| Budget Amount *help |
¥122,200,000 (Direct Cost: ¥94,000,000、Indirect Cost: ¥28,200,000)
Fiscal Year 2018: ¥21,710,000 (Direct Cost: ¥16,700,000、Indirect Cost: ¥5,010,000)
Fiscal Year 2017: ¥21,580,000 (Direct Cost: ¥16,600,000、Indirect Cost: ¥4,980,000)
Fiscal Year 2016: ¥21,320,000 (Direct Cost: ¥16,400,000、Indirect Cost: ¥4,920,000)
Fiscal Year 2015: ¥23,140,000 (Direct Cost: ¥17,800,000、Indirect Cost: ¥5,340,000)
Fiscal Year 2014: ¥34,450,000 (Direct Cost: ¥26,500,000、Indirect Cost: ¥7,950,000)
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| Outline of Final Research Achievements |
We developed posture and locomotion control models based on the muscle synergy. For the posture control of humans, we constructed a neural controller for postural control with muscular tonus from physiology. We conformed the validity of this model by simulations with musculoskeletal model against perturbations. We also developed a predictive simulator for alterations of postural strategies. We found that decrease of muscular tonus may be one of the reasons to generate hip strategy by aging.
For the locomotion control, we developed fast and slow dynamics models by the reflex and learning, respectively, of muscle synergy. We performed forward dynamic simulation of split-belt treadmill walking by rat hindlimbs and found that the kinematics and muscle activities showed rapid change by environmental changes and then they slowly returned. There trends were observed both in our simulation and measured rat data, which suggests the validity of our fast and slow dynamics models in locomotion.
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