Modeling of hyper-adaptability to altered musculoskeletal system

• Project Area: Hyper-adaptability for overcoming body-brain dysfunction: Integrated empirical and system theoretical approaches
• Project/Area Number: 19H05728
• Research Category: Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)
• Allocation Type: Single-year Grants
• Review Section: Complex systems
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: 小池 康晴 東京工業大学, 科学技術創成研究院, 教授 (10302978)
• Co-Investigator(Kenkyū-buntansha): 舩戸 徹郎 電気通信大学, 大学院情報理工学研究科, 准教授 (40512869)
• Project Period (FY): 2019-06-28 – 2024-03-31
• Project Status: Completed (Fiscal Year 2023)
• Budget Amount: ¥121,030,000 (Direct Cost: ¥93,100,000、Indirect Cost: ¥27,930,000); Fiscal Year 2023: ¥23,270,000 (Direct Cost: ¥17,900,000、Indirect Cost: ¥5,370,000); Fiscal Year 2022: ¥23,270,000 (Direct Cost: ¥17,900,000、Indirect Cost: ¥5,370,000); Fiscal Year 2021: ¥23,140,000 (Direct Cost: ¥17,800,000、Indirect Cost: ¥5,340,000); Fiscal Year 2020: ¥23,140,000 (Direct Cost: ¥17,800,000、Indirect Cost: ¥5,340,000); Fiscal Year 2019: ¥28,210,000 (Direct Cost: ¥21,700,000、Indirect Cost: ¥6,510,000)
• Keywords: 腱付け替え / 仮想手術 / 筋骨格系モデル / 筋シナジー / 機械学習 / モデリング

Outline of Research at the Start

仮想手術による長期的な身体変容を生じる実験系を実現し、サルの筋再配置による短期的な身体変容を生じる実験系とあわせて、長期/短期の身体変容後の神経系の変化を調べる。さらに、筋再配置の力学シミュレーション及び脳情報デコーディング技術を確立し、実験で得られた生体データの解析を行うことで、身体変容に対する生体構造の再構成過程を明らかにする。

Outline of Annual Research Achievements

本研究では、主に超適応機構の生体構造の再構成の観点から、身体変容に伴う運動の再獲得メカニズムのモデル化の研究を行っている。本年度は、以下の３点に関して研究を行った。
1.筋再配置後の運動回復に伴うサルの脳活動変化の解析：手指の筋再配置後の回復過程におけるこれまでの研究で、筋の同期関係である筋シナジーを単位として筋活動が入れ替わり、その後元の活動に戻るとともに運動のパフォーマンスが改善する段階的な変化が見られていた。本年度、この過程における筋活動と脳活動の関係を調べることで、回復過程における脳活動の変化を捉える研究を行った。
2.サル筋骨格モデルと強化学習による運動獲得過程の再現:筋再配置後の運動回復戦略を調べるために、これまでに筋骨格シミュレーションソフト上でサルの筋骨格筋モデルを構築し、モデル上で筋配置を行った際の筋再配置前後の筋活動及び筋シナジーの変化を調べてきた。本年度は、回復時の運動再獲得過程を再現するために、サルの筋骨格筋モデルに対して、強化学習による到達把持運動の学習環境の構築を行った。
3.運動学習の速度を説明する理論的な枠組み:筋の付け替え手術において、どの筋肉を付け替えたかによって、運動の適応の速度が異なる。これまでの理論では、シナジーの変換後の力ベクトルの方向により「Compatible(互換)」、「incompatible(非互換)」と区分されていた。しかしながらCompatibleなケースであっても運動学習に時間が要する場合も見られた。このことから異なる指標により運動学習の速度を説明できるモデル化を試みた。その結果、「Compatible(互換)」や「incompatible(非互換)」の条件でも同じようにヘッセ行列の固有値の最大値と最小値の比に応じて学習速度が異なることがシミュレーションからも示唆される結果を得た。

Research Progress Status

令和5年度が最終年度であるため、記入しない。

Strategy for Future Research Activity

令和5年度が最終年度であるため、記入しない。

Research Products

• [Int'l Joint Research] University of Southern California(米国)
• [Int'l Joint Research] 西安交通大学(中国)
• [Int'l Joint Research] University Southern California(米国)
• [Journal Article] Roles of the cerebellar vermis in predictive postural controls against external disturbances (2024)
  • Author(s): Konosu Akira、Matsuki Yuma、Fukuhara Kaito、Funato Tetsuro、Yanagihara Dai
  • Journal Title: Scientific Reports Volume: 14 Issue: 1 Pages: 3162-3162
  • DOI: 10.1038/s41598-024-53186-x
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Theoretical limits on the speed of learning inverse models explain the rate of adaptation in arm reaching tasks (2024)
  • Author(s): Barradas Victor R.、Koike Yasuharu、Schweighofer Nicolas
  • Journal Title: Neural Networks Volume: 170 Pages: 376-389
  • DOI: 10.1016/j.neunet.2023.10.049
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] The control of the arm’s equilibrium position (2024)
  • Author(s): Takagi Atsushi、Burdet Etienne、Koike Yasuharu
  • Journal Title: Journal of Neurophysiology Volume: 131 Issue: 4 Pages: 750-756
  • DOI: 10.1152/jn.00011.2024
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Computational prediction of muscle synergy using a finite element framework for a musculoskeletal model on lower limb (2023)
  • Author(s): Wang Sentong、Hase Kazunori、Funato Tetsuro
  • Journal Title: Frontiers in Bioengineering and Biotechnology Volume: 11 Pages: 1-13
  • DOI: 10.3389/fbioe.2023.1130219
  • Peer Reviewed / Open Access
• [Journal Article] Partial maximum correntropy regression for robust electrocorticography decoding (2023)
  • Author(s): Li Yuanhao、Chen Badong、Wang Gang、Yoshimura Natsue、Koike Yasuharu
  • Journal Title: Frontiers in Neuroscience Volume: 17
  • DOI: 10.3389/fnins.2023.1213035
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] EMG space similarity feedback promotes learning of expert-like muscle activation patterns in a complex motor skill (2023)
  • Author(s): Barradas Victor R.、Cho Woorim、Koike Yasuharu
  • Journal Title: Frontiers in Human Neuroscience Volume: 16 Pages: 805867-805867
  • DOI: 10.3389/fnhum.2022.805867
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Muscle synergy analysis yields an efficient and physiologically relevant method of assessing stroke (2022)
  • Author(s): Funato Tetsuro、Hattori Noriaki、Yozu Arito、An Qi、Oya Tomomichi、Shirafuji Shouhei、Jino Akihiro、Miura Kyoichi、Martino Giovanni、Berger Denise、Miyai Ichiro、Ota Jun、Ivanenko Yury、d’Avella Andrea、Seki Kazuhiko
  • Journal Title: Brain Communications Volume: 4 Issue: 4
  • DOI: 10.1093/braincomms/fcac200
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Biomechanical effects of medial meniscus radial tears on the knee joint during gait: A concurrent finite element musculoskeletal framework investigation (2022)
  • Author(s): Sentong Wang, Kazunori Hase, Shunsuke Kita, Shinya Ogaya
  • Journal Title: Frontiers in Bioengineering and Biotechnology Volume: 10 Pages: 957435-957435
  • DOI: 10.3389/fbioe.2022.957435
  • Peer Reviewed / Open Access
• [Journal Article] Continuous Estimation of Finger and Wrist Joint Angles Using a Muscle Synergy Based Musculoskeletal Model. (2022)
  • Author(s): He Z, Qin Z, Koike Y.
  • Journal Title: Applied Sciences. Volume: 12 Issue: 8 Pages: 3772-3772
  • DOI: 10.3390/app12083772
  • Peer Reviewed / Open Access
• [Journal Article] Design of an Isometric End-Point Force Control Task for Electromyography Normalization and Muscle Synergy Extraction From the Upper Limb Without Maximum Voluntary Contraction (2022)
  • Author(s): Cho W, Barradas VR, Schweighofer N, Koike Y.
  • Journal Title: Frontiers in Human Neuroscience Volume: 16 Pages: 805452-805452
  • DOI: 10.3389/fnhum.2022.805452
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] A CW-CNN regression model-based real-time system for virtual hand control (2022)
  • Author(s): Qin Z, He Z, Li Y, Saetia S, Koike Y.
  • Journal Title: Front Neurorobot Volume: 16 Pages: 1072365-1072365
  • DOI: 10.3389/fnbot.2022.1072365
  • Peer Reviewed / Open Access
• [Journal Article] Modulation of wrist stiffness caused by adaptation to stochastic environment (2021)
  • Author(s): H. Kambara, H. Ogawa, A. Takagi, D. Shin, N. Yoshimura, Y. Koike
  • Journal Title: Advanced Robotics Volume: - Issue: 13-14 Pages: 1-17
  • DOI: 10.1080/01691864.2021.1900913
  • Peer Reviewed / Open Access
• [Journal Article] Computational reproductions of external force field adaption without assuming desired trajectories (2021)
  • Author(s): Hiroyuki Kambara, Atsushi Takagi, Haruka Shimizu, Toshihiro Kawase, Natsue Yoshimura, Nicolas Schweighofer, Yasuharu Koike
  • Journal Title: Neural Networks Volume: 139 Pages: 179-198
  • DOI: 10.1016/j.neunet.2021.01.030
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Quantitative evaluation of posture control in rats with inferior olive lesions (2021)
  • Author(s): Funato Tetsuro、Sato Yota、Sato Yamato、Fujiki Soichiro、Aoi Shinya、Tsuchiya Kazuo、Yanagihara Dai
  • Journal Title: Scientific Reports Volume: 11 Issue: 1 Pages: 20362-20362
  • DOI: 10.1038/s41598-021-99785-w
  • Peer Reviewed / Open Access
• [Journal Article] A Model of Predictive Postural Control Against Floor Tilting in Rats (2021)
  • Author(s): Konosu Akira、Funato Tetsuro、Matsuki Yuma、Fujita Akihiro、Sakai Ryutaro、Yanagihara Dai
  • Journal Title: Frontiers in Systems Neuroscience Volume: 15 Pages: 141-141
  • DOI: 10.3389/fnsys.2021.785366
  • Peer Reviewed / Open Access
• [Journal Article] Multi-Joint Angles Estimation of Forearm Motion using a Regression Model (2021)
  • Author(s): Zixuan Qin, Sorawit Stapornchaisit, Zixun He, Natsue Yoshimura, Yasuharu Koike
  • Journal Title: Frontiers in Neurorobotics, Frontiers Media SA Volume: 1 Pages: 685961-685961
  • DOI: 10.3389/fnbot.2021.685961
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Restricted Minimum Error Entropy Criterion for Robust Classification (2021)
  • Author(s): Y. Li , B. Chen, N. Yoshimura , Y. Koike
  • Journal Title: IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS Volume: 33 Issue: 11 Pages: 6599-6612
  • DOI: 10.1109/tnnls.2021.3082571
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Brain activity reflects subjective response to delayed input when using an electromyography-controlled robot (2021)
  • Author(s): Hyeonseok Kim, Yeongdae Kim, Makoto Miyakoshi, Sorawit Stapornchaisit, Natsue Yoshimura, Yasuharu Koike
  • Journal Title: Frontiers in Systems Neuroscience, Frontiers Volume: 1 Pages: 767477-767477
  • DOI: 10.3389/fnsys.2021.767477
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] ラットの直立姿勢制御の構成原理 (2021)
  • Author(s): 舩戸徹郎, 鴻巣暁, 柳原大
  • Journal Title: Medical Science Digest Volume: 47 Pages: 52-55
• [Journal Article] Development of Multi-sensor Array Electrodes for Measurement of Deeper Muscle Activation (2020)
  • Author(s): Koike Yasuharu、Kim Yeongdae、Stapornchaisit Sorawit、Qin Zixuan、Kawase Toshihiro、Yoshimura Natsue
  • Journal Title: Sensors and Materials Volume: 32 Issue: 3 Pages: 959
  • DOI: 10.18494/SAM.2020.2636
  • ISSN: 0914-4935, 2435-0869
  • Year and Date: 2020-03-19
  • Peer Reviewed / Open Access
• [Journal Article] When 90% of the variance is not enough: residual EMG from muscle synergy extraction influences task performance (2020)
  • Author(s): Barradas Victor R.、Kutch Jason J.、Kawase Toshihiro、Koike Yasuharu、Schweighofer Nicolas
  • Journal Title: Journal of Neurophysiology Volume: 123 Issue: 6 Pages: 2180-2190
  • DOI: 10.1152/jn.00472.2019
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Independent control of cocontraction and reciprocal activity during goal-directed reaching in muscle space (2020)
  • Author(s): Takagi Atsushi、Kambara Hiroyuki、Koike Yasuharu
  • Journal Title: Scientific Reports Volume: 10 Issue: 1 Pages: 22333-22333
  • DOI: 10.1038/s41598-020-79526-1
  • Peer Reviewed / Open Access
• [Journal Article] Towards a simplified estimation of muscle activation pattern from MRI and EMG using electrical network and graph theory (2020)
  • Author(s): Enrico Piovanelli, Davide Piovesan, Shouhei Shirafuji, Becky Su, Natsue Yoshimura, Yousuke Ogata, Jun Ota
  • Journal Title: Sensors Volume: 20 Issue: 3 Pages: 724-724
  • DOI: 10.3390/s20030724
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] Muscle Synergy and Musculoskeletal Model-Based Continuous Multi-Dimensional Estimation of Wrist and Hand Motions (2020)
  • Author(s): Kim Yeongdae、Stapornchaisit Sorawit、Kambara Hiroyuki、Yoshimura Natsue、Koike Yasuharu
  • Journal Title: Journal of Healthcare Engineering Volume: 2020 Pages: 1-13
  • DOI: 10.1155/2020/5451219
  • Peer Reviewed / Open Access
• [Journal Article] Muscle Synergy Analysis for Rehabilitation (2020)
  • Author(s): Koike Yasuharu
  • Journal Title: Examines in Physical Medicine & Rehabilitation Volume: 2 Issue: 5 Pages: 1-2
  • DOI: 10.31031/epmr.2019.02.000550
• [Journal Article] Characteristics of Kinematic Parameters in Decoding Intended Reaching Movements Using Electroencephalography (EEG) (2019)
  • Author(s): Kim Hyeonseok、Yoshimura Natsue、Koike Yasuharu
  • Journal Title: Frontiers in Neuroscience Volume: 13 Pages: 1-13
  • DOI: 10.3389/fnins.2019.01148
• [Journal Article] Finger Angle Estimation From Array EMG System Using Linear Regression Model With Independent Component Analysis (2019)
  • Author(s): Stapornchaisit Sorawit、Kim Yeongdae、Takagi Atsushi、Yoshimura Natsue、Koike Yasuharu
  • Journal Title: Frontiers in Neurorobotics Volume: 13 Pages: 1-12
  • DOI: 10.3389/fnbot.2019.00075
  • Peer Reviewed
• [Presentation] Theoretical limits on the speed of learning inverse models explain the rate of adaptation in arm reaching tasks (2023)
  • Author(s): Barradas, V.
  • Organizer: IEEE EMBC2023
  • Int'l Joint Research
• [Presentation] 表面筋電図の統計的解析 (2022)
  • Author(s): 小池 康晴
  • Organizer: 第 21 回日本電気生理運動学会大会
• [Presentation] 歩行の予期的動作の解明のためのラットのVR実験環境の構築 (2020)
  • Author(s): 三ツ木 知愛, 舩戸 徹郎, 小松 拓実, 酒井 隆太郎, 鴻巣 暁, 柳原 大
  • Organizer: 第32回自律分散システム・シンポジウム
• [Presentation] 予測可能な傾斜外乱に対するラットの姿勢動作学習の解析 (2020)
  • Author(s): 藤田 章寛, 鴻巣 暁, 舩戸 徹郎, 柳原 大
  • Organizer: 第32回自律分散システム・シンポジウム
• [Presentation] Design Isometric Force Rotating Task for EMG Normalization of Stroke Patients, (2020)
  • Author(s): Cho Woorim, Nicolas Schweighofer, Barradas Victor, Yasuharu Koike
  • Organizer: ISEK XXIII Virtual Congress
  • Int'l Joint Research
• [Presentation] Assessment of event-related potential of independent components for intended direction classification (2020)
  • Author(s): Hyeonseok Kim, Natsue Yoshimura, Yasuharu Koike
  • Organizer: IEEE International Conference on Systems, Man, and Cybernetics
  • Int'l Joint Research
• [Presentation] 脳波による手の把握動作の識別(Hand grasping / opening classification using EEG) (2019)
  • Author(s): 岡田幸樹, 吉村奈津江, 小池康晴,
  • Organizer: 第42回日本神経科学大会
• [Presentation] Brain machine interface (2019)
  • Author(s): 小池康晴
  • Organizer: ASPIRE Forum 2019
  • Invited
• [Presentation] Non-clinical brain computer interface applications (2019)
  • Author(s): Yasuharu Koike
  • Organizer: The First UAE Workshop on Clinical and Non-clinical Brain Computer Interface (WBCI2019)
  • Int'l Joint Research / Invited
• [Presentation] Motor Learning and Control Mechanism of the Brain (2019)
  • Author(s): Yasuharu Koike
  • Organizer: 2019 Workshop on Brain-inspired Artificial Intelligence
  • Int'l Joint Research / Invited