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Engineering understanding of control principle on human balance including simultaneous learning in motor and sensory systems

Research Project

Project/Area Number 16H02879
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent robotics
Research InstitutionGifu University

Principal Investigator

Ito Satoshi  岐阜大学, 工学部, 教授 (70291911)

Project Period (FY) 2016-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
Fiscal Year 2020: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2019: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2018: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2017: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2016: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords知能ロボット / 平衡制御 / 運動計測 / 運動学習 / 知覚変化 / ヒトの運動計測 / 運動・知覚の学習
Outline of Final Research Achievements

Human motor learning is featured as the variation of motor patterns with respect to the environmental changes. Recently, a study of human arm reaching movement reported that, in addition to such a learning on motor system, a part of the sensory system that is utilized in the current motor control can be affected by a kind of learning. Then, this study set a hypothesis that this simultaneous learning of the motor and sensory systems can take place in human balance control, and established an experimental method for simultaneous learning to emerge. Furthermore, a theoretical model was constructed to explain the human behaviors in the balance control, which was replayed using a robot we manufactured.

Academic Significance and Societal Importance of the Research Achievements

通常われわれがセンサを利用するとき,最初に所定の物理量が正しく出力できるように初期設定/キャリブレーションを行い,その設定を維持したまま利用し続ける.しかし,本研究で取り扱うヒトの振舞いは,運動を学習しながらセンサ系も微調節を行っていることを示唆している.この発見は,今後ヒトに似た振舞いをする親しみやすいロボットの実現に貢献するだけでなく,ヒトの運動系・感覚系がどのような仕組みで機能しているのかを理解する上で重要な情報を提供する.

Report

(6 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (6 results)

All 2021 2019 2017 2016

All Journal Article (2 results) (of which Peer Reviewed: 2 results) Presentation (4 results) (of which Int'l Joint Research: 2 results)

  • [Journal Article] Perceptual adaptation during a balancing task in the seated posture and its theoretical model2021

    • Author(s)
      Satoshi ito, Kazuya Tomabichi, Ryosuke Morita
    • Journal Title

      BIOLOGICAL CYBERNETICS

      Volume: - Issue: 3 Pages: 207-217

    • DOI

      10.1007/s00422-021-00873-x

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Analysis and Evaluation of Equilibrium Motor Learning in Seated State and Its Relation to Accompanying Perceptual Changes in Subjective Upright Posture2017

    • Author(s)
      熊谷 敏, 森田 亮介, 伊藤 聡
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers

      Volume: 53 Issue: 12 Pages: 654-662

    • DOI

      10.9746/sicetr.53.654

    • NAID

      130006251000

    • ISSN
      0453-4654, 1883-8189
    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Presentation] Computer Simulation of Human Perceptual Changes During Balancing Task on the Laterally Sliding Stool with Unstable Surface2019

    • Author(s)
      Tomabechi Kazuya, Morita, Ryosuke, Ito, Satoshi
    • Organizer
      Proc. of SICE Anual Conference 2019
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 側方向に移動する不安定座面上でのバランス維持動作とそれに付随するヒトの知覚変化の数理モデルの提案2019

    • Author(s)
      苫米地,森田亮介,伊藤聡
    • Organizer
      第40回バイオメカニズム学術講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] An Evaluation of Equilibrium Motor Learning in the Seated Posture Based on the CoP and the Trunk Motion2017

    • Author(s)
      Satoshi Kumagai, Ryosuke Morita, Satoshi Ito
    • Organizer
      SICE Annual Conference 2017
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] An experiment on perceptual adjustments of the upright sitting posture according to balancing motions2016

    • Author(s)
      Satoshi Kumagai, Ryosuke Morita, Satoshi Ito
    • Organizer
      Life Engineering Symposium 2016 (LE 2016)
    • Place of Presentation
      Osaka
    • Year and Date
      2016-11-03
    • Related Report
      2016 Annual Research Report

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Published: 2016-04-21   Modified: 2022-01-27  

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