HIRAI Hiroaki

J-GLOBAL         Last updated: Dec 19, 2019 at 18:40
 
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Name
HIRAI Hiroaki
Affiliation
Osaka University
Section
Graduate School of Engineering Science, Department of Mechanical Science and Bioengineering
Job title
Research Assistant
Degree
Master(Osaka University)
Research funding number
60388147

Research Areas

 
 

Academic & Professional Experience

 
Apr 2016
 - 
Today
Associate Professor, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University
 
Oct 2010
 - 
Mar 2016
Associate Professor, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University
 
Apr 2007
 - 
Sep 2010
Assistant Professor, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University
 
Oct 2005
 - 
Mar 2007
Assistant Professor, Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University
 
Apr 2004
 - 
Sep 2005
Postdoctoral Fellow, Research Organization of Science and Engineering, Ritsumeikan University
 

Education

 
Apr 2001
 - 
Mar 2004
Dept. Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University
 
Apr 1997
 - 
Mar 1999
Dept. Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University
 
 
 - 
1999
Graduate School, Division of Engineering Science, Osaka University
 
Apr 1993
 - 
Mar 1997
Dept. Mechanical Engineering, School of Engineering Science, Osaka University
 
 
 - 
1997
Faculty of Engineering Science, Osaka University
 

Awards & Honors

 
Nov 2016
Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. experimental evidence for three equilibrium-point-based synergies during human pedaling, Humanoids2016 Finalists Interactive Paper Award, 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids2016)
Winner: E. Watanabe, T. Oku, H. Hirai, F. Yoshikawa, Y. Nagakawa, A. Kuroiwa, E. P. Grabke, M. Uemura, F. Miyazaki, and H. I. Krebs
 
Sep 2014
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, IEEE EMBS Japan Chapter Young Researcher Award (JpCOMPEmbs14), IEEE EMBS Japan Chapter
Winner: 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
 
Sep 2013
Identifying the Building Blocks of a Human Walking based on the EMG Ratio of Agonist-antagonsit Muscle Pairs, Best Paper Award, The Robotics Society of Japan
Winner: H. Hirai, T. Iimura, K. Inoue, and F. Miyazaki
 
Sep 2011
A preliminary experiment for transferring human motion to a musculoskeletal robot -decomposition of human running based on muscular coordination-, IEEE Robotics and Automation Society Japan Chapter Young Award, IEEE Robotics and Automation Society Japan Chapter
Winner: T. Iimura, K. Inoue, H. T. T. Pham, H. Hirai, and F. Miyazaki
 
Sep 2006
A dynamical systems approach to rhythmic coordination between robots, A Finalist for Young Author Paper Award, International Federation of Automatic Control
Winner: H. Hirai and F. Miyazaki
 
2006
Marquis Who's Who of Emerging Leaders
 
Sep 2005
Adaptive timing selection in passive quasi-juggling strategy, Young Investigation Excellence Award, The Robotics Society of Japan
Winner: H. Hirai and F. Miyazaki
 

Published Papers

 
Phase Plane Analysis in a Series of Motions from Standing Up to Initiating Gait
Ippei Kamada, Mitsunori Uemura, Hiroaki Hirai, and Fumio Miyazaki
IEEJ Transactions on Electronics, Information and Systems   139(9) 1020-1026   2019   [Refereed]
Equilibrium point-based control of muscle-driven anthropomorphic legs reveals modularity of human motor control during pedalling
E. Watanabe, H. Hirai, and H. I. Krebs
Advanced Robotics   (accepted)    2019   [Refereed]
Standing and stepping control with switching rules for bipedal robots based on angular momentum around ankle
M. Uemura and H. Hirai
International Journal of Humanoid Robotics   16(5) 1950022   2019   [Refereed]
Modeling of metacarpophalangeal joint movement using functional electrical stimulation by controlling the equilibrium-point
M. Nagai, K. Atsuumi, K. Taniguchi, K. Matsui, H. Hirai, and A. Nishikawa
Proceedings of 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2019)   ThPOS-34.21   2019   [Refereed]
Virtual trajectory in human walking and running: dynamic patterns depended on gait speed
R. Fujihara, H. Hirai, K. Kozasa, E. Watanabe, A. Nishikawa, D. Kogawa, H. Nagao, Y. Kaneko, and H. I. Krebs
Proceedings of 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2019)   ThPOS-36.39   2019   [Refereed]
Exploiting the invariant structure for controlling multiple muscles in anthropomorphic legs: III. reproducing hemiparetic walking from equilibrium point-based synergies
E. Watanabe, K. Kozasa, R. Fujihara, H. Hirai, K. Yoshida, H. Naritomi, and H. I. Krebs
Proceedings of 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR2019)   1227-1232   2019   [Refereed]
Alteration in foot strike pattern during running with elastic insoles: a case study on the effect of long-term training
R. Fujihara, K. Kozasa, H. Hirai, and H. I. Krebs
Proceeding of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2018)   390-395   2018   [Refereed]
An investigation into rhythmic and discrete gait using the MIT skywalker
B. L. Jackson, R. M. Coelho, H. Hirai, and H. I. Krebs
Proceeding of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2018)   922-927   2018   [Refereed]
Interference electrical stimulation applied to soleus muscle in humans: preliminary study on relationship among stimulation parameters, force output and pain sensation
K. Kozasa, R. Fujihara, H. Hirai, and H. I. Krebs
Proceeding of IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2018)   1038-1043   2018   [Refereed]
N. Kataoka, H. Hirai, T. Hamilton, F. Yoshikawa, A. Kuroiwa, Y. Nagakawa, E. Watanabe, Y. Ninomaru, Y. Saeki, M. Uemura, F. Miyazaki, H. Nakata, T. Nishi, H. Naritomi and H. I. Krebs
Transactions of the Society of Instrument and Control Engineers   54(4) 412-420   2018   [Refereed]
N. Kataoka, H. Hirai, T. Hamilton, F. Yoshikawa, A. Kuroiwa, Y. Nagakawa, E. Watanabe, Y. Ninomaru, Y. Saeki, M. Uemura, F. Miyazaki, H. Nakata, T. Nishi, H. Naritomi, and H. I. Krebs
Proceeding of 15th IEEE International Conference on Rehabilitation Robotics (ICORR2017)   381-386   2017   [Refereed]
R. S. Gonçalves, T. Hamilton, A. R. Daher, H. Hirai, and H. I. Krebs
Proceeding of 15th IEEE International Conference on Rehabilitation Robotics (ICORR2017)   516-520   2017   [Refereed]
Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: equilibrium-point-based control approach to constrained motion
E. Watanbe, H. Hirai, Y. Ninomaru, N. Kataoka, Y. Saeki, M. Uemura, F. Miyazaki, and H. I. Krebs
Proceeding of Progress in Motor Control XI (PMC XI)   1-A-9   2017   [Refereed]
I. Kamada, M. Uemura, H. Hirai, and F. Miyazaki
Proceeding of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2017)   942-945   2017   [Refereed]
E. Watanabe, T. Oku, H. Hirai, F. Yoshikawa, Y. Nagakawa, A. Kuroiwa, E. P. Grabke, M. Uemura, F. Miyazaki, and H. I. Krebs
Proceedings of 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids2016)   1167-1172   2016   [Refereed]
F. Yoshikawa, H. Hirai, E. Watanabe, Y. Nagakawa, A. Kuroiwa, E. Grabke, M. Uemura, F. Miyazaki, and H. I. Krebs
Proceeding of 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids2016)   1135-1140   2016   [Refereed]
K. Tominaga, T. Iimura, M. Uemura, H. Hirai, and F. Miyazaki
Transactions of the Society of Instrument and Control Engineers   52(1) 37-45   2016   [Refereed]
I. Kamada, M. Uemura, H. Hirai, and F. Miyazaki
Transactions of the Japan Society of Mechanical Engineers   82(843) 16-00236   2016   [Refereed]
E. Watanabe, T. Oku, H. Hirai, K. Uno, M. Uemura, and F. Miyazaki
Proceedings of 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids2015)   88-93   2015   [Refereed]
Adaptive tracking control with partial regressor for multi-joint robot
M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015)   004441-004446   2015   [Refereed]
K. Matsui, K. Maegaki, Y. Yamashita, M. Uemura, H. Hirai and F. Miyazaki
Transactions of the Japanese Society for Medical and Biological Engineering   53(1) 14-20   2015   [Refereed]
On the origin of muscle synergies: invariant balance in the co-activation of agonist and antagonist muscle pairs
H. Hirai, F. Miyazaki, H. Naritomi, K. Koba, T. Oku, K. Uno, M. Uemura, T. Nishi, M. Kageyama, and H. I. Krebs
Frontiers in Bioengineering and Biotechnology   3(192) 1-16   2015   [Refereed]
K. Matsui, Y. Hishii, K. Maegaki, Y. Yamashita, M. Uemura, H. Hirai, and F. Miyazaki
Frontiers in Neuroscience   8(164) 1-9   2014   [Refereed]
H. Pham, Y. Ariga, K. Tominaga, T. Oku, K. Nakayama, M. Uemura, H. Hirai, F. Miyazaki
Advanced Robotics   28(11) 745-757   2014   [Refereed]
M. Takeuchi, J. Shimodaira, Y. Amaoka, S. Hamatani, H. Hirai, F. Miyazaki
Journal of Robotics and Mechatronics   26(1) 51-58   2014   [Refereed]
Y. Yamashita, K. Maegaki, K. Matsui, T. Oku, K. Uno, K. Koba, P. Phatiwuttipat, K. Murakami, M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of the ASME 2014 Dynamic Systems and Control Conference (DSCC2014)   6200-1-6200-5   2014   [Refereed]
Abnormal muscle synergies significantly alter endpoint stiffness and virtual trajectory while drawing in a horizontal plane
T. Oku, K. Uno, T. Nishi, M. Kageyama, P. Phatiwuttipat, K. Koba, Y. Yamashita, M. Uemura, H. Hirai, F. Miyazaki, and H. Naritomi
Proceedings of 1st Clinical Movement Analysis World Conference (ESMAC-SIAMOC2014)   320   2014   [Refereed]
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
Proceedings of 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2014)   5784-5787   2014   [Refereed]
A novel muscle synergy extraction method to explain the equilibrium-point trajectory and endpoint stiffness during human upper-limb movements on a horizontal plane
K. Uno, T. OKU, P. Phatiwuttipat, K. Koba, Y. Yamashita, K. Murakami, M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of 5th IEEE RAS&EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014)   621-626   2014   [Refereed]
Tacit representation of muscle activities during coordination training: muscle synergy analysis to visualize motor enhancement in virtual trajectory of multi-joint arm movement
K. Koba, K. Murakami, T. Oku, K. Uno, P. Phatiwuttipat, Y. Yamashita, M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of 5th IEEE RAS&EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014)   270-275   2014   [Refereed]
Y. Ariga, D. Maeda, K. Uno, H. T. T. Pham, M. Uemura, H. Hirai, and F. Miyazaki
Journal of the Robotics Society of Japan   31(5) 517-526   2013   [Refereed]
H. T. T. Pham, M. Hazata, D. Maeda, H. Hirai, and F. Miyazaki
Journal of Japan Society for Fuzzy Theory and Intelligent Informatics   24(1) 536-544   2012   [Refereed]
T. Oku, K. Inoue, Pham T. T. Hang, K. Tominaga, D. Maeda, M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids2012)   606-611   2012   [Refereed]
D. Maeda, K. Tominaga, T. Oku, Pham T. T. Hang, S. Saeki, M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids2012)   638-644   2012   [Refereed]
Y. Ariga, H. T. T. Pham, M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA2012)   1470-1475   2012   [Refereed]
Y. Ariga, D. Maeda, H. Pham, M. Uemura, H. Hirai, and F. Miyazaki
Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012)   4380-4385   2012   [Refereed]
J. Shimodaira, Y. Amaoka, S. Hamatani, M. Takeuchi, H. Hirai, and F. Miyazaki
Transactions of the Society of Instrument and Control Engineers   47(10) 485-492   2011   [Refereed]
Decomposition of limb movement based on muscular coordination during human running
T. Iimura, K. Inoue, H. T. T. Pham, H. Hirai, and F. Miyazaki
Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII)   15(8) 980-987   2011   [Refereed]
H. T. T. Pham, M. Kimura, H. Hirai, and F. Miyazaki
Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA2011)   3658-3663   2011   [Refereed]
T. Iimura, K. Inoue, H. T. T. Pham, H. Hirai, and F. Miyazaki
Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011)   4496-4501   2011   [Refereed]
An experimental study of muscle coordination and function during human locomotion
K. Inoue, T. Iimura, T. Oku, H. T. T. Pham, H. Hirai, and F. Miyazaki
BIO Web of Conferences/International Conference SKILLS 2011   1 00040-1-00040-4   2011   [Refereed]
Y. Amaoka, J. Shimodaira, H. Hirai, and F. Miyazaki
Journal of the Robotics Society of Japan   28(8) 989-995   2010   [Refereed]
H. Hirai, K. Matsui, T. Iimura, K. Mitsumori, and F. Miyazaki
Proceedings of the third IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2010)   716-721   2010   [Refereed]
H. T. T. Pham, R. Ueha, H. Hirai, and F. Miyazaki
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)   2188-2193   2010   [Refereed]
R. Ueha, H. T. T. Pham, H. Hirai, and F. Miyazaki
Proceedings of 2009 IEEE 11th International Conference on Rehabilitation Robotics (ICORR2009)   701-706   2009   [Refereed]
R. Ueha, H. T. T. Pham, H. Hirai, and F. Miyazaki
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)   3051-3056   2009   [Refereed]
Motor skill performance in action
H. Hirai and F. Miyazaki
Journal of the Robotics Society of Japan   26(3) 234-237   2008   [Refereed][Invited]
Table tennis rallies between a person and a robot
F. Miyazaki and H. Hirai
Proceedings of 14th International Conference on Perception and Action (ICPA14)   110-111   2007   [Refereed][Invited]
Robot jugglers: harmonic behaviour of ball-passing robots
H. Hirai and F. Miyazaki
Proceedings of 14th International Conference on Perception and Action (ICPA14)   108-109   2007   [Refereed][Invited]
H. Hirai and F. Miyazaki
Robotica   24(3) 273-293   2006   [Refereed]
H. Hirai and F. Miyazaki
IEEE Transactions on Systems, Man and Cybernetics - Part B   36(4) 738-754   2006   [Refereed]
H. Hirai and F. Miyazaki
Transactions of the Institute of Systems, Control and Information Engineers   19(1) 15-27   2006   [Refereed]
H. Hirai, R. Ozawa, S. Goto, H. Fujigaya, S. Yamasaki, Y. Hatanaka, and S. Kawamura
Proceedings of 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 06)   220-225   2006   [Refereed]
H. Hirai and F. Miyazaki
Proceedings of 2006 IEEE International Conference on Robotics and Automation (ICRA2006)   2590-2596   2006   [Refereed]
A dynamical systems approach to rhythmic coordination between robots
H. Hirai and F. Miyazaki
Proceedings of 4th IFAC Symposium Mechatronic Systems (Mechatronics2006)   163-168   2006
A couple of robots that juggle balls: the complementary mechanisms for dynamic coordination
H. Hirai and F. Miyazaki
Proceedings of 3rd International Conference on Enactive Interfaces (Enactive/06)   151-152   2006   [Refereed]
Dynamic temporal patterns between robots: the self-organized timing selection in juggling-like passing the balls
H. Hirai and F. Miyazaki
Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO2005)   511-516   2005   [Refereed]
What are key mechanisms for adaptive wall-bouncing control?
H. Hirai and F. Miyazaki
Proceedings of IEEE International Conference on Robotics and Biomimetics (ROBIO2004)   907-912   2004   [Refereed]
H. Hirai, Y. Masutani, and F. Miyazaki
Transactions of the Society of Instrument and Control Engineers   39(2) 89-96   2003   [Refereed]
A bidirectional weak coupling approach to rhythmic movement
H. Hirai and F. Miyazaki
Proceedings of International Symposium on Adaptive Motion of Animals and Machines (AMAM2003)   WeP-II-3   2003   [Refereed]
Rhythmic movement by neural oscillator with periodic stimulus
H. Hirai and F. Miyazaki
Proceedings of IEEE International Conference on Robotics and Automation (ICRA2003)   1 226-231   2003   [Refereed]
Motion estimation of an unknown rigid body rotating freely in zero gravity based on complex spectrum of position of a point on the body
H. Hirai and F. Miyazaki
Proceedings of 1998 IEEE International Conference on Robotics and Automation (ICRA1998)   1 907-912   1998   [Refereed]

Misc

 
Landing Control for Legged Robot by Using Angular Momentum around Ankle
S. Uekawa, M. Uemura, and H. Hirai
Proc. the 19th SICE System Integration Division Annual Conference (SI2018)      Dec 2018
Use of Musculoskeletal Robot as Substitute for Human in Biomechanical Research Involving Human Subjects: Case Report of Gait Rehabilitation Device
E. Watanabe, H. Hirai, K. Kozasa, R. Fujihara, and H. I. Krebs
Proc. the 19th SICE System Integration Division Annual Conference (SI2018)      Dec 2018
Long-term Effects of Running Training with Elastic Shoes and Insoles: A Case Study of the Change in Foot Strike Pattern
R. Fujihara , K. Kozasa , H. Hirai , E. Watanabe, and H. I. Krebs
Proc. the 19th SICE System Integration Division Annual Conference (SI2018)      Dec 2018
Selective Activation of Human Soleus Muscle with Interferential Current: A Pilot Study on the Relationship among Stimulation Parameters, Force Output, and Pain Sensation
K. Kozasa, R. Fujihara, H. Hirai, E. Watanabe, and H. I. Krebs
Proc. the 19th SICE System Integration Division Annual Conference (SI2018)      Dec 2018
Gait Interventions with Saddle-seat-type Body-weight-support, Split-belt Treadmill and Soft Wearable Ankle-assisting Orthosis
Y. Saeki, H. Hirai, Y. Ninomaru, N. Kataoka, E. Watanabe, M. Uemura, F. Miyazaki, and H. I. Krebs
Proc. the 18th SICE System Integration Division Annual Conference (SI2017)   1648-1650   Dec 2017
Revisiting Theory of Human Arm Conrol: Equilibrium-point-based Synergies that Encode Coordinates in Task Space, and Virtual Trajectory Formation
Y. Ninomaru, H. Hirai, Y. Saeki, E. Watanabe, N. Kataoka, M. Uemura, F. Miyazaki, and H. I. Krebs
Proc. the 18th SICE System Integration Division Annual Conference (SI2017)   1645-1647   Dec 2017
Development and experimental evaluation of a robotic knee exoskeleton with a variable stiffness mechanism
K. Suzuki, Y. Terada, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 2017 JSME Conference on Robotics and Mechatronics   1P1-K12   May 2017
An experimental study of balance control for bipedal robots based on ankle angular momentum
S. Yagi, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 2017 JSME Conference on Robotics and Mechatronics   1A1-P09   May 2017
Gait Interventions with Saddle-type Body-weight-support, a Split Treadmill and Functional Electrical Stimulation
A. Kuroiwa, H. Hirai, F. Yoshikawa, Y. Nagakawa, E. Watanabe, N. Kataoka, M. Uemura, and F. Miyazaki
Proc. the 17th SICE System Integration Division Annual Conference (SI2016)   2880-2882   Dec 2016
Design, Modeling, and Control of Anthropomorphic Lower-limb Robot: Muscle Synergy Approach to Realization of Forward and Backward Pedaling
E. Watanabe, T. Oku, H. Hirai, K. Uno, M. Uemura, and F. Miyazaki
Proc. the 16th SICE System Integration Division Annual Conference (SI2015)   1587-1589   Dec 2015
Estimation of Hand Stiffness and Equilibrium Point Using EMG for Human Motion Visualization
K. Uno, D. Maeda, K. Tominaga, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 2013 JSME Conference on Robotics and Mechatronics   2A1-G03   May 2013
Comparison of Muscle Coordination between Human Walking and Pedaling
K. Tominaga, T. Oku, H. T. T. Pham, S. Saeki, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)   2N2-6   Dec 2012
Human Adaptation to Hybrid Assistance of Equilibrium Trajectory and of Stiffness Adjustment
K. Tominaga, D. Maeda, S. Saeki, T. Oku, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)   2B3-3   Dec 2012
Equilibrium-point control of human elbow-joint movement by using multichannel functional electrical stimulation
K. Matsui, Y. Hishii, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)   2N2-2   Dec 2012
Muscle Synergy Analysis of Human Arm Movement in a Three-Dimensional Reaching Task
N. Hasegawa, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)   2N2-1   Dec 2012
Change in movement strategy during paddle juggling
T. Kawai, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 13rd SICE System Integration Division Annual Conference (SI2012)   2N2-3   Dec 2012
A Robotic Approach toward Understanding Human Motor Control: Novel Equilibrium-Point Control of Agonist-Antagonist Systems
H. Hirai, K. Inoue, T. Oku, H. T. T. Pham, K. Tominaga, D. Maeda, M. Uemura, and F. Miyazaki
1229-1230   Sep 2012   [Invited]
Development of A Knee Assist Device with A Variable Stiffness Mechanism
I. Kamada, M. Uemura, H. Hirai, F. Miyazaki
Proc. the 2012 JSME Conference on Robotics and Mechatronics   1A1-V07(1)-1A1-V07(3)   May 2012
Analysis of Muscle synergies in Hand-Force Control
D. Maeda, H. T. T. Pham, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 2012 JSME Conference on Robotics and Mechatronics   2A2-F05(1)-2A2-F05(4)   May 2012
Analysis of muscle coordination in human pedaling and its implementation to a musculoskeletal robot
T. Oku, K. Inoue, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 2012 JSME Conference on Robotics and Mechatronics   2A2-F04(1)-2A2-F04(4)   May 2012
Motor adaptation to a directional force eld during continuous reaching movement
K. Murakami, M. Nakajima, Y. Ariga, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 2012 JSME Conference on Robotics and Mechatronics   2A2-F03(1)-2A2-F03(4)   May 2012
Extraction and Visualization of Mortor Primitives during Human Slope Walking
K. Tominaga, T. Iimura, S. Saeki, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 2012 JSME Conference on Robotics and Mechatronics   2A2-F02(1)-2A2-F02(4)   May 2012
Functional Electrical Stimulation (FES) Control of Elbow Joint Movement based on Muscle Coordination
Y. Hishii, M. Nakajima, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)   1654-1657   Dec 2011
Comparison between Human Hand Stiffness Estimated from EMG Data and Calculated from Kinetic Data
Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)   1658-1661   Dec 2011
The Equilibrium-Point Control of a Musculo-skeletal Robot using EMG Signals
Y. Ariga, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)   1662-1665   Dec 2011
Muscle Synergy Analysis of Human Pedaling
K. Inoue, T. Iimura, T. Oku, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)   1666-1668   Dec 2011
A Comparison among Motor Primitives in Muscle Space during Human Slope Walking
T. Iimura, K. Inoue, S. Saeki, K. Tominaga, M. Uemura, H. Hirai, and F. Miyazaki
Proc. the 12nd SICE System Integration Division Annual Conference (SI2011)   1669-1672   Dec 2011
Decomposition and Combination of Motions based on Muscular Coordination during Human Running
T. Iimura, K. Inoue, H. Hirai, and F. Miyazaki
Proc. the 11st SICE System Integration Division Annual Conference (SI2010)   904-907   Dec 2010
A High Correlation Estimation of Hand-Force based on Muscle Activities
H. Pham, Y. Honda, Y. Ariga, H. Hirai, and F. Miyazaki
Proc. the 28th Annual Conf The RSJ (RSJ2010)   RSJ2010AC1C2-2   Sep 2010
Roles of PCs of Agonist-Antagonist Muscle Pairs Ratio in Human Walking
K. Inoue, T. Iimura, H. Hirai, and F. Miyazaki
Proc. the 28th Annual Conf The RSJ (RSJ2010)   RSJ2010AC1I3-2   Sep 2010
Muscle Synergy Monitoring System Using Agonist-Antagonist Muscle Pairs Ratio
Y. Ariga, H. Hirai, and F. Miyazaki
Proc. the 28th Annual Conf The RSJ (RSJ2010)   RSJ2010AC1I3-3   Sep 2010
EMG Analysis to reveal similar muscle coordination in walking and running
R. Tanaka, H. Hirai, and F. Miyazaki
Proc. the 28th Annual Conf The RSJ (RSJ2010)   RSJ2010AC1I3-1   Sep 2010
Upper and lower body action of human swing movement and transferring it to the robot
J. Shimodaira, Y. Amaoka, S. Hamatani, H. Hirai, and F. Miyazaki
Proc. the 28th Annual Conf The RSJ (RSJ2010)   RSJ2010AC1I3-6   Sep 2010
Mudular Building Blocks of Limb Kinematics in Human Locomotion
H. Hirai, K. Matsui, K. Inoue, T. Iimura, and F. Miyazaki
Proc. the 28th Annual Conf The RSJ (RSJ2010)   RSJ2010AC1D2-3   Sep 2010   [Invited]
Synergy Control of Arm Robot using Nomalized Agonist-Antagonistic Muscle Pairs Ratio
M. Kimura, H. Hirai, and F. Miyazaki
Proc. the 28th Annual Conf The RSJ (RSJ2010)   RSJ2010ACA2-3   Sep 2010
Motor Skills Transfer from Human to Robots based on Motion Analysis
Y. Amaoka, H. Hirai, and F. Miyazaki
Proc. the 27th Annual Conf The RSJ (RSJ2009)   RSJ2009AC1L1-06   Sep 2009
EMG Analysis focusing on antagonistic muscle ratio of muscle coordnation
K. Matsui, H. Hirai, and F. Miyazaki
Proc. the 27th Annual Conf The RSJ (RSJ2009)   RSJ2009AC1P1-08   Sep 2009
Dynamical Role Division: A Skill-sharing Approach to Human-robot Cooperation
H. Hirai, R. Ueha, H. T. T. Pham, and F. Miyazaki
Proc. the 27th Annual Conf The RSJ (RSJ2009)   RSJ2009AC2K2-04   Sep 2009   [Invited]
Operating analysis with antagonistic muscle ratio for human upper extremity motion
S. Kawagoe, K. Matsui, H. Hirai, and F. Miyazaki
Proc. the 27th Annual Conf The RSJ (RSJ2009)   RSJ2009AC1P1-04   Sep 2009
Specialized roles for coordinated motion between two people
R. Ueha, H. Hirai, and F. Miyazaki
Proc. the 26th Annual Conf The RSJ (RSJ2008)   RSJ2008AC1I1-03   Sep 2008
Development of a patient-adaptive ankle-foot orthosis with a pneumatic passive device
R. Taniguchi, H. Hirai, and F. Miyazaki
Proc. the 2008 JSME Conference on Robotics and Mechatronics   1P1-D13(1)-1P1-D13(4)   Jun 2008
Development of an ankle foot orthosis with pneumatic passive elements - negative pressure control based on walking cycle -
R. Ozawa, S. Goto, S. Yamasaki, A. Nakamura, H. Hirai, S. Kawamura, and Y. Hatanaka
Proc. the 2006 JSME Conference on Robotics and Mechatronics   1P1-A15(1)-1P1-A15(4)   May 2006
Development of ankle-foot orthosis with variable constraint force
H. Hirai, R. Ozawa, S. Goto, S. Yamasaki, Y. Hatanaka, and S. Kawamura
Proc. 2005 the JSME Symposium on Welfare Engineering   57-60   Dec 2005
Timing skill of rhythmic coordination in juggling-like passing the balls
H. Hirai and F. Miyazaki
Proc. the 6th SICE System Integration Division Annual Conference (SI2005)   619-620   Dec 2005
The emerging-synchronized motion of two robots in the two-ball passing task
H. Hirai and F.Miyazaki
Proc. the 23rd Annual Conf The RSJ (RSJ2005)   3D11   Sep 2005
Development of ankle foot orthosis with pneumatic passive element
R. Ozawa, H. Hirai, H. Fujigaya, S. Goto, Y. Hatanaka, and S. Kawamura
Proc. the 2005 JSME Conference on Robotics and Mechatronics   1P1-N-128(1)-1P1-N-128(4)   Jun 2005
Adaptive timing selection in passive quasi-juggling strategy
H. Hirai and F. Miyazaki
Proc. the 22nd Annual Conf The RSJ (RSJ2004)   1D23   Sep 2004
Rhythmic movement by neural oscillator with periodic stimulus
H. Hirai and F. Miyazaki
Proc. the 20th Annual Conf The RSJ (RSJ2002)   3E38   Oct 2002
Motion estimation of unknown rigid body rotationg freely mainly using power spectrum of time sequence of a point position on the body
H. Hirai, Y. Masutani, and F. Miyazaki
Proc. the 1999 JSME Conference on Robotics and Mechatronics   1A1-06-044(1)-1A1-06-044(2)   Jun 1999
Motion estimation of rigid body rotating freely under zero gravity condition based on position information of multiple points on the body
H. Hirai, Y. Masutani, and F. Miyazaki
Proc. the 16th Annual Conf The RSJ (RSJ1998)   1237-1238   Sep 1998
Motion estimation of unknown rigid body rotating freely under zero gravity condition based on position information of a point on the body
H. Hirai, Y. Masutani, and F. Miyazaki
Proc. the 3rd Robotics Symposia   75-82   1998   [Refereed]
Motion estimation of an unknown rigid body rotating freely in zero gravity based on complex spectrum of position of a point on the body
H. Hirai, Y. Masutani, and F. Miyazaki
Proc. 7th Workshop on Astrodynamics and Flight Mechanics   359-366   1997

Books etc

 
Applications of Synergies in Human Machine Interfaces
H. Hirai, F. Miyazaki, H. Naritomi, K. Koba, T. Oku, K. Uno, M. Uemura, T. Nishi, M. Kageyama and H. I. Krebs (Part:Contributor, On the Origin of Muscle Synergies: Invariant Balance in the Co-activation of Agonist and Antagonist Muscle Pairs)
Frontiers Media   2019   
Cognitive Neuroscience Robotics: Synthetic Approaches to Human Understanding
H. Hirai, H. Pham, Y. Ariga, K. Uno, and F. Miyazaki (Part:Contributor, Motor control based on the muscle synergy hypothesis)
Springer   2015   

Conference Activities & Talks

 
A Robotic Approach toward Understanding Human Motor Control: Novel Equilibrium-Point Control of Agonist-Antagonist Systems [Invited]
H. Hirai, K. Inoue, T. Oku, H. T. T. Pham, K. Tominaga, D. Maeda, M. Uemura, and F. Miyazaki
28th Fuzzy System Symposium (FSS2012)   14 Sep 2012   
Table tennis rallies between a person and a robot [Invited]
F. Miyazaki and H. Hirai
14th International Conference on Perception and Action (ICPA14)   6 Jul 2007   
Robot jugglers: harmonic behaviour of ball-passing robots [Invited]
H. Hirai and F. Miyazaki
14th International Conference on Perception and Action (ICPA14)   6 Jul 2007   

Patents

 
US20180177667A1 : Method for determining leg-phase shift timing, leg-phase shift timing determination apparatus, method for controlling walking assistance, and walking assistance
Mitsunori Uemura, Fumio Miyazaki, and Hiroaki Hirai
US16/330409 : Motion analyzing device, motion analyzing method, and recording medium
Hiroaki Hirai, Fumiaki Yoshikawa, Eichi Watanabe,Yuma Nagakawa, Akira Kuroiwa, Mitsunori Uemura, and Fumio Miyazaki
US20160324436A1 : Movement analysis apparatus, method for analyzing movement, and movement analysis program
Fumio Miyazaki, Hiroaki Hirai, Mitsunori Uemura, Kanna Uno, and Takanori Oku
WO2016159346A1 : Legged mechanism, walking robot, orientation control method, and program
Mitsunori Uemura, Fumio Miyazaki, and Hiroaki Hirai
特許US9078585 B2 : Muscle synergy analysis method, muscle synergy analyzer, and muscle synergy interface
Fumio Miyazaki, Hiroaki Hirai, Syohei Kawagoe, Kazuhiro Matsui, and Takayuki Nakano