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Analysis of human posture control via walking experiment under unstable environment

Research Project

Project/Area Number 23760228
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe University of Electro-Communications (2012-2013)
Kyoto University (2011)

Principal Investigator

FUNATO Tetsuro  電気通信大学, 情報理工学(系)研究科, 助教 (40512869)

Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2011: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Keywords姿勢制御 / ヒト / 歩行 / 走行 / 運動制御 / 運動計測 / 不安定環境 / 歩行・走行
Research Abstract

Human posture control mechanism for adapting to unstable environment is investigated through walking and running experiment under unstable environment. By statistical analysis of the measured motion, independent control of limb axis orientation contributing on the forward motion and that of limb axis length contributing on the body stiffness was found. Then, in order to consider the change in body motion under low stiffness (unstable) environment, we focused on the adaptive change of body stiffness (i.e. limb axis length). When the leg stiffness was decreased by spring shoes, human motion changed so that the whole body motion matched the stiffness of shoes. In the meanwhile, when the floor stiffness was decreased by spring floor, body stiffness did not change and duty ratio changed instead. By analyzing shared control low for realizing these motions under various unstable environment, the existence of control for maintaining the limb axis length was found.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (38 results)

All 2014 2013 2012 Other

All Journal Article (9 results) (of which Peer Reviewed: 9 results) Presentation (29 results)

  • [Journal Article] Experimental validation of nonlinear PID model for human standing with large body sway2014

    • Author(s)
      Sekiya Noro, Tetsuro Funato, Shinya Aoi, Kazushi Nakano, Kazuo Tsuchiya
    • Journal Title

      Proceedings of ECTI-CON 2014

      Volume: -

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Constructive Approach towards Understanding the Control Structure of Human Locomotion based on Kinematic Synergies2013

    • Author(s)
      舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 31 Issue: 8 Pages: 739-746

    • DOI

      10.7210/jrsj.31.739

    • NAID

      10031201180

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2013 Annual Research Report 2013 Final Research Report 2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Estimating the phase response curve of human walking using WSTA method, Proc2013

    • Author(s)
      T. Funato, Y. Yamamoto, S. Aoi, N Tomita, T. Imai, T. Aoyagi, K. Tsuchiya
    • Journal Title

      SICE Annual Conference 2013

      Pages: 1298-1299

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Experimental validation of nonlinear PID control model for human sway during standing, Proc2013

    • Author(s)
      T. Funato, K. Hashizume, S. Aoi, N. Tomita, K. Tsuchiya
    • Journal Title

      5h International Symposium on Measurement analysis and Modelling of Human Functions

      Pages: 10-13

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Estimating the phase response curve of human walking using WSTA method2013

    • Author(s)
      Tetsuro Funato, Yuki Yamamoto, Shinya Aoi, Nozomi Tomita, Takashi Imai, Toshio Aoyagi, Kazuo Tsuchiya
    • Journal Title

      Proceedings of SICE Annual Conference 2013

      Volume: -

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Experimental validation of nonlinear PID control model for human sway during standing2013

    • Author(s)
      Tetsuro Funato, Koji Hashizume, Shinya Aoi, Nozomi Tomita, Kazuo Tsuchiya
    • Journal Title

      Proceedings of 5h International Symposium on Measurement analysis and Modelling of Human Functions

      Volume: - Pages: 10-13

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A system model that focuses on kinematic synergy for understanding human control structure2012

    • Author(s)
      T. Funato, S. Aoi, N. Tomita, and K. Tsuchiya
    • Journal Title

      Proc. IEEE Int. Conf. Robot. Biomim

      Pages: 378-383

    • DOI

      10.1109/robio.2012.6490996

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Analysis of rhythm adjustment mechanism of human locomotion against horizontal perturbation2012

    • Author(s)
      T. Funato, Y. Yamamoto, S. Aoi, N. Tomita, and K. Tsuchiya
    • Journal Title

      Proc. the 4th IEEE RAS/EMBS Int. Conf. Biomed. Robot. Biomech

      Pages: 1359-1364

    • DOI

      10.1109/biorob.2012.6290935

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] The contribution of kinematic synergy on feedback control of human walking, Proc

    • Author(s)
      T. Funato, S. Aoi, N. Tomita, K. Tsuchiya
    • Journal Title

      the 6th International Symposium on Adaptive Motion of Animals and Machines

      Pages: 35-36

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Presentation] WSTA法によるヒト歩行リズムの位相応答曲線の推定2014

    • Author(s)
      舩戸徹郎, 山本雄基, 青井伸也, 冨田望, 今井貴史, 青柳富誌生, 土屋和雄
    • Organizer
      第30回日本ロボット学会学術講演会
    • Place of Presentation
      東京
    • Year and Date
      2014-09-04
    • Related Report
      2013 Final Research Report
  • [Presentation] 数理モデルと運動計測データに基づくヒトの走行における脚剛性の推定2014

    • Author(s)
      藤原直, 石塚駿太朗, 青井伸也, 舩戸徹郎, 大島裕子, 冨田望, 辻内伸好, 小泉孝之, 土屋和雄
    • Organizer
      第26回自律分散システム・シンポジウム
    • Place of Presentation
      東京
    • Year and Date
      2014-01-24
    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Presentation] Experimental validation of nonlinear PID model for human standing with large body sway2014

    • Author(s)
      Sekiya Noro, Tetsuro Funato, Shinya Aoi, Kazushi Nakano, Kazuo Tsuchiya
    • Organizer
      ECTI-CON 2014
    • Place of Presentation
      Nakhon Ratchasima, Thailand
    • Related Report
      2013 Annual Research Report
  • [Presentation] Estimating the phase response curve of human walking using WSTA method2013

    • Author(s)
      T. Funato, Y. Yamamoto, S. Aoi, N. Tomita, T. Imai, T. Aoyagi, K. Tsuchiya
    • Organizer
      SICE Annual Conference 2013
    • Place of Presentation
      Nagoya, Japan
    • Year and Date
      2013-09-16
    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Presentation] 神経筋骨格モデルを用いた筋シナジーに基づくヒトの歩行・走行制御2013

    • Author(s)
      青井伸也, 冨田望, 舩戸徹郎, 土屋和雄
    • Organizer
      第7回Motor Control 研究会
    • Place of Presentation
      東京
    • Year and Date
      2013-09-07
    • Related Report
      2013 Final Research Report
  • [Presentation] ヒト歩行走行遷移時の筋電位解析2013

    • Author(s)
      冨田望, 勝部晃將, 舩戸徹郎, 青井伸也, 土屋和雄
    • Organizer
      第7回Motor Control 研究会
    • Place of Presentation
      東京
    • Year and Date
      2013-09-07
    • Related Report
      2013 Final Research Report
  • [Presentation] Experimental validation of nonlinear PID control model for human sway during standing2013

    • Author(s)
      T. Funato, K. Hashizume, S. Aoi, N. Tomita, K. Tsuchiya
    • Organizer
      5h International Symposium on Measurement analysis and Modelling of Human Functions
    • Place of Presentation
      Vancouver, Canada.
    • Year and Date
      2013-06-27
    • Related Report
      2013 Final Research Report
  • [Presentation] The contribution of kinematic synergy on feedback control of human walking2013

    • Author(s)
      T. Funato, S. Aoi, N. Tomita, K. Tsuchiya
    • Organizer
      The 6th International Symposium on Adaptive Motion of Animals and Machines
    • Place of Presentation
      Darmstadt, Germany
    • Year and Date
      2013-03-12
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Presentation] 非線形PID 制御によるヒト直立姿勢動揺モデルの解析2013

    • Author(s)
      橋詰幸治, 舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      第25回自律分散システム・シンポジウム
    • Place of Presentation
      宮城
    • Year and Date
      2013-01-25
    • Related Report
      2013 Final Research Report
  • [Presentation] Experimental validation of nonlinear PID control model for human sway during standing2013

    • Author(s)
      Tetsuro Funato, Koji Hashizume, Shinya Aoi, Nozomi Tomita and Kazuo Tsuchiya
    • Organizer
      5h International Symposium on Measurement analysis and Modelling of Human Functions
    • Place of Presentation
      Vancouver, Canada
    • Related Report
      2013 Annual Research Report
  • [Presentation] 神経筋骨格モデルを用いた筋シナジーに基づくヒトの歩行・走行制御2013

    • Author(s)
      青井伸也, 冨田望, 舩戸徹郎, 土屋和雄
    • Organizer
      第7回Motor Control研究会
    • Place of Presentation
      東京
    • Related Report
      2013 Annual Research Report
  • [Presentation] ヒト歩行走行遷移時の筋電位解析2013

    • Author(s)
      冨田望, 勝部晃将, 舩戸徹郎, 青井伸也, 土屋和雄
    • Organizer
      第7回Motor Control研究会
    • Place of Presentation
      東京
    • Related Report
      2013 Annual Research Report
  • [Presentation] Experimental validation of nonlinear PID control model for human sway during standing2013

    • Author(s)
      Tetsuro Funato, Koji Hashizume, Shinya Aoi, Nozomi Tomita, Kazuo Tsuchiya
    • Organizer
      5th International Symposium on Measurement, Analysis and Modelling of Human Functions
    • Place of Presentation
      Vancouver, Canada
    • Related Report
      2012 Research-status Report
  • [Presentation] 非線形PID制御によるヒト直立姿勢動揺モデルの解析2013

    • Author(s)
      橋詰幸治, 舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      第25回自律分散システム・シンポジウム
    • Place of Presentation
      宮城
    • Related Report
      2012 Research-status Report
  • [Presentation] WSTA 法を用いたヒトの歩行運動の位相応答曲線の導出2012

    • Author(s)
      山本雄基, 舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      第13回計測自動制御学会 システムインテグレーション部門講演会
    • Place of Presentation
      福岡
    • Year and Date
      2012-12-19
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Presentation] バネ付き床を用いたヒトの走行運動の調整機構の解析2012

    • Author(s)
      藤原直, 舩戸徹郎, 冨田望, 青井伸也, 土屋和雄
    • Organizer
      第13回計測自動制御学会 システムインテグレーション部門講演会
    • Place of Presentation
      福岡
    • Year and Date
      2012-12-19
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Presentation] A system model that focuses on kinematic synergy for understanding human control structure2012

    • Author(s)
      T. Funato, S. Aoi, N. Tomita, K. Tsuchiya
    • Organizer
      IEEE Int. Conf. on Robotics and Biomimetics
    • Place of Presentation
      Guangzhou, China
    • Year and Date
      2012-12-11
    • Related Report
      2013 Final Research Report
  • [Presentation] ヒトの直立姿勢動揺の非線形PID制御モデルの提案2012

    • Author(s)
      橋詰幸治, 舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      計測自動制御学会システム・情報部門学術講演会
    • Place of Presentation
      愛知
    • Year and Date
      2012-11-22
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Presentation] 運動学シナジーに基づくヒト歩行制御系の力学解析2012

    • Author(s)
      舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      第30回日本ロボット学会学術講演会
    • Place of Presentation
      北海道
    • Year and Date
      2012-09-18
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Presentation] 運動学シナジーに基づくヒトの歩行制御構造の力学解析2012

    • Author(s)
      舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      生理学研究所第6回Motor Control 研究会
    • Place of Presentation
      愛知
    • Year and Date
      2012-06-22
    • Related Report
      2013 Final Research Report
  • [Presentation] ヒト歩容遷移運動時のキネマティクスデータ解析2012

    • Author(s)
      冨田望, 上江洲佑典, 勝部晃將, 舩戸徹郎, 青井伸也, 土屋和雄
    • Organizer
      生理学研究所第6回Motor Control 研究会
    • Place of Presentation
      愛知
    • Year and Date
      2012-06-22
    • Related Report
      2013 Final Research Report
  • [Presentation] ヒトの直立姿勢時の積分補償付き間欠制御モデルの提案2012

    • Author(s)
      橋詰幸治, 舩戸徹郎, 冨田望, 土屋和雄
    • 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
      静岡
    • Year and Date
      2012-05-29
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Presentation] Analysis of Rhythm Adjustment Mechanism of Human Locomotion against Horizontal Perturbation2012

    • Author(s)
      T. Funato, Y. Yamamoto, S. Aoi, N. Tomita, K. Tsuchiya
    • Organizer
      4th IEEE RAS/EMBS Int. Conf. on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      Rome, Italy
    • Year and Date
      2012-05-27
    • Related Report
      2013 Final Research Report
  • [Presentation] ヒトの歩行運動の関節間協調における位相応答の解析2012

    • Author(s)
      山本雄基, 舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      第24回自律分散システム・シンポジウム
    • Place of Presentation
      兵庫
    • Year and Date
      2012-01-28
    • Related Report
      2013 Final Research Report
  • [Presentation] A system model that focuses on kinematic synergy for understanding human control structure2012

    • Author(s)
      Tetsuro Funato, Shinya Aoi, Nozomi Tomita, Kazuo Tsuchiya
    • Organizer
      IEEE International Conference on Robotics and Biomimetics
    • Place of Presentation
      Guangzhou, China
    • Related Report
      2012 Research-status Report
  • [Presentation] Analysis of Rhythm Adjustment Mechanism of Human Locomotion against Horizontal Perturbation2012

    • Author(s)
      Tetsuro Funato, Yuki Yamamoto, Shinya Aoi, Nozomi Tomita, Kazuo Tsuchiya
    • Organizer
      4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
    • Place of Presentation
      Rome, Italy
    • Related Report
      2012 Research-status Report
  • [Presentation] 運動学シナジーに基づくヒトの歩行制御構造の力学解析2012

    • Author(s)
      舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      生理学研究所第6回Motor Control 研究会
    • Place of Presentation
      愛知
    • Related Report
      2012 Research-status Report
  • [Presentation] ヒト歩容遷移運動時のキネマティクスデータ解析2012

    • Author(s)
      冨田望, 上江洲佑典, 勝部晃將, 舩戸徹郎, 青井伸也, 土屋和雄
    • Organizer
      生理学研究所第6回Motor Control 研究会
    • Place of Presentation
      愛知
    • Related Report
      2012 Research-status Report
  • [Presentation] ヒトの歩行運動の関節間協調における位相応答の解析2012

    • Author(s)
      山本雄基, 舩戸徹郎, 青井伸也, 冨田望, 土屋和雄
    • Organizer
      第24 回自律分散システム・シンポジウム
    • Place of Presentation
      兵庫
    • Related Report
      2011 Research-status Report

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Published: 2011-08-05   Modified: 2019-07-29  

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