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Hirai Hiroaki

平井　宏明

Graduate School of Engineering Science　Department of Mechanical Science and Bioengineering, Associate Professor

keyword Robotics，Motor Control，Rehabilitation

Education

  • 2001/04 - 2004/03, Osaka University, Graduate School of Engineering Science, Dept. Mechanical Science and Bioengineering
  • 1997/04 - 1999/03, Osaka University, Graduate School of Engineering Science, Dept. Mechanical Science and Bioengineering
  • - 1999, Osaka University, Graduate School, Division of Engineering Science
  • 1993/04 - 1997/03, Osaka University, School of Engineering Science, Dept. Mechanical Engineering
  • - 1997, Osaka University, Faculty of Engineering Science

Research History

  • 2016/04 - Present, Osaka University, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Associate Professor
  • 2016/01 - 2016/03, Massachusetts Institute of Technology
  • 2010/10 - 2016/03, Osaka University, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Associate Professor
  • 2015/07 - 2015/10, Massachusetts Institute of Technology
  • 2014/12 - 2015/03, Massachusetts Institute of Technology
  • 2012/12 - 2013/02, Massachusetts Institute of Technology
  • 2007/04 - 2010/09, Osaka University, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Assistant Professor
  • 2005/10 - 2007/03, Osaka University, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Assistant Professor
  • 2004/04 - 2005/09, Ritsumeikan University, Research Organization of Science and Engineering, Postdoctoral Fellow

Research Areas

  • Life sciences, Rehabilitation science
  • Informatics, Mechanics and mechatronics
  • Informatics, Robotics and intelligent systems

Professional Memberships

  • IEEE (Robotics and Automation Society, Engineering in Medicine and Biology Society, Systems, Man, and Cybernetics Society)
  • THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS
  • THE ROBOTICS SOCIETY OF JAPAN

Papers

  • 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), IEEE, 2023/01/17
  • 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, 公益社団法人 日本生体医工学会, Vol. Annual60, No. Abstract, p. 164_2-164_2, 2022
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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, Institute of Electrical and Electronics Engineers Inc., p. 942-945, 2017/09/13
  • 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, IEEE Computer Society, p. 381-386, 2017/08/11
  • 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, IEEE Computer Society, p. 516-520, 2017/08/11
  • 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
  • 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, Springer Japan, p. 25-50, 2016/01/01
  • 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), IEEE, p. 1167-1172, 2016
  • 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), IEEE, p. 1135-1140, 2016
  • 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, The Society of Instrument and Control Engineers, Vol. 52, No. 1, p. 37-45, 2016
  • 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, The Japan Society of Mechanical Engineers, Vol. 82, No. 843, p. 16-00236-00236-16-00236, 2016
  • 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, Japan Soc. of Med. Electronics and Biol. Engineering, Vol. 53, No. 1, p. 14-20, 2015/06/01
  • 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), IEEE, p. 899-904, 2015
  • 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), IEEE, p. 88-93, 2015
  • 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, IEEE, p. 4441-4446, 2015
  • 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
  • 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, FRONTIERS RESEARCH FOUNDATION, Vol. 8, No. 164, p. 1-9, 2014/06
  • 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, TAYLOR & FRANCIS LTD, Vol. 28, No. 11, p. 745-757, 2014/06
  • 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, IEEE, p. 1088-1093, 2014
  • 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
  • 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, Fuji Technology Press, Vol. 26, No. 1, p. 51-58, 2014
  • 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, AMER SOC MECHANICAL ENGINEERS, p. 6200-1-6200-5, 2014
  • 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
  • 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), IEEE, p. 5784-5787, 2014
  • 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), IEEE, p. 621-626, 2014
  • 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), IEEE, p. 270-275, 2014
  • 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, The Robotics Society of Japan, Vol. 31, No. 5, p. 517-526, 2013
  • 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, The Robotics Society of Japan, Vol. 30, No. 5, p. 524-533, 2012/06/15
  • 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, Japan Society for Fuzzy Theory and Intelligent Informatics, Vol. 24, No. 1, p. 536-544, 2012
  • 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), IEEE, p. 606-611, 2012
  • 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), IEEE, p. 638-644, 2012
  • 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), IEEE, p. 1470-1475, 2012
  • 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), IEEE, p. 4380-4385, 2012
  • 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
  • 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, Fuji Technology Press, Vol. 15, No. 8, p. 980-987, 2011
  • 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), IEEE, p. 3658-3663, 2011
  • 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, IEEE, p. 4496-4501, 2011
  • 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
  • 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, The Robotics Society of Japan, Vol. 28, No. 8, p. 989-995, 2010
  • 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, IEEE, p. 716-721, 2010
  • 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), IEEE, p. 2188-2193, 2010
  • 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, IEEE, p. 816-821, 2009
  • 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, IEEE, p. 3051-3056, 2009
  • Motor skill performance in action, H. Hirai,F. Miyazaki, Journal of the Robotics Society of Japan, The Robotics Society of Japan, Vol. 26, No. 3, p. 234-237, 2008
  • 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
  • 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
  • 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, IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Vol. 36, No. 4, p. 738-754, 2006/08
  • Emergence of a dynamic pattern in wall-bouncing juggling: self-organized timing selection for rhythmic movement, Hiroaki Hirai,Fumio Miyazaki, ROBOTICA, CAMBRIDGE UNIV PRESS, Vol. 24, No. 3, p. 273-293, 2006/05
  • Dynamic temporal pattern and timing skill in wall-bouncing juggling, H. Hirai,F. Miyazaki, Transactions of the Institute of Systems, Control and Information Engineers, THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE), Vol. 19, No. 1, p. 15-27, 2006
  • 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, IEEE, p. 511-+, 2006
  • 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
  • Passive stabilization of juggling-like ball-passing task, Hiroaki Hirai,Fumio Miyazaki, 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, IEEE, p. 2590-+, 2006
  • 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
  • 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
  • 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, IEEE, p. 907-912, 2004
  • 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
  • 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
  • Rhythmic movement by neural oscillator with periodic stimulus, H Hirai,F Miyazaki, 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS, IEEE, Vol. 1, p. 226-231, 2003
  • 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, IEEE, Vol. 1, p. 907-912, 1998

Misc.

  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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, The Japan Society of Mechanical Engineers, Vol. 2017, p. 1P1-K12-K12, 2017/05
  • 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, The Japan Society of Mechanical Engineers, Vol. 2017, p. 1A1-P09-P09, 2017/05
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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, The Society of Instrument and Control Engineers, Vol. 50, No. 11, p. 755-762, 2014
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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, Japan Society for Fuzzy Theory and Intelligent Informatics, Vol. 28, p. 1229-1230, 2012/09
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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), IEEE, p. 606-611, 2012
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • Specialized roles for coordinated motion between two people, R. Ueha,H. Hirai,F. Miyazaki, Proc. the 26th Annual Conf The RSJ (RSJ2008), 2008/09
  • 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
  • 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
  • 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, The Japan Society of Mechanical Engineers, p. 57-60, 2005/12
  • 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
  • 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
  • 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, The Japan Society of Mechanical Engineers, Vol. 2005, p. 74-74, 2005/06/09
  • 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
  • Adaptive timing selection in passive quasi-juggling strategy, H. Hirai,F. Miyazaki, Proc. the 22nd Annual Conf The RSJ (RSJ2004), 2004/09
  • Rhythmic movement by neural oscillator with periodic stimulus, H. Hirai,F. Miyazaki, Proc. the 20th Annual Conf The RSJ (RSJ2002), 2002/10
  • 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
  • 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
  • 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
  • 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

Publications

  • 身体運動とロボティクス, 平井 宏明, コロナ社, 2019/05
  • 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
  • Cognitive Neuroscience Robotics: Synthetic Approaches to Human Understanding, H. Hirai,H. Pham,Y. Ariga,K. Uno,F. Miyazaki, Springer, 2015

Industrial Property Rights

  • Motion analysis apparatus, method for analyzing motion, and motion analysis program, Fumio Miyazaki,Hiroaki Hirai,Mitsunori Uemura,Kanna Uno,Takanori Oku, 特許10631751, 特願15/104655, 出願日:2014/11/20, 登録日:2020/04/28
  • Legged mechanism, walking robot, method for controlling posture, and recording medium, Mitsunori Uemura,Fumio Miyazaki,Hiroaki Hirai, 特許10589810, 特願15/562478, 出願日:2016/04/01, 登録日:2020/03/17
  • 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, 特願15/324136, 出願日:2015/06/23, 登録日:2019/10/08
  • 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, 特願2013-259093, 出願日:2013/12/16, 登録日:2019/05/10
  • 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, 特願2017-510250, 出願日:2016/04/01, 登録日:2018/09/28
  • 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, 特願2016-532855, 出願日:2015/06/23, 登録日:2018/06/08
  • Muscle synergy analysis method, muscle synergy analyzer, and muscle synergy interface, Fumio Miyazaki,Hiroaki Hirai,Syohei Kawagoe,Kazuhiro Matsui,Takayuki Nakano, 特許9078585, 特願13/395600, 出願日:2010/09/08, 登録日:2015/07/14
  • 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, 特願2011-530848, 出願日:2010/09/08, 登録日:2012/12/21
  • 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
  • Motion analyzing device, motion analyzing method, and recording medium, Hiroaki Hirai,Fumiaki Yoshikawa,Eichi Watanabe,Yuma Nagakawa,Akira Kuroiwa,Mitsunori Uemura,Fumio Miyazaki, 特願16/330409, 出願日:2017/09/06
  • 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, 特願2018-538431, 出願日:2017/09/06
  • 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, 特願2017-036437, 出願日:2017/02/28

Awards

  • 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
  • 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
  • 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
  • Best Paper Award, H. Hirai,T. Iimura,K. Inoue,F. Miyazaki, The Robotics Society of Japan, 2013/09
  • 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
  • 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
  • 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
  • A Finalist for Young Author Paper Award, H. Hirai,F. Miyazaki, International Federation of Automatic Control, 2006/09
  • Marquis Who's Who of Emerging Leaders, 2006
  • Young Investigation Excellence Award, H. Hirai,F. Miyazaki, The Robotics Society of Japan, 2005/09

Presentations

  • 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
  • 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
  • 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
  • Table tennis rallies between a person and a robot, F. Miyazaki,H. Hirai, 14th International Conference on Perception and Action (ICPA14), 2007/07/06
  • Robot jugglers: harmonic behaviour of ball-passing robots, H. Hirai,F. Miyazaki, 14th International Conference on Perception and Action (ICPA14), 2007/07/06

Committee Memberships

  • 日本ロボット学会, 学会誌論文賞選考小委員会委員, 2017/04 - 2019/03
  • 日本ロボット学会, 論文査読小委員会委員, 2016/04 - 2018/03
  • 日本ロボット学会, 代議員, 2013/04 - 2016/03
  • 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Committee Member, 2014/08 - 2014/08