Understanding Human's Adaptive Bipedal Walking by Using a Cadaver Feet/ Artificial Muscular-Skeleton Hybrid Robot

• Project/Area Number: 23220004
• Research Category: Grant-in-Aid for Scientific Research (S)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Osaka University
• Principal Investigator: Hosoda Koh 大阪大学, 基礎工学研究科, 教授 (10252610)
• Co-Investigator(Kenkyū-buntansha): OGIHARA Naomichi 慶應義塾大学, 理工学部, 教授 (70324605) ; IMANISHI Nobuaki 慶應義塾大学, 医学部, 准教授 (00184820) ; NAGURA Takeo 慶應義塾大学, 医学部, 准教授 (90306746) ; SHIMIZU Masahiro 大阪大学, 大学院基礎工学研究科, 准教授 (50447140) ; IKEMOTO Shuhei 大阪大学, 大学院基礎工学研究科, 助教 (00588353) ; SUGAMOTO Kazuomi 大阪大学, 医学系研究科, 寄付講座教授 (40294061) ; NARIOKA Kenichi 大阪大学, 大学院情報科学研究科, 研究員 (30588356)
• Research Collaborator: MACEDO ROSENDO Andre Luis ; ITO Kohta
• Project Period (FY): 2011-04-01 – 2016-03-31
• Project Status: Completed (Fiscal Year 2015)
• Budget Amount: ¥215,930,000 (Direct Cost: ¥166,100,000、Indirect Cost: ¥49,830,000); Fiscal Year 2015: ¥22,360,000 (Direct Cost: ¥17,200,000、Indirect Cost: ¥5,160,000); Fiscal Year 2014: ¥31,980,000 (Direct Cost: ¥24,600,000、Indirect Cost: ¥7,380,000); Fiscal Year 2013: ¥46,930,000 (Direct Cost: ¥36,100,000、Indirect Cost: ¥10,830,000); Fiscal Year 2012: ¥31,980,000 (Direct Cost: ¥24,600,000、Indirect Cost: ¥7,380,000); Fiscal Year 2011: ¥82,680,000 (Direct Cost: ¥63,600,000、Indirect Cost: ¥19,080,000)
• Keywords: ヒト二足歩行 / 足部機構 / 二方向エックス線透過装置 / 歩行解析 / 二足歩行ロボット / レントゲン / ヒトに足歩行

Outline of Final Research Achievements

This project studies dynamic property of a human foot without any projection from the brain nor spinal cord. We have developed a platform to observe motions of bones inside the foot by biplanar X-ray fluoroscopy while a walking simulator applies proper ground reaction force/displacement to a cadaver foot. Design of the walking simulators and image processing to reconstruct 3D precise motion from fluoroscopy are developed.
The project focuses on the mechanism of the mid-foot joint, and develops a humanoid robot for investigating the effect of the joint to walking stability. Experimental results demonstrate contribution of the joint for walking stability.

Assessment Rating

Verification Result (Rating)

B

Research Products

• [Int'l Joint Research] ダルムシュタット工科大学(ドイツ)
• [Journal Article] デジタル画像相関法を用いたヒト二足歩行中の足部3次元動態計測 (2016)
  • Author(s): 伊藤幸太、藤原育海、細田耕、名倉武雄、荻原直道
  • Journal Title: バイオメカニズム Volume: 23
  • NAID: 130005877966
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Direct assessment of 3D foot bone kinematics using biplanar X-ray fluoroscopy and an automatic model registration method (2015)
  • Author(s): Ito, K., Hosoda, K., Shimizu, M., Ikemoto, S., Kume, S., Nagura, T., Imanishi, N., Aiso, S., Jinzaki, M., Ogihara, N.
  • Journal Title: Journal of Foot and Ankle Research Volume: 8(1) Issue: 1 Pages: 1-10
  • DOI: 10.1186/s13047-015-0079-4
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Shoulder complex linkage mechanism for humanlike musculoskeletal robot arms (2015)
  • Author(s): Shuhei Ikemoto, Yuya Kimoto, and Koh Hosoda
  • Journal Title: Bioinspiration and Biomimetics Volume: 10, 6 Issue: 6 Pages: 66009-66009
  • DOI: 10.1088/1748-3190/10/6/066009
  • Peer Reviewed
• [Journal Article] 屍体足を用いた足部機構の機能解明 (2015)
  • Author(s): 細田耕，荻原直道，池本周平
  • Journal Title: システム／制御／情報 Volume: 59(10) Pages: 387-393
  • NAID: 110010010807
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Stretch reflex improves rolling stability during hopping of a decerebrate biped system (2015)
  • Author(s): Andre Rosendo, Xiangxiao Liu, Masahiro Shimizu, and Koh Hosoda
  • Journal Title: Bioinspiration and Biomimetics Volume: 10 Issue: 1 Pages: 016008-016008
  • DOI: 10.1088/1748-3190/10/1/016008
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Spurious Correlation as an Approximation of the Mutual Information between Redundant Outputs and an Unknown Input (2014)
  • Author(s): Shuhei Nemoto, Fabio DallaLibera, Koh Hosoda, Hiroshi Ishiguro
  • Journal Title: Communications in Nonlinear Science and Numerical Simulations Volume: (印刷中) Issue: 10 Pages: 3611-3616
  • DOI: 10.1016/j.cnsns.2014.03.021
  • Peer Reviewed
• [Journal Article] Development of a tendon-driven robotic finger for an anthropomorphic robotic hand (2014)
  • Author(s): Shouhei Shirafuji, et al.
  • Journal Title: The International Journal of Robotics Research Volume: 33 Issue: 5 Pages: 677-693
  • DOI: 10.1177/0278364913518357
  • Peer Reviewed
• [Journal Article] Roll-over shapes of musculoskeletal biped walker (2013)
  • Author(s): Kenichi Narioka, Toshiyuki Homma, and Koh Hosoda
  • Journal Title: at - Automatisierungstechnik Volume: Vol. 61, No. 1 Issue: 1 Pages: 4-14
  • DOI: 10.1524/auto.2013.0001
  • Peer Reviewed
• [Journal Article] 機械工学から直立二足歩行の起源と進化を探る (2012)
  • Author(s): 荻原直道
  • Journal Title: 日本機械学会誌 Volume: Vol.115, No.1126 Pages: 659-663
• [Journal Article] Minimalistic behavioral rule derived from bacterial chemotaxis in a stochastic resonance setup (2011)
  • Author(s): Shuhei Ikemoto, Fabio DallaLibera, Koh Hosoda, Hiroshi, Ishiguro
  • Journal Title: Physical Review E Volume: 85 Issue: 2 Pages: 21905-21905
  • DOI: 10.1103/physreve.85.021905
  • Peer Reviewed
• [Presentation] 空気圧人工筋駆動・小型四脚ロボットの開発 (2016)
  • Author(s): 細田耕，赤木亮輔，清水正宏
  • Organizer: 第21回ロボティクスシンポジア
  • Place of Presentation: 長崎やすらぎ伊王島（長崎市）
  • Year and Date: 2016-03-17
• [Presentation] Age and Sex variations of the Three-dimensional Metatarsal Structure (2016)
  • Author(s): Kitashiro, M., Nagura, T., Kokubo, T., Ogihara, N., Suda, Y., Toyama, Y., Matsumoto, M., Nakamura, M.
  • Organizer: Orthopaedic Research Society 2016 annual meeting
  • Place of Presentation: Orlando (USA)
  • Year and Date: 2016-03-05
  • Int'l Joint Research
• [Presentation] Tibial Medial Inclination Causes Ankle Dorsiflexion and Flatten Foot: A Cadaver Study (2016)
  • Author(s): Seki, H., Nagura, T., Suda, Y., Ogihara, N., Ito, K., Toyama, Y., Matsumoto, M., Nakamura, M.
  • Organizer: Orthopaedic Research Society 2016 annual meeting
  • Place of Presentation: Orlando (USA)
  • Year and Date: 2016-03-05
  • Int'l Joint Research
• [Presentation] evelopment of an embedded sensor system as pneumatic artificial muscle proprioceptors (2016)
  • Author(s): Hirofumi Shin, Hajime Saitoh, Takahiro Kawakami, Satoshi Yamanishi, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: 22nd International Symposium on Artificial Life and Robotics
  • Place of Presentation: 別府国際コンベンションセンター（別府市）
  • Year and Date: 2016-01-20
  • Int'l Joint Research
• [Presentation] Bipedal Walking with Oblique Mid-foot Join in Foot (2015)
  • Author(s): Takahiro Kawakami and Koh Hosoda
  • Organizer: 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO 2015)
  • Place of Presentation: Zhuhai (China)
  • Year and Date: 2015-12-06
  • Int'l Joint Research
• [Presentation] 強磁場環境下で動作可能なマスタ・スレーブ型手指外骨格の開発 (2015)
  • Author(s): 瓜野琢也，池本周平，細田耕
  • 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: 函館アリーナ（函館市）
  • Year and Date: 2015-11-18
• [Presentation] 骨荷重軸傾斜における足部剛性と内側縦アーチの変化：新鮮凍結屍体足実験による検討 (2015)
  • Author(s): 関広幸、名倉武雄、須田康文、池澤裕子、荻原直道、伊藤幸太、戸山芳昭、松本守雄、中村雅也
  • Organizer: 第40回日本足の外科学会・学術集会
  • Place of Presentation: ヒルトン東京ベイ（浦安市）
  • Year and Date: 2015-10-29
• [Presentation] 中足骨３次元構造の経年的変化 (2015)
  • Author(s): 北城雅照、名倉武雄、小久保哲郎、荻原直道、須田康文、戸山芳昭、松本守雄、中村雅也
  • Organizer: 第40回日本足の外科学会・学術集会
  • Place of Presentation: ヒルトン東京ベイ（浦安市）
  • Year and Date: 2015-10-29
• [Presentation] 足部筋骨格構造の機能形態学とヒトの直立二足歩行の進化 (2015)
  • Author(s): 荻原直道
  • Organizer: 第40回日本足の外科学会・学術集会
  • Place of Presentation: ヒルトン東京ベイ（浦安市）
  • Year and Date: 2015-10-29
  • Invited
• [Presentation] Muscular-Skeletal Biped Robots for Understanding Morphological Functions of Human Body Structure (2015)
  • Author(s): Koh Hosoda
  • Organizer: International Symposium on Swarm Behavior and Bio-inspired Robotics
  • Place of Presentation: 京都大学時計台記念館（京都市）
  • Year and Date: 2015-10-28
  • Invited
• [Presentation] 脛骨荷重軸傾斜における後足部代償機能;新鮮凍結屍体足実験による検討 (2015)
  • Author(s): 関広幸、名倉武雄、須田康文、荻原直道、伊藤幸太、戸山芳昭、松本守雄、中村雅也
  • Organizer: 第30回日本整形外科学会基礎学術総会
  • Place of Presentation: 富山国際会議場（富山市）
  • Year and Date: 2015-10-22
• [Presentation] サルの二足「走行」とヒトの二足「歩行」 (2015)
  • Author(s): 荻原直道
  • Organizer: 2015年度第4回ヒューマンロコモーション評価技術協議会
  • Place of Presentation: 産業技術総合研究所（江東区）
  • Year and Date: 2015-10-15
  • Invited
• [Presentation] Understanding Function of Gluteus Medius in Human Walking from Constructivist Approach (2015)
  • Author(s): Hirofumi Shin, Shuhei Ikemoto, Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Hamburg (Germany)
  • Year and Date: 2015-09-28
  • Int'l Joint Research
• [Presentation] sEMG-based Posture Control of Shoulder Complex Linkage Mechanism (2015)
  • Author(s): Shuhei Ikemoto, Yuya Kimoto, Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Hamburg (Germany)
  • Year and Date: 2015-09-28
  • Int'l Joint Research
• [Presentation] ロボットを用いた身体機能の構成論的研究 (2015)
  • Author(s): 細田耕
  • Organizer: 慶應義塾大学・医学部・整形外科バイオメカニクス研究会
  • Place of Presentation: 慶應義塾大学医学部（新宿区）
  • Year and Date: 2015-09-15
  • Invited
• [Presentation] ヒトの指と手首の連動性を有する筋骨格ロボットアームの開発 (2015)
  • Author(s): 齋藤朔，池本周平，細田耕
  • Organizer: 第33回日本ロボット学会学術講演会
  • Place of Presentation: 東京電機大学東京千住キャンパス（足立区）
  • Year and Date: 2015-09-03
• [Presentation] 静的荷重条件における屍体足部３次元骨格運動の２方向X線計測 (2015)
  • Author(s): 伊藤幸太他
  • Organizer: 第33回日本ロボット学会学術講演会
  • Place of Presentation: 東京電機大学東京千住キャンパス（足立区）
  • Year and Date: 2015-09-03
• [Presentation] 屍体足用歩行シミュレータの開発とヒトの床反力の再現 (2015)
  • Author(s): 中川竜太朗他
  • Organizer: 第33回日本ロボット学会学術講演会
  • Place of Presentation: 東京電機大学東京千住キャンパス（足立区）
  • Year and Date: 2015-09-03
• [Presentation] アキレス腱張力のフィードバック制御によるヒト歩行時の足部有限要素解析 (2015)
  • Author(s): 清水正宏他
  • Organizer: 第33回日本ロボット学会学術講演会
  • Place of Presentation: 東京電機大学東京千住キャンパス（足立区）
  • Year and Date: 2015-09-03
• [Presentation] 横足根関節の斜交軸を有するロボット足部の開発 (2015)
  • Author(s): 河上貴彦，細田耕
  • Organizer: 第33回日本ロボット学会学術講演会
  • Place of Presentation: 東京電機大学東京千住キャンパス（足立区）
  • Year and Date: 2015-09-03
• [Presentation] ヒト足部筋骨格構造の機能形態解析とモデリング (2015)
  • Author(s): 荻原直道
  • Organizer: 2015年度第3回デジタルヒューマン技術協議会
  • Place of Presentation: 産業技術総合研究所（江東区）
  • Year and Date: 2015-09-01
  • Invited
• [Presentation] ロボットを用いた生物知能の研究 (2015)
  • Author(s): 細田耕
  • Organizer: 大阪大学基礎工学部公開講座
  • Place of Presentation: 大阪大学シグマホール（豊中市）
  • Year and Date: 2015-07-29
  • Invited
• [Presentation] Visualizing Wakes in Swimming Locomotion of Xenopus-Noid by Using PIV, Biomimetic and Biohybrid Systems (2015)
  • Author(s): Ryo Sakai, Masahiro Shimizu, Hitoshi Aonuma, and Koh Hosoda
  • Organizer: 4th International Conference, Living Machines 2015
  • Place of Presentation: Barcelona(Spain)
  • Year and Date: 2015-07-28
  • Int'l Joint Research
• [Presentation] Remodeling Muscle Cells by Inducing Mechanical Stimulus (2015)
  • Author(s): Kazuaki Mori, Masahiro Shimizu, Kota Miyasaka, Toshihiko Ogura, and Koh Hosoda
  • Organizer: 4th International Conference, Living Machines 2015
  • Place of Presentation: Barcelona(Spain)
  • Year and Date: 2015-07-28
  • Int'l Joint Research
• [Presentation] Comparative functional morphology of the human foot based on three-dimensional finite element analysis (2015)
  • Author(s): Nakamura, T., Suzuki, R., Ito, K., Ogihara, N.
  • Organizer: The 25th Congress of the International Society of Biomechanics
  • Place of Presentation: Glasgow(UK)
  • Year and Date: 2015-07-12
  • Int'l Joint Research
• [Presentation] Measurement of 3D foot deformation during human walking by digital image correlation method (2015)
  • Author(s): Ito, K., Fujiwara, I., Hosoda, K., Nagura, Y., Ogihara, N
  • Organizer: The 25th Congress of the International Society of Biomechanics
  • Place of Presentation: Glasgow(UK)
  • Year and Date: 2015-07-12
  • Int'l Joint Research
• [Presentation] Three-dimensional kinematic analysis of the human cadaver foot in weightbearing condition using biplanar X-ray fluoroscopy (2015)
  • Author(s): Ito, K., Hosoda, K., Shimizu, M., Ikemoto, S., Nagura, T., Seki, H., Kitashiro, M., Imanishi, N., Aiso, S., Jinzaki, M., Ogihara, N.
  • Organizer: The 25th Congress of the International Society of Biomechanics
  • Place of Presentation: Glasgow(UK)
  • Year and Date: 2015-07-12
  • Int'l Joint Research
• [Presentation] 環境との力学的相互作用をつかさどるヒト足部筋骨格機構の機能解明 (2015)
  • Author(s): 荻原直道
  • Organizer: 第16回関東足の外科研究会
  • Place of Presentation: ベルサール新宿グランドコンファランスセンター（新宿区）
  • Year and Date: 2015-06-23
  • Invited
• [Presentation] Development of musculoskeletal humanoid robot ”Pneumat-BP” with human-like pelvis structure (2015)
  • Author(s): Hirofumi Shin, Shuhei Ikemoto, Koh Hosoda
  • Organizer: International Symposium on Adaptive Motion in Animals and Machines
  • Place of Presentation: Cambridge (USA)
  • Year and Date: 2015-06-21
  • Int'l Joint Research
• [Presentation] Development of an Upper-Limb Linkage Mechanism for an Advanced Musculoskeletal Robot Arm (2015)
  • Author(s): Shuhei Ikemoto, Yuya Kimoto, Hajime Saito, Koh Hosoda
  • Organizer: International Symposium on Adaptive Motion in Animals and Machines
  • Place of Presentation: Cambridge (USA)
  • Year and Date: 2015-06-21
  • Int'l Joint Research
• [Presentation] Function of the Foot Complex for Walking (2015)
  • Author(s): Koh Hosoda
  • Organizer: International Symposium on Adaptive Motion in Animals and Machines
  • Place of Presentation: Cambridge (USA)
  • Year and Date: 2015-06-21
  • Invited
• [Presentation] ト足裏材料粘弾性特性の同定と有限要素シミュレーション (2015)
  • Author(s): 鈴木諒、中村友哉、立石源治、荻原直道
  • Organizer: MSC Software 2015 Users Conference
  • Place of Presentation: 東京コンファレンスセンター（品川区）
  • Year and Date: 2015-06-04
• [Presentation] 空気圧人工筋で駆動されるマスタ・スレーブ型手指外骨格の開発 (2015)
  • Author(s): 瓜野琢也，池本周平，細田耕
  • Organizer: 第59回システム制御情報学会研究発表講演会
  • Place of Presentation: 中央電気倶楽部（大阪市）
  • Year and Date: 2015-05-20
• [Presentation] 生物と同等の筋骨格構造を持つ四脚ロボットの歩行制御 (2015)
  • Author(s): 瀬口友介，Rosendo, Andre，細田耕
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: みやこメッセ（京都市）
  • Year and Date: 2015-05-17
• [Presentation] ヒトの肩複合体の機能を再現するリンク構造 (2015)
  • Author(s): 池本周平，木本雄也，細田耕
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: みやこメッセ（京都市）
  • Year and Date: 2015-05-17
• [Presentation] 空気圧人工筋駆動四足ロボットによる様々な歩容の実現 (2015)
  • Author(s): 赤木亮輔，中川祥崇，成岡健一，清水正宏，細田耕
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: みやこメッセ（京都市）
  • Year and Date: 2015-05-17
• [Presentation] 細胞触覚センサにおける機械刺激の選択性 (2015)
  • Author(s): 民山浩輔他
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会
  • Place of Presentation: みやこメッセ（京都市）
  • Year and Date: 2015-05-17
• [Presentation] Bionic Robots for Understanding Intelligence (2015)
  • Author(s): Koh Hosoda
  • Organizer: 上海交通大学自動化系セミナー
  • Place of Presentation: 上海市（中国）
  • Year and Date: 2015-03-13
  • Invited
• [Presentation] 構造的やわらかさを利用したバイオニックロボット (2015)
  • Author(s): 細田耕
  • Organizer: 東京工業大学大型研究プロジェクト形成シンポジウム
  • Place of Presentation: 東京工業大学（東京都目黒区）
  • Year and Date: 2015-01-06
  • Invited
• [Presentation] Quadrupedal locomotion based on a muscular activation pattern with stretch reflex (2014)
  • Author(s): Andre Rosendo, Shogo Nakatsu, Xiangxial Liu, Masahiro Shimizu, and Koh Hosoda
  • Organizer: 2014 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: バリ（インドネシア）
  • Year and Date: 2014-12-07 – 2014-12-09
• [Presentation] Realization of Three-dimensional Walking of a Cheetah-modeled Bio-inspired Quadruped Robot (2014)
  • Author(s): Shogo Nakatsu, Andre Rosendo, Masahiro Shimizu, and Koh Hosoda
  • Organizer: 2014 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: バリ（インドネシア）
  • Year and Date: 2014-12-07 – 2014-12-09
• [Presentation] An extended inverted pendulum model giving minimal interpretation of vertical ground reaction force while a human walks (2014)
  • Author(s): Hirofumi Shin, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: 2014 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: バリ（インドネシア）
  • Year and Date: 2014-12-07 – 2014-12-09
• [Presentation] Improving Hopping Stability of a Biped by Muscular Stretch Reflex (2014)
  • Author(s): Xiangxiao Liu, Andre Rosendo, Masahiro Shimizu, and Koh Hosoda
  • Organizer: 2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
  • Place of Presentation: マドリッド（スペイン）
  • Year and Date: 2014-11-18 – 2014-11-20
• [Presentation] ヒトの身体知能とヒューマノイドロボット (2014)
  • Author(s): 細田耕
  • Organizer: 平成26年度大阪大学基礎工学談話会
  • Place of Presentation: 大阪大学シグマホール（大阪府豊中市）
  • Year and Date: 2014-11-07
  • Invited
• [Presentation] Active Behavior of Musculoskeletal Robot Arms Driven by Pneumatic Artificial Muscles for Receiveing Human's Direct Teaching Effectively (2014)
  • Author(s): Shuhei Ikemoto, Yuji Kayano, and Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
  • Place of Presentation: シカゴ（アメリカ合衆国）
  • Year and Date: 2014-09-15 – 2014-09-17
• [Presentation] Tendon Routing Resolving Inverse Kinematics for Variable Stiffness Joint (2014)
  • Author(s): Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
  • Place of Presentation: シカゴ（アメリカ合衆国）
  • Year and Date: 2014-09-15 – 2014-09-17
• [Presentation] 細胞触覚センサのための小型蛍光観察システムの開発 (2014)
  • Author(s): 民山浩輔，清水正宏，宮坂恒太，小椋利彦，中井淳一，大倉正道，細田 耕
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学（福岡県福岡市）
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] 屍体足を用いた足部機構の機能解明 (2014)
  • Author(s): 細田 耕，荻原直道，清水正宏，池本周平，伊藤幸太，小林大樹，土谷優人
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学（福岡県福岡市）
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] デジタル画像相関法に基づくヒト二足歩行中の足部３次元変形動態の計測 (2014)
  • Author(s): 荻原直道，藤原育海，伊藤幸太，細田 耕，名倉武雄，中村俊康
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学（福岡県福岡市）
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] 人工筋骨格歩行シミュレーターによる足部運動とヒト実二足歩行中の足部運動の比較 (2014)
  • Author(s): 伊藤幸太，荻原直道，細田 耕，久米真之介，清水正宏，池本周平，名倉武雄，中村俊康，今西宣晶，相磯貞和，陣崎雅弘
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学（福岡県福岡市）
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] ヒト足部機能解明のための屍体足人工筋骨格歩行シミュレータの開発 (2014)
  • Author(s): 土谷優人，井上幸太他
  • Organizer: 日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学（福岡県福岡市）
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] Trajectory Control Strategy for Anthropomorphic Robotic Finger (2014)
  • Author(s): Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: Living machines 2014
  • Place of Presentation: ミラノ（イタリア）
  • Year and Date: 2014-07-30 – 2014-08-01
• [Presentation] Self-organization of a Joint of Cardiomyocyte-Driven Robot (2014)
  • Author(s): Naoki Inoue, Masahiro Shimizu, and Koh Hosoda
  • Organizer: Living machines 2014
  • Place of Presentation: ミラノ（イタリア）
  • Year and Date: 2014-07-30 – 2014-08-01
• [Presentation] A Combined CPG-Stretch Reflex Study on a Musculoskeletal Pneumatic Quadruped (2014)
  • Author(s): Andre Rosendo, XiangXiao Liu, Shogo Nakatsu, Masahiro Shimizu, and Koh Hosoda
  • Organizer: Living machines 2014
  • Place of Presentation: ミラノ（イタリア）
  • Year and Date: 2014-07-30 – 2014-08-01
• [Presentation] Swimming Locomotion of Xenopus Laevis Robot (2014)
  • Author(s): Ryo Sakai, Masahiro Shimizu, Hitoshi Aonuma, and Koh Hosoda
  • Organizer: Living machines 2014
  • Place of Presentation: ミラノ（イタリア）
  • Year and Date: 2014-07-30 – 2014-08-01
• [Presentation] Anthropomorphic Finger Mechanism with a non-elastic Branching Tendon (2014)
  • Author(s): Kazuya Yanagisawa, Shouhei Shirafuji, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: The 13th International Conference on Intelligent Autonomous Systems
  • Place of Presentation: パドヴァ（イタリア）
  • Year and Date: 2014-07-16 – 2014-07-18
• [Presentation] Bionic Robots for Understanding Intelligence (2014)
  • Author(s): Koh Hosoda
  • Organizer: Plenary talk in The 13th International Conference on Intelligent Autonomous Systems (IAS-13)
  • Place of Presentation: パドヴァ（イタリア）
  • Year and Date: 2014-07-16 – 2014-07-18
  • Invited
• [Presentation] Three dimensional kinematic analysis of human cadaver foot using a biplane X-ray fluoroscopy system (2014)
  • Author(s): Kohta Ito, Naomichi Ogihara, Koh Hosoda, and others
  • Organizer: 7th World Congress of Biomechanics
  • Place of Presentation: ボストン（アメリカ合衆国）
  • Year and Date: 2014-07-07 – 2014-07-11
• [Presentation] A Gait Simulator - Identifying Function of Foot Complex (2014)
  • Author(s): Koh Hosoda et al.
  • Organizer: Dynamic Walking 2014
  • Place of Presentation: チューリッヒ（スイス）
  • Year and Date: 2014-06-10 – 2014-06-13
• [Presentation] 腱駆動における腱逆機構を用いた剛性の独立制御 (2014)
  • Author(s): 白藤翔平，池本周平，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場（富山県富山市）
  • Year and Date: 2014-05-26 – 2014-05-28
• [Presentation] ヒト足部機能解明のための屍体足人工筋骨格歩行シミュレータの開発 (2014)
  • Author(s): 久米真之介，伊藤幸太，細田耕，荻原直道，清水正宏，池本周平，陣崎雅弘，名倉武雄，中村俊康，今西宜晶，相磯貞和
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場（富山県富山市）
  • Year and Date: 2014-05-26 – 2014-05-28
• [Presentation] 被教示制御を用いた空気圧人工筋駆動アームへの直接教示手法 (2014)
  • Author(s): ○栢野裕次，池本周平，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場（富山県富山市）
  • Year and Date: 2014-05-26 – 2014-05-28
• [Presentation] アフリカツメガエルの筋骨格系を再現した生体筋駆動遊泳ロボット (2014)
  • Author(s): 坂井亮，清水正宏，青沼仁志，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場（富山県富山市）
  • Year and Date: 2014-05-26 – 2014-05-28
• [Presentation] 空気圧人工筋駆動四足ロボットによる身体の弾性を利用した高速走行の実現 (2014)
  • Author(s): 稲田健人，成岡健一，清水正宏，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場（富山県富山市）
  • Year and Date: 2014-05-26 – 2014-05-28
• [Presentation] 自身の運動により自己組織化するマイクロロボット (2014)
  • Author(s): 井上尚紀，清水正宏，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場（富山県富山市）
  • Year and Date: 2014-05-26 – 2014-05-28
• [Presentation] 非伸縮分岐腱をもつ2関節ロボットフィンガの開発 (2014)
  • Author(s): 柳沢和哉，白藤翔平，池本周平，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2014
  • Place of Presentation: 富山国際会議場（富山県富山市）
  • Year and Date: 2014-05-26 – 2014-05-28
• [Presentation] ヒト足部の機能解明 (2014)
  • Author(s): 細田耕，荻原直道，清水正宏，池本周平
  • Organizer: 第58回システム制御情報学会研究発表講演会・招待講演
  • Place of Presentation: 京都テルサ（京都府京都市）
  • Year and Date: 2014-05-21 – 2014-05-23
  • Invited
• [Presentation] Direct assessment of foot kinematics during human gait using a dynamic cadaver simulator and a biplane X-ray fluoroscopy (2014)
  • Author(s): Kohta Ito, Naomichi Ogihara, Koh Hosoda, and others
  • Organizer: 4th Congress of the International Foot \& Ankle Biomechanics (i-FAB) community
  • Place of Presentation: プサン（韓国）
  • Year and Date: 2014-04-08 – 2014-04-11
• [Presentation] ヒト足部筋骨格形態に内在する歩行安定化機構 (2013)
  • Author(s): 細田，荻原
  • Organizer: 第31回日本ロボット学会学術講演会
  • Place of Presentation: 首都大学東京
• [Presentation] 足部屍体実験のための２方向Ｘ線透視撮影システムの開発 (2013)
  • Author(s): 荻原，伊藤，細田，成岡，久米，名倉，中村，今西，相磯，陣崎
  • Organizer: 第31回日本ロボット学会学術講演会
  • Place of Presentation: 首都大学東京
• [Presentation] 足部模型を用いた人工筋骨格歩行シミュレータの歩行実験 (2013)
  • Author(s): 久米，成岡，細田，荻原，陣崎，名倉，中村，今西，相磯
  • Organizer: 第31回日本ロボット学会学術講演会
  • Place of Presentation: 首都大学東京
• [Presentation] ２方向X線透視撮影システムを用いたヒト足部足根骨運動の３次元再構築 (2013)
  • Author(s): 伊藤，荻原，細田，成岡，久米，名倉，中村，今西，相磯，陣崎
  • Organizer: 第31回日本ロボット学会学術講演会
  • Place of Presentation: 首都大学東京
• [Presentation] ヒト足部の有限要素モデルによる歩行時の垂直床反力の評価 (2013)
  • Author(s): 小林，清水，荻原，名倉，中村，陣崎，細田
  • Organizer: 第31回日本ロボット学会学術講演会
  • Place of Presentation: 首都大学東京
• [Presentation] Toward Living Tactile Sensors (2013)
  • Author(s): K. Minzan, M. Shimizu, K. Miyasaka, T. Ogura, J. Nakai, M. Ohkura, and K. Hosoda
  • Organizer: 2nd Int. Conf. on Biomimetic and Biohybrid Systems
  • Place of Presentation: London
• [Presentation] 機械刺激により自己組織化する細 胞触覚センサ (2013)
  • Author(s): 民山，清水，宮坂，小椋，中井，大倉，細田
  • Organizer: ロボティクス・メカトロニクス講演会
  • Place of Presentation: つくば国際会議場
• [Presentation] 解剖学的に詳細なヒト足部の3次 元FEモデルによる歩行時のGRF解析 (2013)
  • Author(s): 小林，清水，荻原，名倉，中村，陣崎，細田
  • Organizer: ロボティクス・メカトロニクス講演会
  • Place of Presentation: つくば国際会議場
• [Presentation] ，CTデータに基づく 詳細な足モデルおよび人工筋骨格歩行シミュレータの開発 (2013)
  • Author(s): 久米，成岡，細田，荻原，陣崎，名倉，中村，今西，相磯
  • Organizer: ロボティクス・メカトロニクス講演会
  • Place of Presentation: つくば国際会議場
• [Presentation] Minimalistic decentralized modelling for a skeletal muscle based on stochastic resonance (2013)
  • Author(s): Shuhei Ikemoto, Yosuke Inoue, Masahiro Shimizu and Koh Hosoda
  • Organizer: 6th International Symposium on Adaptive Motion of Animals and Machines
  • Place of Presentation: Darmstdat, Germany
• [Presentation] Toward a stable biomimetic walking: Exploring muscle roles on a feline robot (2013)
  • Author(s): Andre Rosendo, Shogo Nakatsu, Kenichi Narioka and Koh Hosoda
  • Organizer: 6th International Symposium on Adaptive Motion of Animals and Machines
  • Place of Presentation: Darmstdat, Germany
• [Presentation] Anatomically detailed three dimentional dynamical finite element analysis of the human foot (2013)
  • Author(s): Taiki Kobayashi, Masahiro Shimizu, Koh Hosoda, and Naomichi Ogihara
  • Organizer: 6th International Symposium on Adaptive Motion of Animals and Machines
  • Place of Presentation: Darmstdat, Germany
• [Presentation] Three dimensional reconstruction of foot skeletal movement using biplanar fluoroscopic system (2013)
  • Author(s): Kohta Ito, Naomichi Ogihara, Koh Hosoda, Takeo Nagura, Toshiyasu Nakamura, Nobuaki Imanishi and Masahiro Jinzaki,
  • Organizer: 6th International Symposium on Adaptive Motion of Animals and Machines
  • Place of Presentation: Darmstdat, Germany
• [Presentation] Measurement of 3D human foot deformation during walking by digital image correlation method (2013)
  • Author(s): Ikumi Fujiwara, Naomichi Ogihara, Koh Hosoda, Takeo Nagura and Toshiyasu Nakamura,
  • Organizer: 6th International Symposium on Adaptive Motion of Animals and Machines
  • Place of Presentation: Darmstdat, Germany
• [Presentation] Muscle Tissue Actuator Driven with Light-gated Ion Channels Channelrhodopsin (2013)
  • Author(s): Masahiro Shimizu et al.
  • Organizer: The First CIRP Conference on Biomanufacturing
  • Place of Presentation: 東京
• [Presentation] アフリカツメガエル腓腹筋を駆動源とする1自由度拮抗筋アーム (2013)
  • Author(s): 清水正宏，青沼仁志，細田耕
  • Organizer: 第25回自律分散システム・シンポジウム
  • Place of Presentation: 東北大学，仙台
• [Presentation] Development of a Minimalistic Pneumatic Quadruped Robot for Fast Locomotion (2012)
  • Author(s): Kenichi Narioka, Andre Rosendo, Alexander Sproewitz, and Koh Hosoda
  • Organizer: 2012 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Guangzhou, China
• [Presentation] Muscle Roles on Directional Change during Hopping of a Biomimetic Feline Hindlimb (2012)
  • Author(s): Andre Rosendo, Kenichi Narioka, and Koh Hosoda
  • Organizer: 2012 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Guangzhou, China
• [Presentation] Roll motion control by stretch reflex in a continuously jumping musculoskeletal biped robot (2012)
  • Author(s): Masahiro Shimizu, Keiko Suzuki, Kenichi Narioka, and Koh Hosoda,
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Vilamoura, Algarve, Portugal
• [Presentation] Redundant sensor system for stochastic resonance tuning without input signal knowledge (2012)
  • Author(s): Nagisa Koyama, Shuhei Ikemoto, and Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Vilamoura, Algarve, Portugal
• [Presentation] Humanlike ankle-foot complex for a biped robot (2012)
  • Author(s): Kenichi Narioka, Toshiyuki Homma, and Koh Hosoda
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: 大阪
• [Presentation] 確率共鳴に基づく生物型アクチュエータの確率モデル (2012)
  • Author(s): 井上陽介, 池本周平, 細田耕
  • 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
• [Presentation] 三次元的な筋配置を有する筋骨格ヒューマノイドロボットにおける立位姿勢制御と動歩行 (2012)
  • Author(s): 小川恵太, 成岡健一, 細田耕
  • Organizer: 三次元的な筋配置を有する筋骨格ヒューマノイドロボットにおける立位姿勢制御と動歩行
  • Place of Presentation: 浜松
• [Presentation] 確率共鳴の自動調整を可能とする冗長センサシステム (2012)
  • Author(s): 小山渚, 池本周平, 細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: 浜松
• [Presentation] 着地時の伸長反射に基づく二足跳躍ロボットのロール方向制御 (2012)
  • Author(s): 鈴木恵子, 清水正宏, 成岡健一,細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: 浜松
• [Presentation] ヒトの計測データに基づく筋骨格系ロボットによる椅坐位からの起立動作の実現 (2012)
  • Author(s): 福原優貴, 成岡健一，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: 浜松
• [Presentation] ヒトを規範とした足部機構をもつ人工筋駆動二脚ロボットの動歩行 (2012)
  • Author(s): 本間敏行，成岡健一，細田耕
  • Organizer: ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: 浜松
• [Presentation] Control of Real World Complex Robots using a Biologically Inspired Algorithm (2012)
  • Author(s): Fabio DallaLibera, Shuhei Ikemoto, Hiroshi Ishiguro, and Koh Hosoda
  • Organizer: the 17th International symposium on artificial life and robotics
  • Place of Presentation: 別府
• [Presentation] 二脚連続跳躍モデル伸張反射によるロール方向制御 (2012)
  • Author(s): 鈴木 恵子，清水 正宏，成岡 健一，細田 耕
  • Organizer: 第24回自律分散システム・シンポジウム
  • Place of Presentation: 神戸ファッションマート・コンベンションルーム
• [Presentation] Minimalistic Behavioral Rule for Reflecting Robot's Morphology (2011)
  • Author(s): Fabio Dalla Libera, Shuhei Ikemoto, Koh Hosoda, and Hiroshi Ishiguro
  • Organizer: International Symposium on Adaptive Motion in Animals and Machines
  • Place of Presentation: 淡路島
• [Presentation] Development of Whole-body Humanoid "Pneumat-BS" with PneumaticMusculoskeletal System (2011)
  • Author(s): Keita Ogawa, Kenichi Narioka and Koh Hosoda
  • Organizer: International Symposium on Adaptive Motion in Animals and Machines
  • Place of Presentation: 淡路島
• [Presentation] Development of Whole-body Humanoid Pneumat-BS with Pneumatic Musculskeletal System (2011)
  • Author(s): Keita Ogawa, Kenichi Narioka, and Koh Hosoda
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: San Francisco, USA
• [Presentation] ヒト規範触覚センサの開発に向けた確率共鳴強度の最適化 (2011)
  • Author(s): 小山渚，池本周平，細田耕
  • Organizer: 第29回ロボット学会学術講演会
  • Place of Presentation: 芝浦工業大学
• [Presentation] 踵接地及び爪先離地タイミングに基づく筋骨格ロボットの歩行安定化制御 (2011)
  • Author(s): 本間 敏行，Tobias Luddemann，成岡 健一，細田 耕
  • Organizer: 第29回ロボット学会学術講演会
  • Place of Presentation: 芝浦工業大学
• [Presentation] Automatic registration of bone surface models with biplanar fluoroscopic images for 3D kinematic analysis of human foot
  • Author(s): K. Ito, N. Ogihara, K. Hosoda, K. Narioka, S. Kume, T. Nagura, T. Nakamura, N. Imanishi, S. Aiso, M. Jinzaki
  • Organizer: The 15th Int. Conf. on Biomedical Engineering
  • Place of Presentation: シンガポール
• [Presentation] 受動歩行とヒト二足歩行
  • Author(s): 細田耕
  • Organizer: SICEシステムインテグレーション部門講演会
  • Place of Presentation: 神戸国際会議場
  • Invited
• [Presentation] ハードウェアと制御の共創的設計による知能的ヒューマノイドロボットの実現
  • Author(s): 細田耕
  • Organizer: 高度複合専門技術人材養成講座
  • Place of Presentation: 大阪合同庁舎1号館第一別館2階大会議室
  • Invited
• [Book] 柔らかヒューマノイド (2016)
  • Author(s): 細田耕
  • Total Pages: 208
  • Publisher: 化学同人
• [Remarks] 大阪大学大学院基礎工学研究科システム創成専攻細田研ホームページ