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Parametric Representation of Motion Control Mechanism and Its Modification for Simulation and Prevention of Accident

Research Project

Project/Area Number 17H04700
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypeSingle-year Grants
Research Field Intelligent robotics
Research InstitutionNational Institute of Advanced Industrial Science and Technology

Principal Investigator

MURAI Akihiko  国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (90637274)

Project Period (FY) 2017-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥24,830,000 (Direct Cost: ¥19,100,000、Indirect Cost: ¥5,730,000)
Fiscal Year 2020: ¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2019: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Fiscal Year 2018: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2017: ¥11,830,000 (Direct Cost: ¥9,100,000、Indirect Cost: ¥2,730,000)
Keywords運動生成・制御メカニズム / バイオメカニクス / アクシデント推定・予防 / デジタルヒューマン / 運動力学解析 / 人間拡張
Outline of Final Research Achievements

This research has realized a simulation and analysis of accidents that are difficult to realize in laboratories due to experimental ethics or probability. We developed a multi-layered kinodynamics simulation that represents the relationship between deep data obtained in laboratories and simple motion-representation models that parametrically represent motor control mechanisms well, and analyzed behaviors and body loads when there are steps on running paths from measured running data on a flat running path. Furthermore, since the simulation can represent changes in environment and models, we simulated transformations of human performance and injury risk reductions by kinematic interventions.

Academic Significance and Societal Importance of the Research Achievements

2017年には人間中心設計のためのデジタルヒューマン技術として本研究を始めたが、現在は人間拡張技術への展開が進んでいる。特に本研究で開発した多層式運動力学シミュレーションは、運動表現モデルが低計算コストであることからシミュレーションのリアルタイム化を実現し、運動への介入を実現する。今後、本研究の成果が実現するリアルタイム化によるヒトの運動への介入を基盤とし、ヒトのパフォーマンス向上や怪我リスク低減に資する人間拡張技術を進めたい。

Report

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

    (14 results)

All 2022 2021 2020 2018 2017

All Journal Article (3 results) (of which Peer Reviewed: 3 results,  Open Access: 1 results) Presentation (8 results) (of which Int'l Joint Research: 5 results) Book (1 results) Patent(Industrial Property Rights) (2 results) (of which Overseas: 1 results)

  • [Journal Article] Factors associated with a risk of prosthetic knee buckling during walking in unilateral transfemoral amputees2020

    • Author(s)
      久野元気,橋詰賢,小林吉之,村井昭彦,小林俊樹,中島求,保原浩明
    • Journal Title

      GAIT & POSTURE

      Volume: 77 Pages: 69-74

    • DOI

      10.1016/j.gaitpost.2020.01.002

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Bicycle exercise training improves ambulation in patients with peripheral artery disease2020

    • Author(s)
      芳賀真,保科克行,小山博之,宮田哲郎,池上洋介,村井昭彦,中村仁彦
    • Journal Title

      JOURNAL OF VASCULAR SURGERY

      Volume: 71 Issue: 3 Pages: 979-987

    • DOI

      10.1016/j.jvs.2019.06.188

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Can forward dynamics simulation with simple model estimate complex phenomena?: Case study on sprinting using running-specific prosthesis2018

    • Author(s)
      Murai Akihiko、Hobara Hiroaki、Hashizume Satoru、Kobayashi Yoshiyuki、Tada Mitsunori
    • Journal Title

      ROBOMECH Journal

      Volume: 5 Issue: 1 Pages: 1-8

    • DOI

      10.1186/s40648-018-0108-8

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Open Access
  • [Presentation] DATSURYOKU:身体環境インタラクションが筋活動をデザインする2021

    • Author(s)
      村井昭彦, 鷲野壮平, 持丸正明
    • Organizer
      第26回ロボティクスシンポジア(査読あり)
    • Related Report
      2020 Annual Research Report
  • [Presentation] Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit2021

    • Author(s)
      Ren, H., Tanaka, T., Murai, A.
    • Organizer
      2021 IEEE International Conference on Robotics and Automation(査読あり)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 拡張SLIPモデルに基づく体幹・骨盤回旋運動補助による走行アシストの評価2020

    • Author(s)
      橋本光太郎,田中孝之,任鴻遠,村井昭彦
    • Organizer
      第25回ロボティクスシンポジア
    • Related Report
      2019 Annual Research Report
  • [Presentation] Multilayered Kinodynamics Simulation for Detailed Whole-body Motion Generation and Analysi2018

    • Author(s)
      Murai A., Tada M
    • Organizer
      IEEE International Conference on Robotics and Automations 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Impedance Model of the Interaction Between Environment and Human Body and Its Modification2018

    • Author(s)
      Murai A.
    • Organizer
      40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Estimation of Running Injury Risks Using Wearable Sensors2018

    • Author(s)
      Murai A., Shiogama C., Ming D., Takamatsu J., Tada M., Ogasawara T.
    • Organizer
      36th International Conference on Biomechanics in Sports 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Can Forward Dynamics Simulation with Simple Model Estimate Complex Phenomena?: Case Study of Sprinting Using Running-Specific Prosthesis2018

    • Author(s)
      村井 昭彦
    • Organizer
      第23回ロボティクスシンポジア
    • Related Report
      2017 Annual Research Report
  • [Presentation] Modeling and Analysis of Individual with Lower Extremity Amputation Locomotion Using Prosthetic Feet an d Running-specific Prostheses2017

    • Author(s)
      Murai A.
    • Organizer
      The 39th Annual Inte rnational Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’17
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Book] Humanoid Robotics: a Reference2018

    • Author(s)
      Yamane K., Murai A.
    • Total Pages
      20
    • Publisher
      Springer
    • ISBN
      9789400760479
    • Related Report
      2018 Annual Research Report
  • [Patent(Industrial Property Rights)] 運動生成方法、装置及びプログラム2022

    • Inventor(s)
      村井 昭彦、多田 充徳
    • Industrial Property Rights Holder
      国立研究開発法人産業技術総合研究所
    • Industrial Property Rights Type
      特許
    • Acquisition Date
      2022
    • Related Report
      Products Report
    • Overseas
  • [Patent(Industrial Property Rights)] 特許権2018

    • Inventor(s)
      村井昭彦,多田充徳
    • Industrial Property Rights Holder
      産業技術総合研究所
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2018-125990
    • Filing Date
      2018
    • Related Report
      2018 Annual Research Report

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Published: 2017-04-28   Modified: 2023-03-30  

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