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Understanding of Intra-cerebral Mechanisms for the Motor Adaptation to Unknown Environments

Research Project

Project/Area Number 17075006
Research Category

Grant-in-Aid for Scientific Research on Priority Areas

Allocation TypeSingle-year Grants
Review Section Science and Engineering
Research InstitutionTokyo Institute of Technology

Principal Investigator

ITO Koji  Tokyo Institute of Technology, 大学院・総合理工学研究科, 教授 (30023310)

Co-Investigator(Kenkyū-buntansha) KONDO Toshiaki  東京農工大学, 共生科学技術研究院, 准教授 (60323820)
GOUKO Manabu  東京工業大学, 大学院・総合理工学研究科, 助教 (30447560)
Project Period (FY) 2005 – 2009
Project Status Completed (Fiscal Year 2009)
Budget Amount *help
¥66,100,000 (Direct Cost: ¥66,100,000)
Fiscal Year 2009: ¥8,900,000 (Direct Cost: ¥8,900,000)
Fiscal Year 2008: ¥10,600,000 (Direct Cost: ¥10,600,000)
Fiscal Year 2007: ¥14,700,000 (Direct Cost: ¥14,700,000)
Fiscal Year 2006: ¥16,600,000 (Direct Cost: ¥16,600,000)
Fiscal Year 2005: ¥15,300,000 (Direct Cost: ¥15,300,000)
Keywords運動学習 / 運動制御系 / 内部モデル / 感覚・運動連関 / 拘束ダイナミクス / 拘束条件 / 文脈情報 / 到達運動 / 予測 / CTRNN / 内因性バイアス / 上肢到達運動 / 感覚・運動統合 / 身体自由度 / 環境認知モデル / 適応行動
Research Abstract

Even if we situated in unfamiliar environments with any kinematic and/or dynamic transformations, we can adapt to them in several trials-and-errors. As a consequence of the motor learning process, we can acquire a neural representation of the relation between motor command and the movement, i.e. internal model of the environment. However, it is still open question to explain the neural representation, i.e. how the internal models are represented in our brains. We clarified the intra-cerebral mechanisms to recognize unfamiliar environments and to generate suitable motor commands through psychophysical experiments and computational modeling of human movement learning and applied its mechanism to EEG-FES system for stroke rehabilitation.

Report

(6 results)
  • 2009 Annual Research Report   Final Research Report ( PDF )
  • 2008 Annual Research Report
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • Research Products

    (58 results)

All 2010 2009 2008 2007 2006 2005 Other

All Journal Article (35 results) (of which Peer Reviewed: 21 results) Presentation (16 results) Book (6 results) Remarks (1 results)

  • [Journal Article] An Action Generation Model by Using Time Series Prediction and Its Application to Robot Navigation2009

    • Author(s)
      Manabu Gouko, Koji Ito
    • Journal Title

      International Journal of Neural Systems 19-2

      Pages: 105-113

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 表面筋電位を用いた前腕義手の複合動作識別2009

    • Author(s)
      井部鮎子, 郷古学, 伊藤宏司
    • Journal Title

      計測自動制御学会論文集 45-12

      Pages: 717-723

    • NAID

      10026207516

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 運動想起フィードバック訓練による事象関連脱同期(ERD)出現の検証2009

    • Author(s)
      高橋光, 郷古学, 伊藤宏司
    • Journal Title

      システム制御情報学会論文集 22-5

      Pages: 199-205

    • NAID

      10025514475

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] センサ情報の変化量を利用した移動ロボットによる環境のモデル化と識別2009

    • Author(s)
      郷古学, 伊藤宏司
    • Journal Title

      電子情報通信学会論文誌 J92-A,7

      Pages: 498-506

    • NAID

      110007333625

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 状態パターンの変化にもとづく行動生成モデル2009

    • Author(s)
      郷古学, 登美直樹, 長野智晃, 伊藤宏司
    • Journal Title

      電気学会論文誌 C129-9

      Pages: 690-1698

    • NAID

      10025101941

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] An Action Generation Model by Using Time Series Prediction and Its Application to Robot Navigation2009

    • Author(s)
      郷古学, 伊藤宏司
    • Journal Title

      International Journal of Neural Systems 19

      Pages: 105-113

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 状態パターンの変化にもとづく行動生成モデル2009

    • Author(s)
      郷古学, 登美直樹, 長野智晃, 伊藤宏司
    • Journal Title

      電気学会論文誌C 129

      Pages: 1690-1698

    • NAID

      10025101941

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] センサ情報の変化量を利用した移動ロボットによる環境のモデル化と識別2009

    • Author(s)
      郷古学, 伊藤宏司
    • Journal Title

      電子情報通信学会論文誌A J92-A

      Pages: 498-506

    • NAID

      110007333625

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 体性感覚情報は左右指協調運動に影響を与える2008

    • Author(s)
      櫻田武, 五味裕章, 伊藤宏司
    • Journal Title

      電子情報通信学会論文誌 J91-D

      Pages: 2382-2393

    • NAID

      110007381130

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 力場環境下における内部モデルの不完全性とインピーダンス制御による補完2008

    • Author(s)
      登美直樹, 郷古学, 近藤敏之, 伊藤宏司
    • Journal Title

      計測自動制御学会論文集 44-11

      Pages: 896-904

    • NAID

      10024390672

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 機能的電気刺激(FES)による脚運動野における事象関連脱同期(ERD)への影響2008

    • Author(s)
      高橋光, 郷古学, 伊藤宏司
    • Journal Title

      計測自動制御学会論文集 44

      Pages: 699-704

    • NAID

      10021991005

    • Related Report
      2009 Final Research Report 2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 環境変化の予測情報を利用するモジュール切り替え型行動生成モデル2008

    • Author(s)
      郷古学, 伊藤宏司
    • Journal Title

      電子情報通信学会論文誌 91-D

      Pages: 813-822

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] MRI対応指運動用マニピュランダムの開発2008

    • Author(s)
      青代敏行, 井澤淳, 清水崇弘, 伊藤宏司, 遠山茂樹
    • Journal Title

      精密工学会誌 74

      Pages: 405-410

    • NAID

      110006657106

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 力場環境下における内部モデルの不完全性とインピーダンス制御による補完2008

    • Author(s)
      登美直樹, 郷古学, 近藤敏之, 伊藤宏司
    • Journal Title

      計測自動制御学会論文集 44

      Pages: 896-904

    • NAID

      10024390672

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 体性感覚情報は左右指協調運動に影響を与える2008

    • Author(s)
      櫻田武, 五味裕章, 伊藤宏司
    • Journal Title

      電子情報通信学会論文誌D J91-D

      Pages: 2382-2393

    • NAID

      110007381130

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Feed-forward Adaptation to a Varying Dynamical Environment during Reaching Movements2007

    • Author(s)
      Koji Ito, Makoto Doi, Toshiyuki Kondo
    • Journal Title

      Jr. of Robotics and Mechatronics 19

      Pages: 474-481

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] An Environment Cognition and Motor Adaptation Model by Eliciting Sensorimotor Constraints based on Time-series Observations2007

    • Author(s)
      Toshiyuki Kondo, Koji Ito
    • Journal Title

      Jr. of Robotics and Mechatronics 19

      Pages: 395-401

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] An Intrinsic Neuromodulation Model for Realizing Anticipatory Behavior in Reaching Movement under Unexperienced Force Fields, in M.V. Butz et al. (eds. ): Anticipatory Behavior in Adaptive Learning Systems: Advances in Anticipatory Processing2007

    • Author(s)
      Toshiyuki Kondo, Koji Ito
    • Journal Title

      Springer-Verlag Berlin Heidelberg 4520

      Pages: 254-266

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 脊髄と筋骨格系の機構に基づく分散運動制御系2007

    • Author(s)
      長野智晃, 近藤敏之, 伊藤宏司
    • Journal Title

      計測自動制御学会論文集 43

      Pages: 369-376

    • NAID

      130003792112

    • Related Report
      2009 Final Research Report 2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] バイオメカトロニクスと認知・行動機能2007

    • Author(s)
      伊藤宏司
    • Journal Title

      人工知能学会誌 22

      Pages: 179-184

    • Related Report
      2009 Final Research Report
  • [Journal Article] Feed-forward Adaptation to a Varying Dynamical Environment during Reaching Movements2007

    • Author(s)
      Koji Ito, Makoto Doi, Toshiyuki Kondo
    • Journal Title

      Jr. of Robotics and Mechatronis 19

      Pages: 474-481

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] An Environment Cognition and Motor Adaptation Model by Eliciting Sensorimotor Constraints based on Time-series Observation2007

    • Author(s)
      Toshiyuki Kondo and Koji Ito
    • Journal Title

      Jr. of Robotics and Mechatronis 19

      Pages: 395-401

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Evolutionary design and behavior analysis of neuromodulatory neural networks for mobile robots control2007

    • Author(s)
      Toshiyuki Kondo
    • Journal Title

      Applied Soft Computing, Elsevier 7

      Pages: 189-202

    • Related Report
      2006 Annual Research Report
  • [Journal Article] バイオメカトロニクスと認知・行動機能2007

    • Author(s)
      伊藤宏司
    • Journal Title

      人工知能学会誌 22-2

      Pages: 179-184

    • Related Report
      2006 Annual Research Report
  • [Journal Article] A Neuromoduratory Neural Networks Model for Environmental Cognition and Motor Adaptation2006

    • Author(s)
      Toshiyuki Kondo, Koji Ito
    • Journal Title

      Proceedings of IEEE World Congress on Computational Intelligence (WCCI2006)

      Pages: 9865-9870

    • Related Report
      2006 Annual Research Report
  • [Journal Article] An Environmental Adaptation Mechanism for a Biped Walking Robot Control Based on Elicitation of Sensorimotor Constraints2006

    • Author(s)
      Shunsuke Iida, Toshiyuki Kondo, Koji Ito
    • Journal Title

      From Animals to Animats 9, Lecture Notes in Computer Science 4095

      Pages: 174-184

    • Related Report
      2006 Annual Research Report
  • [Journal Article] A design principle of adaptive neural controllers for realizing anticipatory behavior in reaching movement under un-experienced environments2006

    • Author(s)
      Toshiyuki Kondo, Koji Ito
    • Journal Title

      Proceedings of The Third Workshop on Anticipatory Behavior in Adaptive Learning Systems (ABiALS'06) (CD-ROM)

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Lower-limb Joint Torque and Position Controls by Functional Electrical Stimulation (FES)2006

    • Author(s)
      Koji Ito, Takahiro Shioyama, Toshiyuki Kondo
    • Journal Title

      Complex Medical Engineering (in J. L. Wu et al (eds.)) (Springer )

      Pages: 240-249

    • NAID

      110003288162

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 複数の動的環境に対する人間の運動学習2006

    • Author(s)
      今井 努, 近藤敏之, 伊藤宏司
    • Journal Title

      自律分散システム・ジンポジウム講演論文集

      Pages: 169-174

    • NAID

      10022566322

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 拘束条件の実時間選択による運動生成2005

    • Author(s)
      近藤敏之, 伊藤宏司
    • Journal Title

      計測と制御 44

      Pages: 596-601

    • Related Report
      2009 Final Research Report
  • [Journal Article] Periodic Motion Control by Modulating CPG Parameters based on Time-Series Recognition2005

    • Author(s)
      Toshiyuki Kondo, Koji Ito
    • Journal Title

      Lecture Notes in Artificial Intelligence 3630

      Pages: 906-915

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 拘束条件の実時間選択による運動生成2005

    • Author(s)
      近藤敏之, 伊藤宏司
    • Journal Title

      計測と制御 44-9

      Pages: 596-601

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Impedance Adaptation of Arm Movements under Dynamic Environments2005

    • Author(s)
      Koji Ito, Takeshi Sakurada, Makoto Doi, Toshiyuki Kondo
    • Journal Title

      Proceeding of SICE Annual Conference 2005 WP1-03-02

      Pages: 3305-3310

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Lower-limb Joint Torque and Position Controls by Functional Electrical Stimulation (FES)2005

    • Author(s)
      Koji Ito, Takahiro Shioyama, Toshiyuki Kondo
    • Journal Title

      Proceeding of Complex Medical Engineering (CME2005)

      Pages: 559-564

    • NAID

      110003288162

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Periodic Motion Control by Modulating CPG Parameters based on Time-Series Recognition2005

    • Author(s)
      Toshiyuki Kondo, Koji Ito
    • Journal Title

      Proceedings of 8th European Conference (ECAL2005)

      Pages: 906-915

    • Related Report
      2005 Annual Research Report
  • [Presentation] Cooperative mechanisms of internal model control and impedance control under force fields2009

    • Author(s)
      Naoki Tomi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of 19th International Conference on Artificial Neural Networks(ICANN2009)
    • Place of Presentation
      Limassol, Cyprus
    • Year and Date
      2009-09-15
    • Related Report
      2009 Annual Research Report
  • [Presentation] Cooperative Mechanisms of Internal Model Control and Impedance Control under Force Fields2009

    • Author(s)
      Naoki Tomi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of 19th International Conference on Artificial Neural Networks
    • Place of Presentation
      Limassol, Cyprus
    • Year and Date
      2009-09-14
    • Related Report
      2009 Final Research Report
  • [Presentation] Muscular Sensation Induce Event Related Desynchronization (ERD) on Foot Motor Area2009

    • Author(s)
      Mitsuru Takahashi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of IMEKO World Congress
    • Place of Presentation
      Lisbon, Portugal
    • Year and Date
      2009-09-09
    • Related Report
      2009 Final Research Report
  • [Presentation] Fundamental Research about Electroencephalogram (EEG) - Functional Electrical Stimulation (FES) Rehabilitation System2009

    • Author(s)
      Mitsuru Takahashi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of the IEEE 11th International Conference on Rehabilitation Robotics
    • Place of Presentation
      Kyoto, Japan
    • Year and Date
      2009-06-26
    • Related Report
      2009 Final Research Report
  • [Presentation] Fundamental Research about Brain Computer Interface for Stroke Rehabilitation2009

    • Author(s)
      Mitsuru Takahashi, Manabu Gouko, Koji Ito
    • Organizer
      Italy-Japan International Seminar, Musculoskeletal System and Computational Neuro Science for Rehabilitation
    • Place of Presentation
      Milano, Italy.
    • Year and Date
      2009-06-15
    • Related Report
      2009 Final Research Report
  • [Presentation] Inaccuracy of Internal Models in Force Fields and Complementary Use of Impedance Control2008

    • Author(s)
      Naoki Tomi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Nice, France.
    • Year and Date
      2008-09-26
    • Related Report
      2009 Final Research Report
  • [Presentation] Inaccuracy of internal models in force fields and complementary use of impedance control2008

    • Author(s)
      Naoki Tomi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Nice, France
    • Year and Date
      2008-09-24
    • Related Report
      2008 Annual Research Report
  • [Presentation] Impedance Control Complements Incomplete Internal Models under Complex External Dynamics2008

    • Author(s)
      Naoki Tomi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of IEEE International Conference of the Engineering in Medicine and Biology Society
    • Place of Presentation
      Vancouver, Canada.
    • Year and Date
      2008-08-21
    • Related Report
      2009 Final Research Report
  • [Presentation] Electroencephalogram(EEG) and Functional Electrical Stimulation (FES) System for Rehabilitation of Stroke patients2008

    • Author(s)
      Mitsuru Takahashi, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of IEEE International Symposium on Computer- Based Medical System
    • Place of Presentation
      Jyvaskyla, Finland.
    • Year and Date
      2008-06-17
    • Related Report
      2009 Final Research Report
  • [Presentation] Distributed Motor Control System With Transmission Time Delay2008

    • Author(s)
      Tomoaki Nagano, Manabu Gouko, Koji Ito
    • Organizer
      Proceedings of International Symposium on Communications, Control and Signal Processing
    • Place of Presentation
      Malta.
    • Year and Date
      2008-03-13
    • Related Report
      2009 Final Research Report
  • [Presentation] Discrimination of Intended Movements based on Nonstationary EMG for a Prosthetic Hand Control2008

    • Author(s)
      Koji Ito, Masakatsu Tsukamoto, Toshiyuki Kondo
    • Organizer
      Proceedings of International Symposium on Communications, Control and Signal Processing
    • Place of Presentation
      Malta.
    • Year and Date
      2008-03-12
    • Related Report
      2009 Final Research Report
  • [Presentation] Decomposition of Internal Models in Arm Reaching Motions under Mixed Dynamic Environments2007

    • Author(s)
      Naoki Tomi, Manabu Gouko, Koji Ito, Toshiyuki Kondo
    • Organizer
      Proceedings of The 3rd International Symposium on Measurement, Analysis, and Modeling of Hum an Functions (ISHF2007)
    • Place of Presentation
      Cascais, Portugal
    • Year and Date
      2007-07-14
    • Related Report
      2007 Annual Research Report
  • [Presentation] Feedforward Adaptation to Stable and Unstable Dynamics in Arm Movements2007

    • Author(s)
      Koji Ito, Makoto Doi, Toshiyuki Kondo
    • Organizer
      Proceedings of Mediterranean Conference on Control and Automation
    • Place of Presentation
      Athens, Greece.
    • Year and Date
      2007-06-27
    • Related Report
      2009 Final Research Report
  • [Presentation] Mobiligence: Adaptive Motor Behaviors in Dynamic Environments2007

    • Author(s)
      Koji Ito
    • Organizer
      Proceedings of International Symposium on Measurement Analysis and Modeling of Human Functions
    • Place of Presentation
      Cascais Portugal(Plenary Lecture).
    • Year and Date
      2007-06-14
    • Related Report
      2009 Final Research Report
  • [Presentation] Motor Adaptation to Dynamic Environments in Arm Reaching Motions2006

    • Author(s)
      Koji Ito, Tsutomu Imai, Toshiyuki Kondo
    • Organizer
      Proceedings of XVIII IMEKO WORLD CONGRESS
    • Place of Presentation
      Rio de Janeiro, Brazil.
    • Year and Date
      2006-09-20
    • Related Report
      2009 Final Research Report
  • [Presentation] Lower-limb Joint Torque and Position Control by Functional Electrical Stimulation (FES)2005

    • Author(s)
      Koji Ito, Takahiro Shioyama, Toshiyuki Kondo
    • Organizer
      Proceedings of International Conference of Complex Medical Engineering
    • Place of Presentation
      Takamatsu, Japan.
    • Year and Date
      2005-05-18
    • Related Report
      2009 Final Research Report
  • [Book] シリーズ移動知全4巻2010

    • Author(s)
      浅間一, 伊藤宏司(編)
    • Total Pages
      1196
    • Publisher
      オーム社
    • Related Report
      2009 Final Research Report
  • [Book] 環境適応-内部表現と予測のメカニズム(シリーズ移動知第3巻)2010

    • Author(s)
      伊藤宏司, 近藤敏之(編著)
    • Total Pages
      267
    • Publisher
      オーム社
    • Related Report
      2009 Final Research Report
  • [Book] ニューロダイナミクス2010

    • Author(s)
      伊藤宏司
    • Total Pages
      225
    • Publisher
      共立出版
    • Related Report
      2009 Annual Research Report 2009 Final Research Report
  • [Book] Complex Medical Engineering2007

    • Author(s)
      J.L.Wu, K.Ito, S.Tobimatsu, T.Nishida, F.Fukuyama
    • Total Pages
      619
    • Publisher
      Springer
    • Related Report
      2006 Annual Research Report
  • [Book] 身体知システム論2005

    • Author(s)
      伊藤宏司
    • Total Pages
      395
    • Publisher
      共立出版
    • Related Report
      2009 Final Research Report
  • [Book] 身体的システム論-ヒューマンロボティクスによる運動の学習と制御-2005

    • Author(s)
      伊藤宏司
    • Total Pages
      395
    • Publisher
      共立出版
    • Related Report
      2005 Annual Research Report
  • [Remarks]

    • URL

      http://www.ito.dis.titech.ac.jp/homej.html

    • Related Report
      2008 Annual Research Report

URL: 

Published: 2005-04-01   Modified: 2018-03-28  

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