Man-Machine Collaboration
Research Team

Research Summary

We aim to develop an invisible robot that detect human intentions and support them in the secretly without impairing their self-agency. Through this development, we will elucidate the principle of human-machine collaboration that can maximize human's ability and demonstrate it to actual robot system.

Main Research Fields

• Assistive Robot

Keywords

• Exoskeleton robot
• Motor control
• Motion estimation & prediction
• Machine learning
• Bio-signal analysis

Research them

• Development of tailor-made adaptive motion support system
• Real-time motion prediction for assist in exquisite ways
• Human motion estimation based on bio-signal

Takashi Minato

Members

Jun Morimoto

Senior Visiting Scientist

Jun-ichiro Furukawa

Research Scientist

Takahide Ito

Special technical staff

Akihide Inano

Senior Technical Staff

Ren Kai

Student Trainee

Antonella Rech

Student Trainee

Former member

Ilham Julian

Student Trainee (2022/01-2022/03)

Nag Aneek

Research Intern (2022/08-2022/09)

Elena Basei

Research Intern (2022/10-2022/12 2023/7-2023/09)

Research results

Selected Publications

1. Shinya Chiyohara, Jun-ichiro Furukawa, Tomoyuki Noda, Jun Morimoto, Hiroshi Imamizu.:
   "Proprioceptive short-term memory in passive motor learning",
   Scientific Reports, 13, Article number; 20826, 2023(ATRとの共同研究)
2. Asuka Takai, Tatsuya Teramae, Tomoyuki Noda, Koji Ishihara, Jun-ichiro Furukawa, Hiroaki Fujimoto, Megumi Hatakenaka, Nobukazu Fujita, Akihiro Jino, Yuichi Hiramatsu, Ichiro Miyai, Jun Morimoto.:
   "Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation",
   Frontiers in Human Neuroscience. 17:1197380, 2023(ATRとの共同研究)
3. Jun-ichiro Furukawa, Shotaro Okajima, Qi An, Yuichi Nakamura, Jun Morimoto.:
   "Selective Assist Strategy by Using Lightweight Carbon Frame Exoskeleton Robot"
   IEEE Robotics and Automation Letters, Vol. 7, no. 2, pp. 3890-3897, 2022
4. Jun-ichiro Furukawa, Shinya Chiyohara, Tatsuya Teramae, Asuka Takai, Jun Morimoto.:
   "A Collaborative Filtering Approach Toward Plug-and-Play Myoelectric Robot Control"
   IEEE Transactions on Human-Machine Systems, Vol. 51, no. 5, pp. 514-523, 2021
5. Jun-ichiro Furukawa, Jun Morimoto.:
   "Composing an Assistive Control Strategy Based on Linear Bellman Combination From Estimated User's Motor Goal"
   IEEE Robotics and Automation Letters, Vol. 6, no. 2, pp. 1051-1058, 2021
6. Tatsuya Teramae, Takamitsu Matsubara, Tomoyuki Noda, Jun Morimoto.:
   "Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns"
   IEEE Robotics and Automation Letters, Vol. 5, Issue: 4, pp. 6607-6614, 2020
7. Shinya Chiyohara, Jun-ichiro Furukawa, Tomoyuki Noda, Jun Morimoto and Hiroshi Imamizu.:
   "Passive Training with Upper Extremity Exoskeleton Robot Affects Proprioceptive Acuity and Performance of Motor Learning"
   Scientific Reports, 10, Article number; 11820, 2020
8. Masashi Hamaya, Takamitsu Matsubara, Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto.:
   "Design of Physical User-Robot Interactions for Model Identification of Soft Actuators on Exoskeleton Robots"
   International Journal of Robotics Research, first published online: June 6, 2019
9. Barkan Ugurlu, Paolo Formi, Corinne Doppmann, Emre Sariyildiz, and Jun Morimoto.:
   "Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles"
   IEEE Transactions on Industrial Informatics, Vol. 15, Issue 12, pp. 6270-6279
10. Tadej Petric, Luka Peternel, Jun Morimoto, and Jan Babic.:
    "Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability
    Frontiers in Neurorobotics, fnbot.2019.00030, 2019
11. Tatsuya Teramae, Koji Ishihara, Jan Babic, Jun Morimoto, and Erhan Oztop.:
    "Human-in-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots"
    Frontiers in Neurorobotics, fnbot.2018.00071
12. Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto.:
    "EMG-Based Model Predictive Control for Physical Human-Robot Interaction: Application for Assist-As-Needed Control"
    IEEE Robotics and Automation Letters, Vol. 3, issue 1, pp.210-217, 2018
13. Masashi Hamaya, Takamitsu Matsubara, Tomoyuki Noda, Tatsuya Teramae, and Jun Morimoto.:
    "Learning assistive strategies for exoskeleton robots from user-robot physical interaction"
    Pattern Recognition Letters, Vol. 99, pp. 67-76, 2017
14. Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, and Jun Morimoto.:
    "Human movement modeling to detect bio-signal sensor failures for myoelectric assistive robot control"
    IEEE Transactions on Robotics, Vol. 33, Issue 4, pp. 846-857, 2017
15. Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, and Jun Morimoto.:
    "An EMG-Driven Weight Support System with Pneumatic Artificial Muscles"
    IEEE Systems Journal, Vol. 10, No. 3, pp. 1026-1034, 2016

Links

Man-Machine Collaboration Research Team(RIKEN)