Muscle Synergies and Dynamic Primitives in Robotic Gait Training

2022 Fiscal Year Final Research Report

• Project/Area Number: 19H02111
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Osaka University
• Principal Investigator: Hirai Hiroaki 大阪大学, 大学院基礎工学研究科, 准教授 (60388147)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: 運動制御 / 運動学習 / 運動訓練 / 人間機械システム / リハビリテーション / スポーツ

Outline of Final Research Achievements

Robotic therapy, especially for lower extremity function, is currently in the introduction and growth stages of development. The next generation of robot-aided neurorehabilitation requires assessing the effect of interventions correctly and collecting clinical evidence to develop an efficacious intervention. Stroke rehabilitation requires motor coordination. By combining the method of "synergy assessment" and the "robotic therapy" developed by the Osaka University and MIT researchers' team, we attempted to develop a novel robotic-intervention test and validated it in the framework of muscle synergies and dynamic primitives.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

現在の下肢ロボット療法が科学的根拠に乏しい要因は，ロボット制御技術の未熟さに因るものではなく，対象患者の運動制御や運動学習の理解を伴わない誤った介入にある．研究成果は，病的歩行の運動制御において本質的な役割を担う筋シナジーと動的プリミティブの概念を核に，その運動理論に基づく訓練法を具現化した．下肢ロボット療法が抱える現状の打開に貢献するものと考える．