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Investigation of the muscle-tendon driven system of the finger on analysis of the higher brain function using NIRS and the pseudo-inverse matrix structure.

Research Project

Project/Area Number 21360120
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionDoshisha University

Principal Investigator

YOKOGAWA Ryuichi  同志社大学, 生命医科学部, 教授 (70220548)

Co-Investigator(Kenkyū-buntansha) TSUMUGIWA Toru  同志社大学, 生命医科学部, 准教授 (90362912)
Project Period (FY) 2009 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥19,110,000 (Direct Cost: ¥14,700,000、Indirect Cost: ¥4,410,000)
Fiscal Year 2011: ¥6,110,000 (Direct Cost: ¥4,700,000、Indirect Cost: ¥1,410,000)
Fiscal Year 2010: ¥6,110,000 (Direct Cost: ¥4,700,000、Indirect Cost: ¥1,410,000)
Fiscal Year 2009: ¥6,890,000 (Direct Cost: ¥5,300,000、Indirect Cost: ¥1,590,000)
Keywordsバイオメカニクス / NIRS / 高次脳機能 / 指の筋腱 / 静力学解析 / ロボットマニピュレータ / インピーダンス制御 / 指の筋腱駆動系
Research Abstract

While the position of the phalangeal joint and the configuration of the muscles/tendons at the joint were numerically different among the subjects, the function of the muscles/tendons was common among them. While the roles of the muscles/tendons were different among the subjects in the manipulation of the fine fingertip force, the roles were able to be classified into some cases. The classification was explained using the tendon driven models developed on the MRI data. In the manipulation of the fine fingertip force, the manipulability of the finger depends on the finger posture. The brain activity controlling the fingertip changes in order to adjust the muscle forces to the variation of the manipulability of the finger. The conclusions indicate the possibility that the neural mechanism of the motor learning depends on the characteristics of the muscles/tendons, i. e. the controlled object. This could provide new insights for research into motor nerves physiology.

Report

(4 results)
  • 2011 Annual Research Report   Final Research Report ( PDF )
  • 2010 Annual Research Report
  • 2009 Annual Research Report
  • Research Products

    (26 results)

All 2011 2010 2009

All Presentation (26 results)

  • [Presentation] MRI計測データを用いた示指の筋・腱駆動系のモデル化2011

    • Author(s)
      中谷英嗣、積際徹、横川隆一
    • Organizer
      日本機械学会シンポジウム:スポーツ・アンド・ヒューマン・ダイナミクス2011
    • Place of Presentation
      京都大学吉田キャンパス百周年時計台記念館
    • Year and Date
      2011-11-01
    • Related Report
      2011 Final Research Report
  • [Presentation] 指の機能的肢位と表面筋電位2011

    • Author(s)
      清良彰、積際徹、横川隆一
    • Organizer
      日本機械学会シンポジウム:スポーツ・アンド・ヒューマン・ダイナミクス2011
    • Place of Presentation
      京都大学吉田キャンパス百周年時計台記念館
    • Year and Date
      2011-11-01
    • Related Report
      2011 Final Research Report
  • [Presentation] MRI計測データを用いた示指の筋・腱駆動系のモデル化2011

    • Author(s)
      中谷英嗣, 積際徹, 横川隆一
    • Organizer
      日本機械学会シンポジウム:スポーツ・アンド・ヒューマン・ダイナミクス2011
    • Place of Presentation
      京都大学吉田キャンパス百周年時計台記念館(京都)
    • Year and Date
      2011-11-01
    • Related Report
      2011 Annual Research Report
  • [Presentation] 指の機能的肢位と表面筋電位2011

    • Author(s)
      清良彰, 積際徹, 横川隆一
    • Organizer
      日本機械学会シンポジウム:スポーツ・アンド・ヒューマン・ダイナミクス2011
    • Place of Presentation
      京都大学吉田キャンパス百周年時計台記念館(京都)
    • Year and Date
      2011-11-01
    • Related Report
      2011 Annual Research Report
  • [Presentation] MRI計測データを用いた示指の筋・腱駆動系のモデル化2011

    • Author(s)
      中谷英嗣、積際徹、横川隆一
    • Organizer
      第55回システム制御情報学会研究発表講演会
    • Place of Presentation
      大阪大学吹田キャンパスコンベンションセンター
    • Year and Date
      2011-05-17
    • Related Report
      2011 Final Research Report
  • [Presentation] MRI計測データを用いた示指の筋・腱駆動系のモデル化2011

    • Author(s)
      中谷英嗣, 積際徹, 横川隆一
    • Organizer
      第55回システム制御情報学会研究発表講演会
    • Place of Presentation
      大阪大学吹田キャンパスコンベンションセンター(大阪)
    • Year and Date
      2011-05-17
    • Related Report
      2011 Annual Research Report
  • [Presentation] 小型情報端末操作時の母指の負担軽減用補助器具の有効性2011

    • Author(s)
      生信愛、横川隆一、積際徹
    • Organizer
      日本機械学会関西支部第86期定時総会講演会
    • Place of Presentation
      京都工芸繊維大学
    • Year and Date
      2011-03-20
    • Related Report
      2011 Final Research Report
  • [Presentation] MR画像データを用いた母指の静力学的モデルの作製2011

    • Author(s)
      松村侑祐、積際徹、横川隆一
    • Organizer
      日本機械学会関西支部第86期定時総会講演会
    • Place of Presentation
      京都工芸繊維大学
    • Year and Date
      2011-03-20
    • Related Report
      2011 Final Research Report
  • [Presentation] MRIを用いた示指のIPおよびMP関節軸のモデル化2011

    • Author(s)
      二見奨太, 積際徹、横川隆一
    • Organizer
      日本機械学会関西支部第86期定時総会講演会
    • Place of Presentation
      京都工芸繊維大学
    • Year and Date
      2011-03-20
    • Related Report
      2011 Final Research Report
  • [Presentation] MRIを用いた示指のIPおよびMP関節軸のモデル化2011

    • Author(s)
      横川隆一
    • Organizer
      日本機械学会関西支部第86期定時総会講演会
    • Place of Presentation
      京都工芸繊維大学(京都府)
    • Year and Date
      2011-03-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] MR画像データを用いた母指の静力学的モデルの作製2011

    • Author(s)
      横川隆一
    • Organizer
      日本機械学会関西支部第86期定時総会講演会
    • Place of Presentation
      京都工芸繊維大学(京都府)
    • Year and Date
      2011-03-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] 小型情報端末操作時の母指の負担軽減用補助器具の有効性2011

    • Author(s)
      横川隆一
    • Organizer
      日本機械学会関西支部第86期定時総会講演会
    • Place of Presentation
      京都工芸繊維大学(京都府)
    • Year and Date
      2011-03-20
    • Related Report
      2010 Annual Research Report
  • [Presentation] 示指の筋腱駆動系の工学モデルの検証2010

    • Author(s)
      家田亜沙美、積際徹、横川隆一
    • Organizer
      第28回日本ロボット学会学術講演会
    • Place of Presentation
      名古屋工業大学
    • Year and Date
      2010-09-22
    • Related Report
      2011 Final Research Report
  • [Presentation] 示指の筋腱駆動系の工学モデルの検証2010

    • Author(s)
      横川隆一
    • Organizer
      第28回 日本ロボット学会学術講演会
    • Place of Presentation
      名古屋工業大学(愛知県)
    • Year and Date
      2010-09-22
    • Related Report
      2010 Annual Research Report
  • [Presentation] Robot Motion Control Using Mechanical Load Adjuster with Motion Measurement Interface for Human-Robot Cooperation2009

    • Author(s)
      T. Tsumugiwa, Y. Watanabe, and R. Yokogawa
    • Organizer
      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Hyatt Regency St. Louis Riverfront(St. Louis, Missouri, USA)
    • Year and Date
      2009-10-12
    • Related Report
      2011 Final Research Report
  • [Presentation] Robot Motion Control Using Mechanical Load Adjuster with Motion Measurement Interface for Human-Robot Cooperation2009

    • Author(s)
      T.Tsumugiwa, Y.Watanabe, R.Yokogawa
    • Organizer
      2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Hyatt Regency St.Louis Riverfront(St.Louis, Missouri, USA)
    • Year and Date
      2009-10-12
    • Related Report
      2009 Annual Research Report
  • [Presentation] 指先力調節における示指の操作性と大脳賦活状態2009

    • Author(s)
      竹田滋紀、積際徹、横川隆一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学
    • Year and Date
      2009-09-16
    • Related Report
      2011 Final Research Report
  • [Presentation] 指先力調節における示指の操作性と大脳賦活状態2009

    • Author(s)
      竹田滋紀, 積際徹, 横川隆一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学(神奈川)
    • Year and Date
      2009-09-16
    • Related Report
      2009 Annual Research Report
  • [Presentation] MRIを用いた示指の筋・腱配置の静力学モデルの検証2009

    • Author(s)
      吉野寛康、積際徹、横川隆一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学
    • Year and Date
      2009-09-15
    • Related Report
      2011 Final Research Report
  • [Presentation] MRIを用いた示指の筋・腱配置の静力学モデルの検証2009

    • Author(s)
      吉野寛康, 積際徹, 横川隆一
    • Organizer
      第27回日本ロボット学会学術講演会
    • Place of Presentation
      横浜国立大学(神奈川)
    • Year and Date
      2009-09-15
    • Related Report
      2009 Annual Research Report
  • [Presentation] Development of Mechanical Load Adjusting Device with Motion Measurement Interface for Robotic Assistive Rehabilitation System2009

    • Author(s)
      T. Tsumugiwa, Y. Watanabe, and R. Yokogawa
    • Organizer
      2009 IEEE 11th International Conference on Rehabilitation Robotics
    • Place of Presentation
      Kyoto International Conference Center(Kyoto, Japan)
    • Year and Date
      2009-06-24
    • Related Report
      2011 Final Research Report 2009 Annual Research Report
  • [Presentation] 携帯電話の親指キー入力操作における親指の操作性と大脳の賦活状態の関係2009

    • Author(s)
      竹田滋紀、積際徹、横川隆一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2009
    • Place of Presentation
      福岡国際会議場
    • Year and Date
      2009-05-26
    • Related Report
      2011 Final Research Report
  • [Presentation] 携帯電話の親指キー入力操作における親指の操作性と大脳の賦活状態の関係2009

    • Author(s)
      竹田滋紀, 積際徹, 横川隆一
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2009
    • Place of Presentation
      福岡国際会議場(福岡)
    • Year and Date
      2009-05-26
    • Related Report
      2009 Annual Research Report
  • [Presentation] MRIを用いた示指の筋・腱配置の静力学モデル2009

    • Author(s)
      吉野寛康、積際徹、横川隆一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2009
    • Place of Presentation
      福岡国際会議場
    • Year and Date
      2009-05-25
    • Related Report
      2011 Final Research Report
  • [Presentation] MRIを用いた示指の筋・腱配置の静力学モデル2009

    • Author(s)
      吉野寛康, 積際徹, 横川隆一
    • Organizer
      日本機械学会 ロボティクス・メカトロニクス講演会2009
    • Place of Presentation
      福岡国際会議場(福岡)
    • Year and Date
      2009-05-25
    • Related Report
      2009 Annual Research Report
  • [Presentation] Object Inherent Dynamics Based Motion Control in Human-Robot Cooperative Task System2009

    • Author(s)
      T. Tsumugiwa, and R. Yokogawa
    • Organizer
      2009 IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Kobe International Conference Center(Kobe, Japan)
    • Year and Date
      2009-05-16
    • Related Report
      2011 Final Research Report 2009 Annual Research Report

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Published: 2009-04-01   Modified: 2016-04-21  

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