2019年度

・国際雑誌学術論文

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・国際会議発表

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・国内雑誌学術論文

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・国内会議発表

  1. to appear

2019年度以前の文献

・国際雑誌学術論文

  1. “Standing and Stepping Control with Switching Rules for Bipedal Robots based on Angular Momentum around Ankle”, 共著, submitted, International Journal of Humanoid Robotics, World Scientific submitted, 共著者：M. Uemura, H. Hirai, F. Miyazaki
  2. “Simultaneous Gravity and Gripping Force Compensation Mechanism for Lightweight Hand-Arm Robot with Low-Reduction Reducer” 共著 accepted Robotica, Cambridge University Press, accepted, 共著者：Mitsunori Uemura, Yuki Mitabe, Sadao Kawamura
  3. “Highly Energy-Efficient Palletizing Tasks Using Resonance-Based Robot Motion Control”, 共著, 2016, Journal of Mechanical Engineering and Automation, Scientific & Academic Publishing, Vol. 6, No. 1, pp.8-17, 共著者：Kento Matsusaka, Mitsunori Uemura and Sadao Kawamura
  4. “Realization of Highly Energy Efficient Pick-and-Place Tasks using Resonance-based Robot Motion Control”, 共著 2016 Advanced Robotics, 日本ロボット学会 Vol. 30, No. 9, pp.608-620, 共著者：Kento Matsusaka, Mitsunori Uemura and Sadao Kawamura
  5. “A stiffness adjustment mechanism maximally utilizing elastic energy of a linear spring for a robot joint”, 共著 2015 Advanced Robotics, 日本ロボット学会 Volume 29, Issue 20, pp.1331-1337, 共著者：M. Uemura, K. Matsusaka, Y. Takagi, S. Kawamura.
  6. “Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement”, 共著 2014 Advanced Robotics、日本ロボット学会 28巻、11号、共著者：Hang Pham, Yohei Ariga, Kenta Tominaga, Takanori Oku, Kanna Nakayama, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki
  7. “Equilibrium-point control of human elbow-joint movement under isometric environment by using multichannel functional electrical stimulation” 共著 2014 Frontiers in neuroscience、Frontiers, 8巻、164ページ、共著者：Kazuhiro Matsui, Yasuo Hishii, Kazuya Maegaki, Yuto Yamashita, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki
  8. “On the origin of muscle synergies: invariant balance in the co-activation of agonist and antagonist muscle pairs”, 共著 2015 Frontiers in Bioengineering and Biotechnology, Frontiers, vol. 3, no. 192, 共著者：H. Hirai, F. Miyazaki, H. Naritomi, K. Koba, T. Oku, K. Uno, M. Uemura, T. Nishi, M. Kageyama, and H. I. Krebs
  9. “Motion Control with Stiffness Adaptation for Torque Minimization in Multijoint Robots”, 共著, 2014, IEEE Transaction on Robotics, IEEE Vol.30, No.2, pp.352-364, 共著者：M. Uemura, H. Goya, S. Kawamura
  10. “Inverse Dynamics of Human Passive Motion Based on Iterative Learning Control”, 共著, 2012, IEEE Transaction on Systems, Man, and Cybernetics. Part A: Systems and Humans, IEEE, "Vol.42, No.2, pp.307-315, 共著者：Shohei Taniguchi, Hitoshi Kino, Ryuta Ozawa, Ryota Ishibashi, Mitsunori Uemura, Katsuya Kanaoka and Sadao Kawamura,
  11. “Inertia Adaptive Control Based on Resonance for Energy Saving of Mechanical Systems”, 共著, 2012, SICE Journal of Control, Measurement, and System Integration、計測自動制御学会 Vol.5, No.2, pp.109-114, 共著者：G. Lu, S. Kawamura, M. Uemura
  12. “Proposal of an Energy Saving Control Method for SCARA Robots”, 共著, 2012, Journal of Robotics and Mechatronics、富士技術出版株式会社 Vol.24, No.1 pp.115-122, 共著者：G. Lu, S. Kawamura, M. Uemura
  13. “Diagonalization of Arm Kinematics by the Use of Bi-Articular Muscles”, 共著, 2011, SICE Journal of Control, Measurement, and System Integration、計測自動制御学会 Vol.4, No.2, pp.114-119, 共著者：Takashi Mitsuda, Sadao Kawamura, Mitsunori Uemura, Masahiro Sekimoto

・国際会議発表

  1. “Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: equilibrium-point-based control approach to constrained motion” 共同報告 2017 The International Society of Motor Control and The Miami Project to Cure Paralysis Progress in Motor Control XI、Miami、共同報告者：E. Watanabe, H. Hirai, Y. Ninomaru, N. Kataoka, Y. Saeki, M. Uemura, F. Miyazaki, and H. I. Krebs
  2. “Effects of partial body-weight support and functional electrical stimulation on gait characteristics during treadmill exercise: pros and cons of saddle-seat-type body-weight support” 共同報告 2017 IEEE 2017 IEEE-RAS-EMBS Int. Conf. Rehabilitation Robotics (ICORR2017)、London、共同報告者：N. Kataoka, H. Hirai, F. Yoshikawa, A. Kuroiwa, Y. Nagakawa, E. Watanabe, Y. Ninomaru, Y. Saeki, M. Uemura, F. Miyazaki, T. Hamilton, H. Nakata, T. Nishi, H. Naritomi, and H. I. Krebs
  3. “Efficacy of a knee orthosis that uses an elastic element” 共同報告 2017 IEEE 39th Annual Int. Conf. the IEEE Engineering in Medicine and Biology Society、Jeju、共同報告者：Kamada, M. Uemura, H. Hirai, and F. Miyazaki
  4. “Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. experimental evidence for three equilibrium-point-based synergies during human pedaling” 共同報告 2016 IEEE Proc. IEEE-RAS Int. Conf. Humanoid Robots、Cancun, Mexico、共同報告者：E. Watanabe, T. Oku, H. Hirai, F. Yoshikawa, Y. Nagakawa, A. Kuroiwa, E. P. Grabke, M. Uemura, F. Miyazaki, and H. I. Krebs
  5. “Equilibrium-point-based synergies that encode coordinates in task space: a practical method for translating functional synergies from human to musculoskeletal robot arm” 共同報告 2016 IEEE IEEE-RAS International Conference on Humanoid Robotics (Humanoids2016)、Cancun、共同報告者：F. Yoshikawa, H. Hirai, E. Watanabe, Y. Nagakawa, A. Kuroiwa, E. P. Grabke, M. Uemura, F. Miyazaki, and H. I. Krebs
  6. “Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: an inspiration from electromyography analysis of human pedaling” 共同報告 2015 IEEE IEEE-RAS International Conference on Humanoid Robotics (Humanoids2015)、Seoul、共同報告者：E. Watanabe, T. Oku, H. Hirai, K. Uno, M. Uemura, and F. Miyazaki
  7. “Adaptive tracking control with partial regressor for multi-joint robot” 共同報告 2015 IEEE Annual Conf. the IEEE Industrial Electronics Society (IECON 2015)、横浜、共同報告者：M. Uemura, H. Hirai, F. Miyazaki
  8. “A feasibility study to assess intralimb coordination in stroke rehabilitation: two indices of mechanical impedance by coactivation of agonist muscles” 共同報告 2015 IEEE IEEE International Conference on Rehabilitation Robotics (ICORR2015)、Singapore、共同報告者：T. Oku, K. Uno, T. Nishiyama, M. Kageyama, K. Koba, M. Uemura, H. Hirai, F. Miyazaki, and H. Naritomi
  9. “Regulation of muscle activities for fast, accurate, and smooth movements: evolution of virtual trajectory via coupling of directional mechanical impedances” 共同報告 2015 The International Society of Motor Control and The Miami Project to Cure Paralysis Progress in Motor Control X、Budapest、共同報告者：K. Koba, K. Uno, T. Oku, M. Uemura, H. Hirai, and F. Miyazaki
  10. “Mechanism and control of robotic arm using rotational counterweights” 共同報告 2015 IEEE IEEE International Conference on Robotics and Automation (ICRA2015)、Seattle、共同報告者：Akihiro Kawamura, Byunghyun Gang, Mitsunori Uemura, Sadao Kawamura
  11. “Iterative motion learning with stiffness adaptation for multi-joint robots” 共同報告 2014 IEEE IEEE Int. Conf. Robotics and Biomimetics (ROBIO2014) 、Bali、共同報告者：M. Uemura, S. Kawamura, H. Hirai, F. Miyazaki
  12. “A novel muscle synergy extraction method to explain the equilibrium-point trajectory and endpoint stiffness during human upper-limb movements on a horizontal plane” 共同報告 2014 IEEE 5th IEEE RAS/EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob2014)、Sao Paulo、共同報告者：K. Uno, T. Oku, P. Phatiwuttipat, K. Koba, Y. Yamashita, K. Murakami, M. Uemura, H. Hirai, and F. Miyazaki
  13. “Tacit representation of muscle activities during coordination training: muscle synergy analysis to visualize motor enhancement in virtual trajectory of multi-joint arm movement” 共同報告 2014 IEEE 5th IEEE RAS/EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob2014)、Sao Paulo、共同報告者：K. Koba, K. Murakami, T. Oku, K. Uno, P. Phatiwuttipat, Y. Yamashita, M. Uemura, H. Hirai, and F. Miyazaki
  14. “Pilot study on quantitative assessment of muscle imbalance: differences of muscle synergies, equilibrium-point trajectories, and endpoint stiffness in normal and pathological upper-limb movements” 共同報告 2014 IEEE 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014)、Chicago、共同報告者：T. Oku, K. Uno, T. Nishi, M. Kageyama, P. Phatiwuttipat, K. Koba, Y. Yamashita, K. Murakami, M. Uemura, H. Hirai, F. Miyazaki, and H. Naritomi
  15. “Abnormal muscle synergies significantly alter endpoint stiffness and virtual trajectory while drawing in a horizontal plane” 共同報告 2014 Europian Society for Movement Analysis in Adults and Children 1st Clinical Movement Analysis World Conf. (ESMAC-SIAMOC 2014), Rome、共同報告者：T. Oku, K. Uno, T. Nishi, M. Kageyama, P. Phatiwuttipat, K. Koba, Y. Yamashita, M. Uemura, H. Hirai, F. Miyazaki, and H. Naritomi
  16. “Functional electrical stimulation for equilibrium-point control of human ankle movement: frequency domain system identification of human ankle dynamics” 共同報告 2014 ASME ASME 2014 Dynamic Systems and Control Conference (DSCC 2014), San Antonio、共同報告者：Y. Yamashita, K. Maegaki, K. Matsui, T. Oku, K. Uno, K. Koba, P. Phatiwuttipat, K. Murakami, M. Uemura, H. Hirai, and F. Miyazaki
  17. “Muscle synergy analysis of human adaptation to a variable-stiffness exoskeleton: human walk with a knee exoskeleton with pneumatic artificial muscles” 共同報告 2012 IEEE 12th IEEE-RAS International Conference on Humanoid Robots、大阪、、共同報告者：D. Maeda, K. Tominaga, T. Oku, Pham T. T. Hang, S. Saeki, M. Uemura, H. Hirai, and F. Miyazaki
  18. “Analysis of muscle coordination in human pedaling and implementation with a musculoskeletal robot” 共同報告 2012 IEEE 12th IEEE-RAS International Conference on Humanoid Robots、大阪、共同報告者：T. Oku, K. Inoue, Pham T. T. Hang, K. Tominaga, D. Maeda, M. Uemura, H. Hirai, and F. Miyazaki
  19. “Novel equilibrium-point control of agonist-antagonist system with pneumatic muscles II: application to EMG-based human-machine interface for an elbow-joint system” 共同報告 2012 IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)、Vilamoura、共同報告者：Y. Ariga, D. Maeda, H. Pham, M. Uemura, H. Hirai, and F. Miyazaki
  20. “Realization of high-energy efficient pick-and-place tasks of scara robots by resonance” 共同報告 2012 IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)、Vilamoura、共同報告者：Hidemasa Goya, Kento Matsusaka, Mitsunori Uemura, Yasutaka Nishioka, Sadao Kawamura
  21. “Control Strategy for Continuous Jumping of Legged Robot Utilizing Resonance” 共同報告 2010 CLAWAR Association Ltd 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)、名古屋、共同報告者：Uemura Mitsunori, Oono Hisasi, Goya Hidemasa, Kawamura Sadao
  22. “Passivity-based Controllers for Periodic Motions of Multi-joint Robots with Impact Phenomena” 共同報告 2010 IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)、Taipei、共同報告者：M. Uemura, S. Kawamura
  23. “A New Mechanical Structure for Adjustable Stiffness Devices with Lightweight and Small Size” 共同報告 2010 IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)、Taipei、共同報告者：M. Uemura, S. Kawamura
  24. “Resonance-based Task Space Controller for Multi-Joint Robot with Adjustable Equilibrium Angle of Elastic Element” 共同報告 2010 IEEE IEEE International Conference on Robotics and Automation (ICRA2010)、Anchorage、共同報告者：M. Uemura, S. Kawamura
  25. “Generation of Energy Saving Motion for Biped Walking Robot through Resonance-based Control Method” 共同報告 2009 IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)、St. Louis、共同報告者：M. Uemura, K. Kimura, S. Kawamura
  26. “Adaptive Tuning of Stiffness and Motion for Multi-Joint Robot” 共同報告 2009 IEEE The 9th International IFAC Symposium on Robot Control (SYROCO2009) 、岐阜、共同報告者：M. Uemura, S. Kawamura
  27. “Resonance-based Motion Control Method for Multi-Joint Robot through Combining Stiffness Adaptation and Iterative Learning Control” 共同報告 2009 IEEE IEEE International Conference on Robotics and Automation 2009 (ICRA2009) 、神戸、共同報告者：M. Uemura, S. Kawamura
  28. “An Energy Saving Control Method of Robot Motions based on Adaptive Stiffness Optimization - Cases of Multi-Frequency Components -” 共同報告 2008 IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems 2008 (IROS2008)、Nice、共同報告者：M. Uemura, S. Kawamura
  29. “Passive periodic motions of multi-joint robots by stiffness adaptation and DFC for energy saving” 共同報告 2008 計測自動制御学会 SICE Annual Conference 2008 (SICE2008)、調布、共同報告者：Mitsunori Uemura, Guangqiang Lu, Sadao Kawamura, Shugen Ma
  30. “A New Control Method Utilizing Stiffness Adjustment of Mechanical Elastic Elements for Serial Link Systems” 共同報告 2007 IEEE IEEE International Conference on Robotics and Automation (ICRA2007)、Rome、共同報告者：M. Uemura, K. Kanaoka, S. Kawamura
  31. “Power Assist Systems based on Resonance of Passive Elements” 共同報告 2006 IEEE IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006)、Beijing、共同報告者：M. Uemura, K. Kanaoka, S. Kawamura
  32. “Power Assist System for Sinusoidal Motion by Passive Element and Impedance Control” 共同報告 2006 IEEE IEEE International Conference on Robotics and Automation (ICRA2006), Orlando, 共同報告者：M. Uemura, K. Kanaoka, S. Kawamura
  33. “Virtual Power Limiter System which Guarantees Stability of Control Systems” 共同報告 2005 IEEE IEEE International Conference on Robotics and Automation (ICRA2005), Barcelona, 共同報告者：Kanaoka Katsuya, Uemura Mitsunori

・国内学会学術論文

  1. 「人間・アクチュエータ・機械的弾性要素の協調を用いたパワーアシストシステムの実験的検討」 共著 2007 『日本ロボット学会誌』、日本ロボット学会 Vol.25、No.6、pp881-886、共著者：植村充典、猪口久仁、上西智、金岡克弥、川村貞夫
  2. 「機械的弾性要素を利用した周期運動用パワーアシストシステム -理論的考察とロバスト性の実験的検証-」 共著 2008 『日本ロボット学会誌』、日本ロボット学会 Vol.26、No.3、pp78-84、共著者：植村充典、金岡克弥、川村貞夫
  3. 「省エネルギーを目的とした適応的剛性調節による複数周波数成分の運動実現」 共著 2008 『日本ロボット学会誌』、日本ロボット学会 Vol.26、No.6、pp54-60、共著者：植村充典、川村 貞夫
  4. 「多関節ロボットの省エネルギーを目的とした適応的剛性調節による周期運動制御法」 共著 2011 『計測自動制御学会論文集』、計測自動制御学会 Vol.47、No.2、pp.110-118、共著者：植村充典、川村 貞夫
  5. 「筋拮抗比と筋活性度を用いた拮抗駆動装置の線形制御と筋電インタフェースへの応用」 共著 2013 『日本ロボット学会誌』、日本ロボット学会 vol. 31, no. 5, pp. 517-526, 共著者：有賀陽平, 前田大輔, 宇野かんな, Hang T. T. Pham, 植村充典, 平井宏明, 宮崎文夫
  6. 「水平面内におけるヒト上肢運動時のEMG信号を利用した筋シナジー・平衡点軌道および手先剛性の新しい評価法の提案」 共著 2014 『日本ロボット学会誌』、日本ロボット学会 vol. 32, no. 7, pp. 603-614, 共著者：宇野かんな, 奥貴紀, 古場啓太郎, 植村充典, 平井宏明, 宮崎文夫.
  7. 「多チャンネル型機能的電気刺激によるヒト肘関節運動の平衡点制御 -等尺性環境下における検証-」 共著 2014 『計測自動制御学会論文集』、計測自動制御学会 vol. 50, no.11, pp. 755-762, 共著者：松居和寛, 菱井康生, 前垣和也, 山下雄人, 植村充典, 平井宏明, 宮崎文夫.
  8. 「水平面肘関節運動における非拘束環境下への拡張を目的とした２ｃｈ型機能的電気刺激 (FES) 平衡点制御モデルの解析」 共著 2015 『生体医工学』、日本生体医工学会 vol. 53, no. 1, pp. 14-20, 共著者：松居和寛, 前垣和也, 山下雄人, 植村充典, 平井宏明, 宮崎文夫.
  9. 「ヒトの下肢運動に関わる不変量としての筋シナジー」 共著 2016 『計測自動制御学会論文集』、計測自動制御学会 vol. 52, no.1, pp. 37-45, 富永健太, 飯村太紀, 植村充典, 平井宏明, 宮崎文夫
  10. 「膝装具歩行における制御戦略の解析」 共著 2016 『日本機械学会論文集』、日本機械学会 vol. 82, no. 843, pp. 1-14, 共著者：鎌田一平, 植村充典, 平井宏明, 宮崎文夫