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Understanding Interlimb Coordination Mechanism Based on Walking Intervention with Prosthetic Legs

Research Project

Project/Area Number 16H04381
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering/System engineering
Research InstitutionTohoku University

Principal Investigator

Owaki Dai  東北大学, 工学研究科, 助教 (40551908)

Co-Investigator(Kenkyū-buntansha) 青沼 仁志  北海道大学, 電子科学研究所, 准教授 (20333643)
杉本 靖博  大阪大学, 工学研究科, 准教授 (70402972)
Research Collaborator Miyazawa Sakiko  
Goda Masashi  
Ishiguro Akio  
Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000)
Fiscal Year 2018: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2017: ¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2016: ¥7,410,000 (Direct Cost: ¥5,700,000、Indirect Cost: ¥1,710,000)
Keywords昆虫 / 運動への介入 / 脚間協調 / 筋電位 / 機械刺激受容器 / 義足 / ロボット義足 / 適応的運動能力 / 運動の介入 / 適応的移動能力 / 運動学・筋活動計測システム / コオロギ / ナナフシ / CTデータによる筋骨格構造解析 / ロボット義足設計
Outline of Final Research Achievements

This study aims to elucidate the interlimb coordination mechanism in adaptive insect locomotion with the intervention method into walking by using prosthetic legs.
To this end, at the first fiscal year, we developed a simultaneous recording system of leg motions and leg muscle electromyography (EMG) by using high-speed camera and EMG amplifier. Then, using the developed system, we simultaneously measured leg motions and muscle activities in cricket walking before and after leg amputation. By analyzing the obtained data in 5 female crickets, we found that muscle activation timings of the both middle legs tend to be in-phase synchronization pattern from anti-phase synchronization pattern according to the “amount” of remaining leg parts. In the final fiscal year, we conducted a preliminary prosthetic experiments, suggesting that gait patterns were “reproduced” with the prosthetic legs even after leg amputation.

Academic Significance and Societal Importance of the Research Achievements

本研究成果から,潜在的な神経回路には左右の脚を同相同期で制御するパターン生成器と,脚の機械刺激受容器からの入力によってそのパターンを上書きするメカニズムが,昆虫の脚間協調において重要な役割を果たすことが示唆され,脚間協調モデルの精緻化に有用な学術的知見が得られた.工学的意義のみならず,生物学的知見としても有用な成果である.
社会的意義としては,本研究で得られた昆虫の適応メカニズムに基づく脚間協調制御則をロボットに実装することにより,昆虫に比肩する適応能力を有し,脚の切断などの故障に対してレジリアントな歩行ロボットシステムの構築につながることである.

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (44 results)

All 2019 2018 2017 2016 Other

All Int'l Joint Research (1 results) Journal Article (9 results) (of which Int'l Joint Research: 1 results,  Peer Reviewed: 7 results,  Open Access: 4 results) Presentation (28 results) (of which Int'l Joint Research: 9 results,  Invited: 8 results) Book (1 results) Remarks (5 results)

  • [Int'l Joint Research] ビーレフェルト大学(ドイツ)

    • Related Report
      2018 Annual Research Report
  • [Journal Article] 脚を切られても歩き続ける昆虫とロボット2019

    • Author(s)
      大脇大
    • Journal Title

      昆虫と自然

      Volume: 54 Pages: 31-34

    • Related Report
      2018 Annual Research Report
  • [Journal Article] Quadruped Robots Exhibiting Gait Transitions in Animals2019

    • Author(s)
      大脇大
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 37 Issue: 2 Pages: 126-131

    • DOI

      10.7210/jrsj.37.126

    • NAID

      130007616918

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2018 Annual Research Report
  • [Journal Article] Spontaneous gait transition to high-speed galloping by reconciliation between body support and propulsion2018

    • Author(s)
      Fukuhara A. Owaki D. Kano T. Kobayashi R. and Ishiguro A.
    • Journal Title

      Advanced Robotics

      Volume: 32 Issue: 15 Pages: 794-808

    • DOI

      10.1080/01691864.2018.1501277

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Defecation initiates walking in the cricket Gryllus bimaculatus2018

    • Author(s)
      Naniwa K. Sugimoto Y. Osuka K. and Aonuma H.
    • Journal Title

      J. Insect Physiol.

      Volume: 112 Pages: 117-122

    • DOI

      10.1016/j.jinsphys.2018.11.004

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Dynamically and Biologically Inspired Legged Locomotion: A Review2017

    • Author(s)
      Tetsuya Kinugasa and Yasuhiro Sugimoto
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 29 Issue: 3 Pages: 456-470

    • DOI

      10.20965/jrm.2017.p0456

    • NAID

      130007519847

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2017-06-20
    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Quadruped Robot Exhibiting Spontaneous Gait Transitions from Walking to Trotting to Galloping2017

    • Author(s)
      Owaki Dai、Ishiguro Akio
    • Journal Title

      Sci Rep

      Volume: 7 Issue: 1 Pages: 277-277

    • DOI

      10.1038/s41598-017-00348-9

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Decentralized control mechanism underlying interlimb coordination of millipedes2017

    • Author(s)
      Takeshi Kano, Kazuhiko Sakai, Kotaro Yasui, Dai Owaki, and Akio Ishiguro
    • Journal Title

      Bioinspiration & Biomimetics

      Volume: 12 Issue: 3 Pages: 3-3

    • DOI

      10.1088/1748-3190/aa64a5

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Minimal Model Describing Hexapedal Interlimb Coordination: the Tegotae-based Approach2017

    • Author(s)
      Dai Owaki, Masashi Goda, Sakiko Miyazawa, and Akio Ishiguro
    • Journal Title

      Front. Neurorobot.

      Volume: 11 Pages: 29-29

    • DOI

      10.3389/fnbot.2017.00029

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Complex furrows in a 2D epithelial sheet code the 3D structure of a beetle horn2017

    • Author(s)
      Matsuda Keisuke、Gotoh Hiroki、Tajika Yuki、Sushida Takamichi、Aonuma Hitoshi、Niimi Teruyuki、Akiyama Masakazu、Inoue Yasuhiro、Kondo Shigeru
    • Journal Title

      Scientific Reports

      Volume: 7 Issue: 1 Pages: 13939-13939

    • DOI

      10.1038/s41598-017-14170-w

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] Modeling of group size dependent aggression in the cricket2019

    • Author(s)
      Aonuma H.
    • Organizer
      9th Federation of the Asian and Oceanian Physiological Society Congress (FAOPS 2019)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 昆虫で見られる集団サイズに応じた攻撃性のモデル化2019

    • Author(s)
      青沼 仁志
    • Organizer
      電子情報通信学会 NC&NLP研究会
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] 排便に伴い誘発するクロコオロギの定型的行動2019

    • Author(s)
      浪花 啓右,杉本 靖博,大須賀 公一,青沼 仁志
    • Organizer
      計測自動制御学会第31回自律分散システムシンポジウム
    • Related Report
      2018 Annual Research Report
  • [Presentation] Walking Analysis of Hexapedal Quasi-Passive Dynamic Walking Robot Focusing on Input Phase Difference and Yaw Angle2019

    • Author(s)
      Sugimoto Y. Sasak M. Osuka K.
    • Organizer
      2018 International Symposium on Nonlinear Theory and Its Applications
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 多脚歩行時の脚周期に依存しない歩容評価手法の提案2019

    • Author(s)
      杉山 峻太郎,杉本 靖博,大須賀 公一
    • Organizer
      計測自動制御学会第31回自律分散システムシンポジウム
    • Related Report
      2018 Annual Research Report
  • [Presentation] Nonlinear Control by Coupled Oscillator: from Nonholonomic Systems to Quasi-Passive Dynamic Walker2018

    • Author(s)
      Sugimoto Y.
    • Organizer
      2018 年電子情報通信学会 NOLTA ソサイエティ大会
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] Change in Electromyographic Patterns After Leg Amputation in the Cricket2018

    • Author(s)
      Owaki D., Sugimoto Y. Ishiguro A. and Aonuma H.
    • Organizer
      ICN2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] コオロギの脚切断後の筋電位パターンの変容2018

    • Author(s)
      大脇 大,杉本 靖博,石黒 章夫,青沼 仁志
    • Organizer
      計測自動制御学会SSI2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] 脳による中央制御系を排除したコオロギのふるまい2018

    • Author(s)
      浪花 啓右,青沼 仁志,杉本 靖博,大須賀 公一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] 脚長差に着目したバッタの歩行のシミュレーション解析2018

    • Author(s)
      杉山 峻太郎,杉山 峻太郎,杉本 靖博,大須賀 公一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] コオロギの脚切断後の筋電位パターンの変容2018

    • Author(s)
      大脇大
    • Organizer
      第30回自律分散システム・シンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] 触角への電気刺激によるクロコオロギの闘争性の増強2018

    • Author(s)
      浪花 啓右, 杉本 靖博, 青沼 仁志, 大須賀 公一
    • Organizer
      第30回自律分散システム・シンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] 生き物の多様な振る舞いを生み出す源泉をさぐるには?2018

    • Author(s)
      大須賀 公一, 青沼 仁志
    • Organizer
      第30回自律分散システム・シンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] 脚の切断状況に応じた歩行運動を生成可能な6脚ロボットの自律分散制御則2018

    • Author(s)
      宮澤咲紀子, 大脇大, 福原洸, 加納剛史, 石黒章夫
    • Organizer
      第30回自律分散システム・シンポジウム
    • Related Report
      2017 Annual Research Report
  • [Presentation] バッタ規範型“歩行”ロボットの開発2017

    • Author(s)
      杉山峻太郎
    • Organizer
      ロボティクス・メカトロニクス 講演会2017(Robomech2017)
    • Place of Presentation
      ビックパレットふくしま(福島県郡山市)
    • Year and Date
      2017-05-10
    • Related Report
      2016 Annual Research Report
  • [Presentation] アンテナフェンシングに介入可能なコオロギ侵襲型デバイスの開発2017

    • Author(s)
      浪花啓右
    • Organizer
      ロボティクス・メカトロニクス 講演会2017(Robomech2017)
    • Place of Presentation
      ビックパレットふくしま(福島県郡山市)
    • Year and Date
      2017-05-10
    • Related Report
      2016 Annual Research Report
  • [Presentation] 身体支持と推進のTegotaeに基づく6 脚ロコモーションの脚間協調制御則2017

    • Author(s)
      郷田将
    • Organizer
      第29回自律分散システムシンポジウム
    • Place of Presentation
      調布クレストンホテル(調布市)
    • Year and Date
      2017-01-30
    • Related Report
      2016 Annual Research Report
  • [Presentation] Change in coordinated motor patterns after leg amputation in the cricket2017

    • Author(s)
      Dai Owaki
    • Organizer
      JSCPB2017
    • Related Report
      2017 Annual Research Report
  • [Presentation] Inter and intralimb coordination for adaptive bipedal walking: Tegotae-based approach2017

    • Author(s)
      Dai Owaki
    • Organizer
      SWARM2017 Workshop on Bio-inspired control for interlimb coordination and adaptation in legged robots,
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 昆虫を創りたい!? -ロボット工学の限界と可能性-2017

    • Author(s)
      大脇大
    • Organizer
      日本比較生理生化学会 第39回福岡大会 若手の会「秋の合宿」
    • Related Report
      2017 Annual Research Report
    • Invited
  • [Presentation] Synthetic approach to understand neuronal mechanism of social adaptability in animals2017

    • Author(s)
      Hitoshi Aonuma
    • Organizer
      Symposium on Chalenges in Neuroscience
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] 昆虫の高速運動をつくる不思議な仕組み2017

    • Author(s)
      青沼仁志
    • Organizer
      技術講演会 協賛:精密工学会北海道支部,日本ロボット学会北海道ロボット技術研究専門委員会,計測自動制御学会北海道支部
    • Related Report
      2017 Annual Research Report
    • Invited
  • [Presentation] Mechanisms of Ultra-High Speed Movement in the Trap Jaw Ant2017

    • Author(s)
      H. Aonuma
    • Organizer
      SICE Annual Conference (SICE2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 昆虫の骨格構造を使った超高速運動のカラクリ- アギトアリの捕獲行動に見られる俊敏な運動制御2017

    • Author(s)
      青沼 仁志
    • Organizer
      第8回横幹連合コンファレンス
    • Related Report
      2017 Annual Research Report
  • [Presentation] 脚の役割分担を自発的に生成可能な6脚歩行の脚内協調制御則2017

    • Author(s)
      宮澤咲紀子, 大脇大, 石黒章夫
    • Organizer
      第18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(SI2017)
    • Related Report
      2017 Annual Research Report
  • [Presentation] Three dimensional analysis of walking legs and their controlling muscles in the centipede Scolopendra subspinipes mutilans using micro-CT technique2016

    • Author(s)
      Hitoshi Aonuma
    • Organizer
      22nd International congree of Zoology and 87th meeting of Zoological Society of Japan
    • Place of Presentation
      宜野湾市(沖縄県)
    • Year and Date
      2016-11-14
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Understanding Interlimb Coordination Mechanism of Hexapod Locomo- tion via“TEGOTAE”-based Control2016

    • Author(s)
      Masashi Goda
    • Organizer
      Living Machines 2016
    • Place of Presentation
      Edinburg, Scotland
    • Year and Date
      2016-07-19
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Synthetic approach to understand adaptive social behavior in insect2016

    • Author(s)
      Hitoshi Aonuma
    • Organizer
      10th European Conference on Mathematical and Theoretical Biology (ESMTB 2016)
    • Place of Presentation
      Univ. Nottingham(UK)
    • Year and Date
      2016-07-11
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research / Invited
  • [Book] ロボット制御ハンドブック2017

    • Author(s)
      大脇大,石黒章夫(17章 二足歩行ロボット3.4 受動走行)
    • Total Pages
      1024
    • Publisher
      近代科学社
    • ISBN
      9784764904736
    • Related Report
      2017 Annual Research Report
  • [Remarks] Dai Owaki web site

    • Related Report
      2018 Annual Research Report
  • [Remarks] 東北大学工学研究科ロボティクス専攻林部・大脇研究室

    • Related Report
      2017 Annual Research Report
  • [Remarks] 個人webサイト(大脇大)

    • Related Report
      2017 Annual Research Report
  • [Remarks] 東北大学電気通信研究所石黒研究室

    • URL

      http://www.cmplx.riec.tohoku.ac.jp/jp/

    • Related Report
      2017 Annual Research Report
  • [Remarks] 東北大学電気通信研究所実世界コンピューティング研究室

    • URL

      http://www.cmplx.riec.tohoku.ac.jp/jp/

    • Related Report
      2016 Annual Research Report

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Published: 2016-04-21   Modified: 2020-03-30  

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