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A Study of Coordination Mechanism of the Lower Limb and the Posture of the Trunk in Human Locomotion

Research Project

Project/Area Number 22500416
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Biomedical engineering/Biological material science
Research InstitutionOsaka Institute of Technology

Principal Investigator

TSUJITA Katsuyoshi  大阪工業大学, 工学部, 准教授 (20252603)

Co-Investigator(Kenkyū-buntansha) GOAN Miki  大阪市立大学, 法学(政治学)研究科(研究院), 研究員 (70337616)
Project Period (FY) 2010 – 2012
Project Status Completed (Fiscal Year 2012)
Budget Amount *help
¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywordsバイオメカニクス / 歩行運動 / 筋シナジー / ベルンシュタイン問題 / 姿勢運動 / 力学解析 / 適応機能 / 協調運動
Research Abstract

This study treats joint synergy and control strategy of human locomotion. The numerical simulations based on the motion captured data of human locomotion revealed the physical meanings of the lower limb's joint synergy and control strategy. Support leg is controlled to move the center of mass to the forward keeping the soul's contact to the surface of the ground. The control strategy of swing leg is ballistic control with initiating active control and nonlinear passive visco-elastic properties determine periodic behavior. From these results, we can note that the fundamental control system of human locomotion is not based on exact model or reference motions but on 'no control as possible' principle.

Report

(4 results)
  • 2012 Annual Research Report   Final Research Report ( PDF )
  • 2011 Annual Research Report
  • 2010 Annual Research Report
  • Research Products

    (29 results)

All 2013 2012 2011 2010 Other

All Journal Article (6 results) (of which Peer Reviewed: 6 results) Presentation (22 results) Remarks (1 results)

  • [Journal Article] Perceiving the Gap:Asynchronous Coordination of Plural Algorithms and Disconnected Logical Types in Ambient Space2013

    • Author(s)
      M.Goan, K.Tsujita, T.Ishikawa, S.Takashima, S.Kihara and K.Okazaki
    • Journal Title

      WSH 2011 and IWNC 2012, PICT, Proceedings in Information and Communications Technology

      Volume: Vo.6 Pages: 130-147

    • Related Report
      2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] Perceiving the Gap: Asynchronous Coordination of Plural Algorithms and Disconnected Logical Types in Ambient Space2013

    • Author(s)
      Miki Goan, Katsuyoshi Tsujita, Takuma Ishikawa, Shinichi Takashima, Susumu Kihara and Kenjiro Okazaki
    • Journal Title

      WSH 2011 and IWNC 2012, PICT, Proceedings in Information and Communications Technology

      Volume: 6 Pages: 130-147

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Simulation Approach for an Infant Robot to Understand the Acquisition Process of Human Locomotion2012

    • Author(s)
      K.Tsujita and G.Miki
    • Journal Title

      Introduction toModern robotics

      Volume: Vol.1 Pages: 39-53

    • Related Report
      2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Simulation Approach for an Infant Robot to Understand the Acquisition Process of Human Locomotion2012

    • Author(s)
      K.Tsujita and G.Miki
    • Journal Title

      Introduction to Modern robotics

      Volume: 1 Pages: 39-53

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Simulation Approach for an Infant Robot to Understand theAcquisition Process of Human Locomotion2011

    • Author(s)
      K.Tsujita, M.Goan
    • Journal Title

      Introduction to Modern Robotics

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A Simulation Approach for an Infant Robot to Understand the Acquisition Process of Human Locomotion2011

    • Author(s)
      K.Tsujita, M.Goan
    • Journal Title

      Introduction to Modern Robotics

      Volume: (掲載確定 未定)

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Presentation] A Study of the Effect of Structural Damping on Gait Stability in Quadrupedal Locomotion using a Musculoskeletal Robot2012

    • Author(s)
      K.Miki and K.Tsujita
    • Organizer
      IEEE/RSJ IROS 2012
    • Place of Presentation
      Vilamoura, Algarve, Portugal
    • Year and Date
      2012-10-09
    • Related Report
      2012 Annual Research Report 2012 Final Research Report
  • [Presentation] 円筒物体の握り易さに関する研究-把持時の外モーメントに対する安定性の考察-2012

    • Author(s)
      辻田,森本
    • Organizer
      日本生態心理学会第4回大会
    • Place of Presentation
      公立はこだで未来大学(函館)
    • Year and Date
      2012-07-08
    • Related Report
      2012 Final Research Report
  • [Presentation] モーションキャプチャデータに基づく人の歩行運動の動力学シミュレーション解析2012

    • Author(s)
      千田,辻田
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2012
    • Place of Presentation
      アクトシティ浜松(浜松)
    • Related Report
      2012 Final Research Report
  • [Presentation] 人の物理的拘束条件下での歩行運動における協調性に関する研究2012

    • Author(s)
      高田,辻田
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2012
    • Place of Presentation
      アクトシティ浜松(浜松)
    • Related Report
      2012 Final Research Report
  • [Presentation] モーションキャプチャデータに基づく人の歩行運動の動力学シミュレーション解析2012

    • Author(s)
      千田貞寛,辻田勝吉
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2012
    • Place of Presentation
      アクトシティ浜松(浜松)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 人の物理的拘束条件下での歩行運動における協調性に関する研究2012

    • Author(s)
      高田七瀬,辻田勝吉
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2012
    • Place of Presentation
      アクトシティ浜松(浜松)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 円筒物体の握り易さに関する研究 ―把持時の外モーメントに対する安定性の考察―2012

    • Author(s)
      辻田 勝吉,森本 良祐
    • Organizer
      日本生態心理学会第4回大会
    • Place of Presentation
      公立はこだで未来大学(函館)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Stability Analysis on Quadrupedal Gaits according to Body's Flexibility using Musculoskeletal Robot2011

    • Author(s)
      K.Tsujita and K.Miki
    • Organizer
      Proc. of IEEE Int. Conf. on Robotics and Biomimetics (ROBIO) 2011
    • Place of Presentation
      Phuket, Thailand
    • Year and Date
      2011-12-09
    • Related Report
      2012 Final Research Report
  • [Presentation] Stability Analysis on Quadrupedal Gaits according to Body's Flexibility using Musculoskeletal Robot2011

    • Author(s)
      K.Tsujita, K.Miki
    • Organizer
      Proc.of IEEE Int.Conf.on Robotics and Biomimetics (ROBIO) 2011
    • Place of Presentation
      Phuket, Thailand
    • Year and Date
      2011-12-09
    • Related Report
      2011 Annual Research Report
  • [Presentation] Mode Analyses on the Kinematical Structure of Basic Movements and Residual Patterns in Human Locomotion using Motion Capture Data2011

    • Author(s)
      N.Takata, S.Senda, K.Nakai and K.Tsujita
    • Organizer
      Proc. of the 5th Int. Symp. on Adaptive Motion in Animals and Machines
    • Place of Presentation
      Awaji, Japan
    • Year and Date
      2011-10-12
    • Related Report
      2012 Final Research Report
  • [Presentation] A Study on Trunk Stiffness and Gait Stability in Quadrupedal Locomotion Using Musculoskeletal Robot2011

    • Author(s)
      K.Tsujita and K.Miki
    • Organizer
      Proc. of the5th Int. Symp. on Adaptive Motion in Animals and Machines
    • Place of Presentation
      Awaji, Japan
    • Year and Date
      2011-10-12
    • Related Report
      2012 Final Research Report
  • [Presentation] Mode Analyses on the Kinematical Structure of Basic Movements and Residual Patterns in Human Locomotion using Motion Capture Data2011

    • Author(s)
      N.Takata, S.Senda, K.Nakai, K.Tsujita
    • Organizer
      Proc.of the 5th Int.Symp.on Adaptive Motion in Animals and Machines
    • Place of Presentation
      Awaji, Japan
    • Year and Date
      2011-10-12
    • Related Report
      2011 Annual Research Report
  • [Presentation] A Study on Trunk Stiffness and Gait Stability in Quadrupedal Locomotion Using Musculoskeletal Robot2011

    • Author(s)
      K.Tsujita, K.Miki
    • Organizer
      Proc.of the 5th Int.Symp.on Adaptive Motion in Animals and Machines
    • Place of Presentation
      Awaji, Japan
    • Year and Date
      2011-10-12
    • Related Report
      2011 Annual Research Report
  • [Presentation] Mode Analyses on Kinematical Structure of Common Motion Pattern, Personal Peculiarity and Motor Dysfunction in Human Locomotion2011

    • Author(s)
      S.Senda, N.Takata, K.Nakai and K.Tsujita
    • Organizer
      The 16th Int. Conf. on Perception and Action
    • Place of Presentation
      Ouro Preto, Brazil
    • Year and Date
      2011-07-10
    • Related Report
      2012 Final Research Report
  • [Presentation] Mode Analyses on Kinematical Structure of Common Motion Pattern, Personal Peculiarity and Motor Dysfunction in Human Locomotion2011

    • Author(s)
      S.Senda, N.Takata, K.Nakai, K.Tsujita
    • Organizer
      Proc.of the 16th Int.Conf.on Perception and Action
    • Place of Presentation
      Ouro Preto, Brazil
    • Year and Date
      2011-07-10
    • Related Report
      2011 Annual Research Report
  • [Presentation] Mode Analyses on the Kinematical Structure of Basic Movements and Residual Patterns in Human Locomotion2011

    • Author(s)
      N.Takata, S.Senda, K.Nakai and K.Tsujita
    • Organizer
      The 16th Int. Conf. on Perception and Action
    • Place of Presentation
      Ouro Preto, Brazil
    • Year and Date
      2011-07-08
    • Related Report
      2012 Final Research Report
  • [Presentation] Direct and Indirect Control of Collective Human Action in a Medium-Sized DramaSystem2011

    • Author(s)
      M.Goan and K.Tsujita
    • Organizer
      The 16th Int. Conf. on Perception and Action
    • Place of Presentation
      Ouro Preto, Brazil
    • Year and Date
      2011-07-08
    • Related Report
      2012 Final Research Report
  • [Presentation] Direct and Indirect Control of Collective Human Action in a Medium-Sized Drama System2011

    • Author(s)
      M.Goan, K.Tsujita
    • Organizer
      Proc.of the 16th Int.Conf.on Perception and Action
    • Place of Presentation
      Ouro Preto, Brazil
    • Year and Date
      2011-07-08
    • Related Report
      2011 Annual Research Report
  • [Presentation] A Study on Trunk Stiffness and Gait Stability in Quadrupedal Locomotion Using Musculoskeletal Robot2011

    • Author(s)
      K.Tsujita and K.Miki
    • Organizer
      Int. Conf. on Advanced Robotics
    • Place of Presentation
      Tallinn, Estonia
    • Year and Date
      2011-06-21
    • Related Report
      2012 Final Research Report
  • [Presentation] A Study on Trunk Stiffness and Gait Stability in Quadrupedal Locomotion Using Musculoskeletal Robot2011

    • Author(s)
      K.Tsujita, K.Miki
    • Organizer
      Proc.of Int.Conf.on Advanced Robotics
    • Place of Presentation
      Tallinn, Estonia
    • Year and Date
      2011-06-21
    • Related Report
      2011 Annual Research Report
  • [Presentation] An Adaptive Locomotion of a Quadruped Robot on Irregular Terrain using Simple Biomimetic Oscillator and Reflex Controllers without Visual Information2010

    • Author(s)
      K.Tsujita, M.Matsuda and T.Masuda
    • Organizer
      Proc. of IEEE Int. Conf. on Robotics and Biomimetics (ROBIO)2010
    • Place of Presentation
      Tianjin, China
    • Year and Date
      2010-12-17
    • Related Report
      2012 Final Research Report
  • [Presentation] An Adaptive Locomotion of a Quadruped Robot on Irregular Terrain using Simple Biomimetic Oscillator and Reflex Controllers without Visual Information2010

    • Author(s)
      K.Tsujita, M.Matsuda, T.Masuda
    • Organizer
      Proc.of IEEE Int.Conf.on Robotics and Biomimetics (ROBIO) 2010
    • Place of Presentation
      Tianjin, China
    • Year and Date
      2010-12-17
    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://www.oit.ac.jp/bme/~tsujita/index_j.htm

    • Related Report
      2011 Annual Research Report

URL: 

Published: 2010-08-23   Modified: 2019-07-29  

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