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2013 Fiscal Year Final Research Report

Elucidation of the roles of neuromusculoskeletal systems for traversability and robustness in locomotion based on a constructive approach

Research Project

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Project/Area Number 23360111
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionKyoto University

Principal Investigator

AOI Shinya  京都大学, 工学(系)研究科(研究院), 助教 (60432366)

Co-Investigator(Kenkyū-buntansha) NAKAJIMA Katsumi  近畿大学, 医学部, 講師 (60270485)
YANAGIHARA Dai  東京大学, 大学院・総合文化研究科, 准教授 (90252725)
TSUCHIYA Kazuo  京都大学, 工学研究科, 名誉教授 (70227429)
FUNATO Tetsuro  電気通信大学, 情報理工学研究科, 助教 (40512869)
TOMITA Nozomi  京都大学, 理学研究科, 特定研究員 (00375156)
Project Period (FY) 2011-04-01 – 2014-03-31
Keywords歩行 / 踏破性・頑健性 / 筋骨格・神経機構 / ヒト / サル / ラット / ロボット / シミュレーション
Research Abstract

To clarify the roles of neuromusculoskeletal systems for traversability and robustness in locomotion, we conducted the following two approaches; 1. Analysis of measured data for humans, monkeys, and rats to investigate their motor functions and 2. Constructive approach using neuromusculoskeletal models and robots to evaluate the functional roles of neuromusculoskeletal systems. From the analysis of humans, we elucidated the phase modulation mechanism by identifying the phase response curve during walking. From the analysis of monkeys, we found the roles of the primary and supplementary motor areas during quadrupedal and bipedal locomotion. From the analysis of rats, we clarified the roles of the cerebellar cortex during stepping over an obstacle during walking. For the constructive approach, we evaluated the contribution of neural control system to traversability and robustness in locomotion using a neuromusculoskeletal model of rats and a biped robot.

  • Research Products

    (54 results)

All 2014 2013 2012 2011 Other

All Journal Article (33 results) (of which Peer Reviewed: 32 results) Presentation (14 results) (of which Invited: 14 results) Book (7 results)

  • [Journal Article] Simple legged robots that reveal biomechanical and neuromechanical functions in locomotion dynamics2014

    • Author(s)
      S. Aoi
    • Journal Title

      J. Robot. Mechatron

      Volume: 26(1) Pages: 98-99

    • URL

      http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002600010013.xml

    • Peer Reviewed
  • [Journal Article] Hysteresis in the metachronal-tripod gait transition of insects : A modeling study2013

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

      Phys. Rev. E

      Volume: 88(1) Pages: 012717

    • DOI

      10.1103/PhysRevE.88.012717

    • Peer Reviewed
  • [Journal Article] 運動学シナジーに基づくヒトの歩行制御構造の構成論的理解2013

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

      日本ロボット学会誌

      Volume: 31(8) Pages: 739-746

    • DOI

      10.7210/jrsj.31.739

    • Peer Reviewed
  • [Journal Article] Adaptive splitbelt treadmill walking of a biped robot using nonlinear oscillators with phase resetting2013

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

      Auton. Robot

      Volume: 35(1) Pages: 15-26

    • DOI

      10.1007/s10514-013-9331-6

    • Peer Reviewed
  • [Journal Article] Contributions of phase resetting and interlimb coordination to the adaptive control of hindlimb obstacle avoidance during locomotion in rats : a simulation study2013

    • Author(s)
      S. Aoi, T. Kondo, N. Hayashi, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya
    • Journal Title

      Biol. Cybern

      Volume: 107(2) Pages: 201-216

    • DOI

      10.1007/s00422-013-0546-6

    • Peer Reviewed
  • [Journal Article] A stability-based mechanism for hysteresis in the walk-trot transition in quadruped locomotion2013

    • Author(s)
      S. Aoi, D. Katayama, S. Fujiki, N. Tomita, T. Funato, T. Yamashita, K. Senda, K. Tsuchiya
    • Journal Title

      J. R. Soc. Interface

      Volume: 10(81) Pages: 20120908

    • DOI

      10.1098/rsif.2012.0908

    • Peer Reviewed
  • [Journal Article] Instability-based mechanism for body undulations in centipede locomotion2013

    • Author(s)
      S. Aoi, Y. Egi, and K. Tsuchiya
    • Journal Title

      Phys. Rev. E

      Volume: 87(1) Pages: 012717

    • DOI

      10.1103/PhysRevE.87.012717

    • Peer Reviewed
  • [Journal Article] Lesion in the lateral cerebellum specifically produces overshooting of the toe trajectory in leading forelimb during obstacle avoidance in the rat2013

    • Author(s)
      S. Aoki, Y. Sato, and D. Yanagihara
    • Journal Title

      J. Neurophysiol

      Volume: 110(7) Pages: 1511-1524

    • DOI

      10.1152/jn.01048

    • Peer Reviewed
  • [Journal Article] Postural dysfunction in a transgenic mouse model of spinocerebellar ataxia type 32013

    • Author(s)
      H. Yamaura, H. Hirai, and D. Yanagihara
    • Journal Title

      Neuroscience

      Volume: 243 Pages: 126-135

    • DOI

      10.1016/j.neuroscience.2013.03.044

    • Peer Reviewed
  • [Journal Article] Qualitative comparison between rats and humans in quadrupedal and bipedal locomotion2013

    • Author(s)
      T. Hosoido, F. Mori, K. Kiyoto, T. Takagi, Y. Sano, M. Goto, K. Nakajima, and N. Wada
    • Journal Title

      J. Behav. Brain Sci

      Volume: 3 Pages: 137-149

    • DOI

      10.4236/jbbs.2013.31013

    • Peer Reviewed
  • [Journal Article] 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, and K. Tsuchiya
    • Journal Title

      Proc. SICE Annu. Conf. 2013

      Pages: 1298-1299

    • Peer Reviewed
  • [Journal Article] Neuromusculoskeletal model of human running based on muscle synergy2013

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

      Proc. 5th Int. Symp. Measurement, Analysis and Modelling of Human Functions

      Pages: 6-9

    • Peer Reviewed
  • [Journal Article] Experimental validation of nonlinear PID control model for human sway during standing2013

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

      Proc. 5th Int. Symp. Measurement, Analysis and Modelling of Human Functions

      Pages: 10-13

    • Peer Reviewed
  • [Journal Article] The contribution of kinematic synergy on feedback control of human walking2013

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

      Proc. the 6th Int. Symp. Adaptive Motion of Animals and Machines

      Pages: 35-36

    • Peer Reviewed
  • [Journal Article] Functional roles of phase resetting in the gait transition of a biped robot from quadrupedal to bipedal locomotion2012

    • Author(s)
      S. Aoi, Y. Egi, R. Sugimoto, T. Yamashita, S. Fujiki, and K. Tsuchiya
    • Journal Title

      IEEE Trans. Robot

      Volume: 28(6) Pages: 1244-1259

    • DOI

      10.1109/TRO.2012.2205489

    • Peer Reviewed
  • [Journal Article] Sensory regulation of stance-to-swing transition in generation of adaptive human walking : a simulation study2012

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

      Robot. Auton. Syst

      Volume: 60(5) Pages: 685-691

    • DOI

      10.1016/j.robot.2011.12.005

    • Peer Reviewed
  • [Journal Article] Characteristics of leading forelimb movements for obstacle avoidance during locomotion in rats2012

    • Author(s)
      S. Aoki, Y. Sato, and D. Yanagihara
    • Journal Title

      Neurosci. Res

      Volume: 74 Pages: 129-137

    • DOI

      10.1016/j.neures.2012.07.007

    • Peer Reviewed
  • [Journal Article] Characteristics of gait ataxia in δ2 glutamate receptor mutant mice, ho15J2012

    • Author(s)
      E. Takeuchi, Y. Sato, E. Miura, H. Yamaura, M. Yuzaki, and D. Yanagihara
    • Journal Title

      PLoS One

      Volume: 7 Pages: e47553

    • DOI

      10.1371/journal.pone.0047553

    • Peer Reviewed
  • [Journal Article] Improving adaptive walking of a biped robot on a splitbelt treadmill by controlling the interlimb coordination2012

    • Author(s)
      S. Fujiki, S. Aoi, K. Senda, and K. Tsuchiya
    • Journal Title

      Proc. IEEE Int. Conf. Robot. Biomim

      Pages: 396-401

    • DOI

      10.1109/ROBIO.2012.6490999

    • Peer Reviewed
  • [Journal Article] Cusp catastrophe embedded in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting2012

    • Author(s)
      S. Aoi, D. Katayama, S. Fujiki, T. Kohda, K. Senda, and K. Tsuchiya
    • Journal Title

      Proc. IEEE Int. Conf. Robot. Biomim

      Pages: 384-389

    • DOI

      10.1109/ROBIO.2012.6490997

    • 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

    • Peer Reviewed
  • [Journal Article] Hindlimb obstacle avoidance during rat locomotion based on a neuromusculoskeletal model2012

    • Author(s)
      S. Aoi, N. Hayashi, T. Kondo, D. Yanagihara, S. Aoki, H. Yamaura, N. Ogihara, T. Funato, N. Tomita, K. Senda, and K. Tsuchiya
    • Journal Title

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

      Pages: 1046-1051

    • DOI

      10.1109/BioRob.2012.6290884

    • Peer Reviewed
  • [Journal Article] Emergence of hysteresis in gait transition of a hexapod robot driven by nonlinear oscillators with phase resetting2012

    • Author(s)
      S. Fujiki, S. Aoi, T. Kohda, K. Senda, and K. Tsuchiya
    • Journal Title

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

      Pages: 1638-1643

    • DOI

      10.1109/BioRob.2012.6290733

    • 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

    • Peer Reviewed
  • [Journal Article] Hysteresis in the gait transition of a quadruped investigated using simple body mechanical and oscillator network models2011

    • Author(s)
      S. Aoi, T. Yamashita, and K. Tsuchiya
    • Journal Title

      Phys. Rev. E

      Volume: 83(6) Pages: 061909

    • DOI

      10.1103/PhysRevE.83.061909

    • Peer Reviewed
  • [Journal Article] Forward dynamic simulation of bipedal walking in the Japanese macaque : Investigation of causal relationships among limb kinematics, speed, and energetics of bipedal locomotion in a non-human primate2011

    • Author(s)
      N. Ogihara, S. Aoi, Y. Sugimoto, K. Tsuchiya, and M. Nakatsukasa
    • Journal Title

      Am. J. Phys. Anthropol

      Volume: 145(4) Pages: 568-580

    • DOI

      10.1002/ajpa.21537

    • Peer Reviewed
  • [Journal Article] Hoffman reflex in a rat bipedal walking model2011

    • Author(s)
      T. Hosoido, M. Goto, Y. Sano, F.Mori, K. Nakajima, F. Morita, N. Wada
    • Journal Title

      Neurosci. Lett

      Volume: 505 Pages: 263-267

    • DOI

      10.1016/j.neulet.2011.10.035

    • Peer Reviewed
  • [Journal Article] Generation of adaptive splitbelt treadmill walking by a biped robotusing nonlinear oscillators with phase resetting2011

    • Author(s)
      S. Aoi, S. Fujiki, T. Yamashita,T. Kohda, K. Senda, and K. Tsuchiya
    • Journal Title

      Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst

      Pages: 2274-2279

    • DOI

      10.1109/IROS.2011.6094583

    • Peer Reviewed
  • [Journal Article] Experimental verification of hysteresis in gait transition of a quadruped robot driven by nonlinear oscillators with phase resetting2011

    • Author(s)
      S. Aoi, S. Fujiki, D. Katayama,T. Yamashita, T. Kohda, K. Senda, and K. Tsuchiya
    • Journal Title

      Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst

      Pages: 2280-2285

    • DOI

      10.1109/IROS.2011.6094480

    • Peer Reviewed
  • [Journal Article] Human gait control suggested by the evaluation of the fluctuation of synergy2011

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

      Proc. IEEE/SICE Int. Symp. Syst. Integr

      Pages: 267-272

    • DOI

      10.1109/SII.2011.6147458

    • Peer Reviewed
  • [Journal Article] Axon diameters and conduction velocities in the macaque pyramidal tract

    • Author(s)
      L. Firmin, P. Field, M. Maier, A. Kraskov, P. Kirkwood, K. Nakajima, R. Lemon, and M. Glickstein
    • Journal Title

      J. Neurophysiol

      Volume: (in press)

    • Peer Reviewed
  • [Journal Article] ニホンザルの二足歩行と一次運動野 : 重力との戦いの足跡

    • Author(s)
      中陦克己
    • Journal Title

      バイオメカニズム学会誌

      Volume: (in press)

  • [Journal Article] Effect of inactivation of the intermediate cerebellum on overground locomotion in the rat : a comparative study of the anterior and posterior lobes

    • Author(s)
      S. Aoki, Y. Sato, and D. Yanagihara
    • Journal Title

      Neurosci. Lett

      Volume: (in press)

    • DOI

      10.1016/j.neulet.2014.05.027

    • Peer Reviewed
  • [Presentation] Locomotion dynamics and control in humans and animals2014

    • Author(s)
      S. Aoi
    • Organizer
      RIMS Conference / The 6th CREST-SBM International Conference
    • Place of Presentation
      Kyoto University, Japan
    • Year and Date
      2014-03-10
    • Invited
  • [Presentation] Contribution of primary motor cortex to the control of locomotion in Japanese monkeys2013

    • Author(s)
      中陦克己
    • Organizer
      Professor Roger Lemon 退官記念シンポジウム
    • Place of Presentation
      ロンドン・神経学研究所
    • Year and Date
      20131205-06
    • Invited
  • [Presentation] 生物の適応的歩行制御機構の構成論的理解2013

    • Author(s)
      青井伸也
    • Organizer
      H25年度第5回ブレインウェア研究会
    • Place of Presentation
      東北大学電気通信研究所
    • Year and Date
      2013-12-24
    • Invited
  • [Presentation] 生物の歩行適応機能の構成論的理解2013

    • Author(s)
      青井伸也
    • Organizer
      第5回Beyond Robotics
    • Place of Presentation
      大阪大学 吹田キャンパス
    • Year and Date
      2013-12-07
    • Invited
  • [Presentation] Role of the cerebellum in adaptive control of posture and locomotion2013

    • Author(s)
      D. Yanagihara
    • Organizer
      Luncheon Seminar in 2nd Joint World Congress of ISPGR and Gait & Mental Function
    • Place of Presentation
      Akita, Japan
    • Year and Date
      2013-06-26
    • Invited
  • [Presentation] 姿勢・歩行制御における小脳の役割 : 種々の小脳変性モデル動物での小脳失調から,ヒトにおける認知・予測等の高次脳機能への寄与2013

    • Author(s)
      柳原大
    • Organizer
      大山リハビリテーション病院第8回脳生理講演会
    • Place of Presentation
      鳥取県西伯郡
    • Year and Date
      2013-03-17
    • Invited
  • [Presentation] 歩行および姿勢の適応制御における小脳の役割2013

    • Author(s)
      柳原大
    • Organizer
      新潟リハビリテーション大学スキルアップセミナー
    • Place of Presentation
      新潟県村上市
    • Year and Date
      2013-03-10
    • Invited
  • [Presentation] システムバイオメカニクス2013

    • Author(s)
      土屋和雄
    • Organizer
      同志社大学先端バイオメカニクス研究センター2013年度研究成果発表会
    • Place of Presentation
      同志社大学 京田辺キャンパス
    • Year and Date
      2013-03-07
    • Invited
  • [Presentation] ヒト歩行運動に内在する低次元構造とシステムモデル2012

    • Author(s)
      青井伸也
    • Organizer
      第18回創発システム・シンポジウム
    • Place of Presentation
      同志社びわこリトリートセンター
    • Year and Date
      2012-09-02
    • Invited
  • [Presentation] 生物に学ぶ適応的自律移動メカニズム2012

    • Author(s)
      青井伸也
    • Organizer
      日本航空宇宙学会関西支部 第437回航空懇談会
    • Place of Presentation
      京都大学
    • Year and Date
      2012-07-13
    • Invited
  • [Presentation] システム工学から見た歩行CPG の機能とモデル化2012

    • Author(s)
      青井伸也
    • Organizer
      第6回Motor Control研究会
    • Place of Presentation
      岡崎市・岡崎コンファレンスセンター
    • Year and Date
      2012-06-22
    • Invited
  • [Presentation] 小脳機能 : 姿勢と歩行の制御と学習における役割2012

    • Author(s)
      柳原大
    • Organizer
      青雲会病院リハビリテーション部研修会
    • Place of Presentation
      鹿児島県姶良市
    • Year and Date
      2012-06-10
    • Invited
  • [Presentation] 霊長類の歩行運動における大脳の役割2012

    • Author(s)
      中陦克己
    • Organizer
      身体性情報学研究会シンポジウム
    • Place of Presentation
      大阪
    • Year and Date
      2012-03-17
    • Invited
  • [Presentation] トレッドミル歩行に関連したサル一次運動野の神経細胞活動2012

    • Author(s)
      中陦克己
    • Organizer
      京都大学霊長類研究所共同利用研究会
    • Place of Presentation
      犬山
    • Year and Date
      2012-03-10
    • Invited
  • [Book] "Low-dimensional structures embedded in human locomotion : Data analysis and modeling", Self-organization : Theories and Methods, W.J. Zhang (Ed.)2013

    • Author(s)
      S. Aoi
    • Total Pages
      155-170
    • Publisher
      Nova Science Publishers
  • [Book] "Gait transition control of a biped robot from quadrupedal to bipedal locomotion based on central pattern generator, phase resetting, and kinematic synergy", Engineering Creative Design in Robotics and Mechatronics, M.K. Habib and J.P. Davim (Eds.)2013

    • Author(s)
      S. Aoi
    • Total Pages
      11-24
    • Publisher
      IGI Global
  • [Book] "Biologically inspired CPG-based locomotion control system of a biped robot using nonlinear oscillators with phase resetting", Interdisciplinary Mechatronics : Engineering Science and Research Development, M.K. Habib and J.P. Davim (Eds.)2013

    • Author(s)
      S. Aoi
    • Total Pages
      37-68
    • Publisher
      Wiley-ISTE
  • [Book] "歩行・走行と大脳皮質", ヒトの動きの神経科学シリーズ ・ II歩行と走行の脳 ・ 神経科学 -その基礎から臨床まで- (大築立志, 鈴木三央, 柳原大 編)2013

    • Author(s)
      森大志, 中陦克己
    • Total Pages
      83-99
    • Publisher
      市村出版
  • [Book] "歩行制御のシステム論的理解", ヒトの動きの神経科学シリーズ ・ II歩行と走行の脳 ・ 神経科学 -その基礎から臨床まで- (大築立志, 鈴木三央, 柳原大 編)2013

    • Author(s)
      青井伸也
    • Total Pages
      100-112
    • Publisher
      市村出版
  • [Book] "Adaptive walking of a biped robot using nonlinear oscillators with phase resetting", Advances in Robotics - Modeling, Control and Applications, C. Ciufudean and L. Garcí a (Eds.)2013

    • Author(s)
      S. Aoi
    • Total Pages
      1-18
    • Publisher
      iConcept Press
  • [Book] ヒトの動きの神経科学シリーズ・II 歩行と走行の脳・神経科学 -その基礎から臨床まで- (大築立志, 鈴木三央, 柳原大 編)2013

    • Author(s)
      柳原大
    • Publisher
      市村出版

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Published: 2015-06-25  

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