/05　Research paper, summary (national, other academic conference)

  103. Development of ankle-foot orthosis with variable constraint force

    H. Hirai, R. Ozawa, S. Goto, S. Yamasaki, Y. Hatanaka, S. Kawamura

    Proc. 2005 the JSME Symposium on Welfare Engineering　p. 57-60　2005/12　Research paper, summary (national, other academic conference)

    Publisher: The Japan Society of Mechanical Engineers

  104. Timing skill of rhythmic coordination in juggling-like passing the balls

    H. Hirai, F. Miyazaki

    Proc. the 6th SICE System Integration Division Annual Conference (SI2005)　p. 619-620　2005/12　Research paper, summary (national, other academic conference)

  105. The emerging-synchronized motion of two robots in the two-ball passing task

    H. Hirai, F.Miyazaki

    Proc. the 23rd Annual Conf The RSJ (RSJ2005)　2005/09　Research paper, summary (national, other academic conference)

  106. 1P1-N-128 Development of ankle foot orthosis with pneumatic passive element(Medical and Welfare Robotics and Mechatronics 1,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives)

    OZAWA Ryuta, HIRAI Hiroaki, FUJIGAYA Hiroki, GOTO Satoru, HATANAKA Yasuhiko, KAWAMURA Sadao

    Vol. 2005　p. 74-74　2005/06/09

    Publisher: The Japan Society of Mechanical Engineers

  107. Development of ankle foot orthosis with pneumatic passive element

    R. Ozawa, H. Hirai, H. Fujigaya, S. Goto, Y. Hatanaka, S. Kawamura

    Proc. the 2005 JSME Conference on Robotics and Mechatronics　p. 1P1-N-128(1)-1P1-N-128(4)　2005/06　Research paper, summary (national, other academic conference)

  108. Adaptive timing selection in passive quasi-juggling strategy

    H. Hirai, F. Miyazaki

    Proc. the 22nd Annual Conf The RSJ (RSJ2004)　2004/09　Research paper, summary (national, other academic conference)

  109. Rhythmic movement by neural oscillator with periodic stimulus

    H. Hirai, F. Miyazaki

    Proc. the 20th Annual Conf The RSJ (RSJ2002)　2002/10　Research paper, summary (national, other academic conference)

  110. Motion estimation of unknown rigid body rotationg freely mainly using power spectrum of time sequence of a point position on the body

    H. Hirai, Y. Masutani, F. Miyazaki

    Proc. the 1999 JSME Conference on Robotics and Mechatronics　p. 1A1-06-044(1)-1A1-06-044(2)　1999/06　Research paper, summary (national, other academic conference)

  111. Motion estimation of rigid body rotating freely under zero gravity condition based on position information of multiple points on the body

    H. Hirai, Y. Masutani, F. Miyazaki

    Proc. the 16th Annual Conf The RSJ (RSJ1998)　p. 1237-1238　1998/09　Research paper, summary (national, other academic conference)

  112. Motion estimation of unknown rigid body rotating freely under zero gravity condition based on position information of a point on the body

    H. Hirai, Y. Masutani, F. Miyazaki

    Proc. the 3rd Robotics Symposia　p. 75-82　1998　Research paper, summary (national, other academic conference)

  113. Motion estimation of an unknown rigid body rotating freely in zero gravity based on complex spectrum of position of a point on the body

    H. Hirai, Y. Masutani, F. Miyazaki

    Proc. 7th Workshop on Astrodynamics and Flight Mechanics　p. 359-366　1997　Research paper, summary (national, other academic conference)

Publications 3

  1. 身体運動とロボティクス

    平井 宏明

    コロナ社　2019/05

  2. Applications of Synergies in Human Machine Interfaces

    H. Hirai, F. Miyazaki, H. Naritomi, K. Koba, T. Oku, K. Uno, M. Uemura, T. Nishi, M. Kageyama, H. I. Krebs

    Frontiers Media　2019

  3. Cognitive Neuroscience Robotics: Synthetic Approaches to Human Understanding

    H. Hirai, H. Pham, Y. Ariga, K. Uno, F. Miyazaki

    Springer　2015

Presentations 5

  1. 身体運動の科学とロボット技術

    平井 宏明

    SICE SI部門医工融合システム部会研究会　2018/12/17

  2. 身体運動の科学とロボット技術 ～運動理解／診断支援／介入へ向けた１つの試み～

    平井 宏明

    第1回日本再生医療とリハビリテーション学会学術大会　2018/11/23

  3. A Robotic Approach toward Understanding Human Motor Control: Novel Equilibrium-Point Control of Agonist-Antagonist Systems

    H. Hirai, K. Inoue, T. Oku, H. T. T. Pham, K. Tominaga, D. Maeda, M. Uemura, F. Miyazaki

    28th Fuzzy System Symposium (FSS2012)　2012/09/14

  4. Table tennis rallies between a person and a robot

    F. Miyazaki, H. Hirai

    14th International Conference on Perception and Action (ICPA14)　2007/07/06

  5. Robot jugglers: harmonic behaviour of ball-passing robots

    H. Hirai, F. Miyazaki

    14th International Conference on Perception and Action (ICPA14)　2007/07/06

Industrial Property Rights 12

  1. Motion analysis apparatus, method for analyzing motion, and motion analysis program

    Fumio Miyazaki, Hiroaki Hirai, Mitsunori Uemura, Kanna Uno, Takanori Oku

    特許10631751

    出願日:2014/11/20

    登録日:2020/04/28

  2. Legged mechanism, walking robot, method for controlling posture, and recording medium

    Mitsunori Uemura, Fumio Miyazaki, Hiroaki Hirai

    特許10589810

    出願日:2016/04/01

    登録日:2020/03/17

  3. Method for determining leg-phase shift timing, leg-phase shift timing determination apparatus, method for controlling walking assistance, and walking assistance

    Mitsunori Uemura, Fumio Miyazaki, Hiroaki Hirai

    特許10434029

    出願日:2015/06/23

    登録日:2019/10/08

  4. 運動解析装置, 運動解析方法及び運動解析プログラム

    宮崎 文夫, 平井 宏明, 植村 充典, 宇野 かんな, 奥 貴紀

    特許6518932

    出願日:2013/12/16

    登録日:2019/05/10

  5. 脚型機構体、歩行ロボット、姿勢制御方法及びプログラム

    植村 充典, 宮崎 文夫, 平井 宏明

    特許6407409

    出願日:2016/04/01

    登録日:2018/09/28

  6. 脚相移行タイミング判定方法, 脚相移行タイミング判定装置, 歩行支援制御方法及び行支援装置

    植村 充典, 宮崎 文夫, 平井 宏明

    特許6347836

    出願日:2015/06/23

    登録日:2018/06/08

  7. Muscle synergy analysis method, muscle synergy analyzer, and muscle synergy interface

    Fumio Miyazaki, Hiroaki Hirai, Syohei Kawagoe, Kazuhiro Matsui, Takayuki Nakano

    特許9078585

    出願日:2010/09/08

    登録日:2015/07/14

  8. 筋シナジー解析方法, 筋シナジー解析装置, 及び筋シナジーインターフェース

    宮崎 文夫, 平井 宏明, 河越 祥平, 松居 和寛, 中野 貴之

    特許5158824

    出願日:2010/09/08

    登録日:2012/12/21

  9. 足関節装具

    小澤 隆太, 平井 宏明, 川村 貞夫, 後藤 智, 藤ヶ谷 博規, 畠中 泰彦

  10. Motion analyzing device, motion analyzing method, and recording medium

    Hiroaki Hirai, Fumiaki Yoshikawa, Eichi Watanabe, Yuma Nagakawa, Akira Kuroiwa, Mitsunori Uemura, Fumio Miyazaki

    出願日:2017/09/06

  11. 運動解析装置, 運動解析方法及び運動解析プログラム

    平井 宏明, 吉川 史哲, 渡邉 英知, 長川 祐磨, 黒岩 晃, 植村 充典, 宮崎 文夫

    出願日:2017/09/06

  12. 歩行訓練装置、歩行診断装置、体重免荷装置、歩行訓練方法、及び歩行診断方法

    平井 宏明, クレブス ハーマノ イゴ, 渡邉 英知, 長川 祐磨, 吉川 史哲, 黒岩 晃, 片岡 夏美, 佐伯 友里, 二ノ丸 雄大, 植村 充典, 宮崎 文夫

    出願日:2017/02/28

Institutional Repository 3

Content Published in the University of Osaka Institutional Repository (OUKA)

  1. Physio-avatar EB: aftereffects in error learning with EMG manipulation of first-person avatar experience

    Ando Tetsuya, Matsui Kazuhiro, Okamoto Yuto, Atsuumi Keita, Taniguchi Kazuhiro, Hirai Hiroaki, Nishikawa Atsushi

    Frontiers in Bioengineering and Biotechnology　Vol. 12　2024/10/09

  2. A Study of Spatial Perception in Virtual Space via Display and the Intervention Effects of Haptic Feedback

    Okada Kotaro, Matsui Kazuhiro, Atsuumi Keita, Taniguchi Kazuhiro, Hirai Hiroaki, Nishikawa Atsushi

    IEEE Access　Vol. 12　p. 90124-90134　2024/07/08

  3. リズミック運動の認識と生成

    Hirai Hiroaki