A new fusion scheme for a human and a robot based on muscle synergies
| Project/Area Number |
23360112
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Osaka University |
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Principal Investigator |
MIYAZAKI Fumio 大阪大学, 基礎工学研究科, 教授 (20133142)
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| Co-Investigator(Kenkyū-buntansha) |
HIRAI Hiroaki 大阪大学, 大学院基礎工学研究科, 講師 (60388147)
UEMURA Mitsunori 大阪大学, 大学院基礎工学研究科, 助教 (00512443)
西川 敦 信州大学, 繊維学部, 教授 (20283731)
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| Project Period (FY) |
2011-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥18,330,000 (Direct Cost: ¥14,100,000、Indirect Cost: ¥4,230,000)
Fiscal Year 2014: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2012: ¥6,630,000 (Direct Cost: ¥5,100,000、Indirect Cost: ¥1,530,000)
Fiscal Year 2011: ¥8,580,000 (Direct Cost: ¥6,600,000、Indirect Cost: ¥1,980,000)
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| Keywords | 筋シナジー / 運動制御 / EMG / ロボティクス / 人間機械システム / リハビリテーション / コーチング |
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| Outline of Final Research Achievements |
A new fusion scheme for a human and a robotic system has been developed based on muscle synergies, specific patterns of muscle coactivation. We first proposed the A-A ratio (Agonist-Antagonist ratio) and A-A activity (Agonist-Antagonist activity) concepts, and used them to extract the kinematic information and stiffness information separately from EMG signals. Next, we demonstrated how to extract muscle synergies from EMG signals by applying dimensionality-reduction techniques. Finally, a framework for understanding how the CNS (Central Nervous System) uniquely specifies control commands to each muscle was presented and applied it to realize a transmission system of motor commands between a human and a robotic system.
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Report
(5 results)
Research Products
(80 results)
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[Presentation] Functional electrical stimulation for equilibrium-point control of human ankle movement: frequency domain system identification of human ankle dynamics2014
Author(s)
Yamashita Y, Maegaki K, Matsui K, Oku T, Uno K, Koba K, Phatiwuttipat P, Murakami K, Uemura M, Hirai H, Miyazaki F
Organizer
ASME 2014 Dynamic Systems and Control Conference (DSCC 2014)
Place of Presentation
San Antonio (USA)
Year and Date
2014-10-22 – 2014-10-24
Related Report
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[Presentation] Abnormal muscle synergies significantly alter endpoint stiffness and virtual trajectory while drawing in a horizontal plane2014
Author(s)
Oku T, Uno K, Nishi T, Kageyama M, Phatiwuttipat P, Koba K, Yamashita Y, Uemura M, Hirai H, Miyazaki F, H. Naritomi
Organizer
1st Clinical Movement Analysis World Conference (ESMAC-SIAMOC 2014)
Place of Presentation
Rome (Italy)
Year and Date
2014-09-29 – 2014-10-04
Related Report
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[Presentation] Pilot study on quantitative assessment of muscle imbalance: differences of muscle synergies, equilibrium-point trajectories, and endpoint stiffness in normal and pathological upper-limb movements2014
Author(s)
Oku T, Uno K, Nishi T, Kageyama M, Phatiwuttipat P, Koba K, Yamashita Y, Murakami K, Uemura M, Hirai H, Miyazaki F, Naritomi H
Organizer
36th Annual International Conference on the IEEE Engineering in Medicine and Biology Society (EMBC 2014)
Place of Presentation
Chicago (USA)
Year and Date
2014-08-26 – 2014-08-30
Related Report
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[Presentation] 走行運動における足先平衡点軌道の推定と予測2014
Author(s)
富永健太, 古場啓太郎, 宇野かんな, 奥貴紀, 植村充典, 平井宏明, 宮崎文夫
Organizer
第8回 Motor Control 研究会
Place of Presentation
筑波大学 （茨城県、つくば市）
Year and Date
2014-08-07 – 2014-08-09
Related Report
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