Analysis of basic strategy of biped locomotion from the view point of joint synergy

2012 Fiscal Year Final Research Report

• Project/Area Number: 22500526
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Physical education
• Research Institution: Yamaguchi University
• Principal Investigator: NISHII Jun 山口大学, 大学院・理工学研究科, 教授 (00242040)
• Co-Investigator(Renkei-kenkyūsha): OGIHARA Naomichi 慶應義塾大学, 理工学部, 准教授 (70324605)
• Project Period (FY): 2010 – 2012
• Keywords: 関節間シナジー / UCM 解析 / 二足歩行 / ニホンザル / 歩行制御

Research Abstract

Our nervous system accomplishes target tasks by exploiting high degrees of freedom of our body. For instance, we can reach our hand to a desired position, even if the extension of the elbow joint is insufficient, by compensating the angle error by the other joint movement. In this study we examined when and how such joint coordination, a.k.a., joint synergy, is exploited during walking by adults, 10-year old children, macaque monkeys, and a passive walker. The results revealed that the control strategy for bipedal locomotion has changed through evolution and learning, and the physical structure of our body contributes to the generation of the joint synergy.

Research Products

• [Journal Article] Hierarchical control by a higher center and the rhythm generator contributes to realize adaptive locomotion. (2013)
  • Author(s): T. Hioki, Y. Miyazaki, J. Nishii
  • Journal Title: Adaptive Behavior Volume: Vol. 21, No. 2 Pages: 86-95
  • DOI: DOI:10.1177/1059712312471402
  • Peer Reviewed
• [Journal Article] Constraint and exploitation of redundant degrees of freedom during walking (2012)
  • Author(s): J. Nishii, Y. Hashizume, S. Kaichida, H. Suenaga, Y. Tanaka
  • Journal Title: Robotics and Autonomous Systems Volume: Vol. 60 Pages: 679-684
  • DOI: DOI:10.1016/j.robot.2011.12.006
  • Peer Reviewed
• [Journal Article] Leg joint synergy emerged from the body dynamics during walking (2012)
  • Author(s): S. Toyota, S. Kaichida, Y. Hashizume, and J. Nishii
  • Journal Title: Proc. of Int. Conf. on IEEE Systems, Man and Cybernetics Pages: 484-489
  • DOI: DOI:10.1109/IC- SMC.2012.6377771
  • Peer Reviewed
• [Journal Article] An analysis of leg joint synergy during bipedal walking in Japanese macaques (2011)
  • Author(s): S. Kaichida, Y. Hashizume, N. Ogihara, J. Nishii
  • Journal Title: Proc. of IEEE Int. Conf. on Engineering in Medicine and Biology Society Pages: 8183-8186
  • DOI: DOI:10.1109/IEMBS.2011.6092018
  • Peer Reviewed
• [Presentation] Development of leg joint synergy during walking with growth (2013)
  • Author(s): S. Kaichida, Y. Hashizume, N. Ogihara, J. Nishii
  • Organizer: Progress in Motor Control IX
  • Place of Presentation: Montreal (Canada)
  • Year and Date: 20130714-16
• [Presentation] Leg joint synergy emerged from the body dynamics during walking. Int. Conf. on IEEE Systems (2012)
  • Author(s): S. Toyota, S. Kaichida, Y. Hashizume, J. Nishii
  • Organizer: Man and Cybernetics (SMC)
  • Place of Presentation: Seoul (Korea)
  • Year and Date: 20121014-18
• [Presentation] 身体の力学的特性による歩行時の脚関節間シナジー. (2012)
  • Author(s): 豊田誠治, 垣内田翔子, 橋爪善光, 西井淳
  • Organizer: ニューロコンピューティング研究会
  • Place of Presentation: 立命館大学 (草津市)
  • Year and Date: 20120730-31
• [Presentation] 身体特性が生み出す歩行時の脚関節間協調 (2012)
  • Author(s): 豊田誠治, 西井淳
  • Organizer: 電子情報通信学会総合大会
  • Place of Presentation: 岡山大学 (岡山市)
  • Year and Date: 20120321-24
• [Presentation] UCM解析で探る歩行のコツ (2012)
  • Author(s): 西井淳
  • Organizer: 電子情報通信学会身体性情報学研究会
  • Place of Presentation: 山口大学 (山口市)
  • Year and Date: 2012-11-18
• [Presentation] An analysis of leg joint synergy during bipedal walking in Japanese macaques (2011)
  • Author(s): S. Kaichida, Y. Hashizume, N. Ogihara, J. Nishii
  • Organizer: IEEE Int. Conf. on Engineering in Medicine and Biology Society (EMBS)
  • Place of Presentation: Boston (USA)
  • Year and Date: 20110829-0903
• [Presentation] A comparative study of bipedal locomotion of humans and Japanese macaques from the viewpoint of leg joint synergy (2011)
  • Author(s): S. Kaichida, Y. Hashizume, N. Ogihara, J. Nishii
  • Organizer: Progress in Motor Control VIII
  • Place of Presentation: Cincinnati (USA)
  • Year and Date: 20110721-23
• [Presentation] ヒトとニホンザルの二足歩行における脚関節間協調の比較 (2011)
  • Author(s): 垣内田翔子, 橋爪善光, 荻原直道, 西井淳
  • Organizer: 第5回生理研 Motor Control研究会
  • Place of Presentation: 自然科学研究機構岡崎コンファレンスセンター (岡崎市)
  • Year and Date: 20110616-18
• [Presentation] 子どもの歩行における 関節間協調の解析 (2011)
  • Author(s): 守田志穂, 垣内田翔子, 橋爪善光, 小林海, 飯田悠佳子, 鳥居俊, 西井淳
  • Organizer: 日本発育発達学会第9回大会
  • Place of Presentation: 早稲田大学 (東京)
  • Year and Date: 20110312-13
• [Presentation] ニホンザルの歩行における脚関節間シナジーの解析 (2011)
  • Author(s): 垣内田翔子, 橋爪善光, 荻原直道, 西井淳
  • Organizer: ニューロコンピューティング研究会
  • Place of Presentation: 玉川大学 (東京)
  • Year and Date: 20110307-09
• [Presentation] Biomechanicsの立場から歩行における身体自由度の拘束と活用 (2010)
  • Author(s): 西井淳
  • Organizer: Japan Society for Motor Control and Neuro-Rehabilitation
  • Place of Presentation: 山口大学 (山口市)
  • Year and Date: 20100826-27
• [Presentation] 脚関節間協調に注目した歩行運動の解析 (2010)
  • Author(s): 垣内田翔子, 橋爪善光, 西井淳
  • Organizer: 第4回生理研Motor Control研究会
  • Place of Presentation: 自然科学研究機構岡崎コンファレンスセンター (岡崎市)
  • Year and Date: 20100527-29
• [Remarks]
  • URL: http://bcl.sci.yamaguchi-u.ac.jp/jun/
• [Patent(Industrial Property Rights)] 歩行信号生成装置および歩行信号生成システム (2011)
  • Inventor(s): 武田湖太郎,大高洋平, 大須理英子, 西井淳, 末長宏康, 橋爪善光
  • Industrial Property Rights Holder: 武田湖太郎,大高洋平, 大須理英子, 西井淳, 末長宏康, 橋爪善光
  • Industrial Property Number: 特願 2011-110314
  • Filing Date: 2011-05-17