Research Council (Research Organization), Future Robotics Organization

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Junior Researcher(Assistant Professor)

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Concurrent Post 【 display / non-display

  • Faculty of Science and Engineering   School of Creative Science and Engineering

Degree 【 display / non-display

  • 2020.03   Waseda University   Doctor of Engineering


Papers 【 display / non-display

  • Short-Term Effects of the Repeated Exposure to Trip-like Perturbations on Inter-Segment Coordination during Walking: An UCM Analysis

    Vito Monaco, Clara Zabban, Tamon Miyake

    Applied Sciences   11 ( 20 ) 9663 - 9663  2021.10

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    The minimum toe clearance (MTC) results from the coordination of all bilateral lower limb body segments, i.e., a redundant kinematic chain. We tested the hypothesis that repeated exposure to trip-like perturbations induces a more effective covariation of limb segments during steady walking, in accordance with the uncontrolled manifold (UCM) theory, to minimize the MTC across strides. Twelve healthy young adults (mean age 26.2 ± 3.3 years) were enrolled. The experimental protocol consisted of three identical trials, each involving three phases carried outin succession: steady walking (baseline), managing trip-like perturbations, and steady walking (post-perturbation). Lower limb kinematics collected during both steady walking phases wereanalyzed in the framework of the UCM theory to test the hypothesis that the reduced MTC variability following the perturbation can occur, in conjunction with more effective organization of the redundant lower limb segments. Results revealed that, after the perturbation, the synergy underlying lower limb coordination becomes stronger. Accordingly, the short-term effects of the repeated exposure to perturbations modify the organization of the redundant lower limb-related movements. In addition, results confirm that the UCM theory is a promising tool for exploring the effectiveness of interventions aimed at purposely modifying motor behaviors.


  • Repeated exposure to tripping like perturbations elicits more precise control and lower toe clearance of the swinging foot during steady walking

    Tamon Miyake, Federica Aprigliano, Shigeki Sugano, Silvestro Micera, Vito Monaco

    Human Movement Science   76  2021.04

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    Controlling minimum toe clearance (MTC) is considered an important factor in preventing tripping. In the current study, we investigated modifications of neuro-muscular control underlying toe clearance during steady locomotion induced by repeated exposure to tripping-like perturbations of the right swing foot. Fourteen healthy young adults (mean age 26.4 ± 3.1 years) participated in the study. The experimental protocol consisted of three identical trials, each involving three phases: steady walking (baseline), perturbation, and steady walking (post-perturbation). During the perturbation, participants experienced 30 tripping-like perturbations at unexpected timing delivered by a custom-made mechatronic perturbation device. The temporal parameters (cadence and stance phase ), mean, and standard deviation of MTC were computed across approximately 90 strides collected during both baseline and post-perturbation phases, for all trials. The effects of trial (three levels), phase (two levels: baseline and post-perturbation) and foot (two levels: right and left) on the outcome variables were analyzed using a three-way repeated measures analysis of variance. The results revealed that exposure to repeated trip-like perturbations modified MTC toward more precise control and lower toe clearance of the swinging foot, which appeared to reflect both the expectation of potential forthcoming perturbations and a quicker compensatory response in cases of a lack of balance. Moreover, locomotion control enabled subjects to maintain symmetric rhythmic features during post-perturbation steady walking. Finally, the effects of exposure to perturbation quickly disappeared among consecutive trials. %

    DOI PubMed

  • Gait phase detection based on muscle deformation with static standing-based calibration

    Tamon Miyake, Shintaro Yamamoto, Satoshi Hosono, Satoshi Funabashi, Zhengxue Cheng, Cheng Zhang, Emi Tamaki, Shigeki Sugano

    Sensors (Switzerland)   21 ( 4 ) 1 - 16  2021.02

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    Gait phase detection, which detects foot-contact and foot-off states during walking, is important for various applications, such as synchronous robotic assistance and health monitoring. Gait phase detection systems have been proposed with various wearable devices, sensing inertial, electromyography, or force myography information. In this paper, we present a novel gait phase detection system with static standing-based calibration using muscle deformation information. The gait phase detection algorithm can be calibrated within a short time using muscle deformation data by standing in several postures; it is not necessary to collect data while walking for calibration. A logistic regression algorithm is used as the machine learning algorithm, and the probability output is adjusted based on the angular velocity of the sensor. An experiment is performed with 10 subjects, and the detection accuracy of foot-contact and foot-off states is evaluated using video data for each subject. The median accuracy is approximately 90% during walking based on calibration for 60 s, which shows the feasibility of the static standing-based calibration method using muscle deformation information for foot-contact and foot-off state detection.

    DOI PubMed

  • Investigation of Relationship between Multi-Point Mechanical Stimuli on Shoulder and Overall Pain on Backpack Wearers

    Nenta Wako, Tamon Miyake, Shigeki Sugano

    2021 IEEE/SICE International Symposium on System Integration, SII 2021     363 - 368  2021.01

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    With the increasing use of backpacks on a daily basis, appropriate assessment of shoulder load, which has adverse effects on the body, has become more important. We focused on nociceptive pain, which is a physiological warning signal, and performed a subjective evaluation of loading conditions. In this study, we investigated the relationship between multi-point mechanical stimuli set at38 measuring points on the shoulder, and overall pain. In the experiment, eight subjects rated their pain levels at 24 loading conditions (combinations of 3 weight, 2 weight-distance, 2 weight-height, and 2 padding conditions) using a pain scale. In the statistical analysis, the overall pain intensities at different loading conditions were compared through ANOVA, and weight and distance from body were confirmed as main contributing factors. In the regression analysis, four different models were used to fit the overall data. A generalized linear model (GLM) with polynomial sigmoid function resulted in the best fit. GLM fitting was also performed on the data after these have been divided into 8 groups based on combinations of distance-height-padding. The independent variables, the selected combinations of loads at the measuring points, differed depending on the loading conditions. For more accurate regression, loads that contribute to the determination of overall pain intensity should be appropriately selected according to the loading conditions. These results can be used to comprehensively evaluate backpack design based on shoulder pain.


  • Extraction of Shoulder Parts to Avoid Heavy Load Based on Pain while Walking with Backpack

    Nenta Wako, Tamon Miyake, Shigeki Sugano

    2021 IEEE/SICE International Symposium on System Integration, SII 2021     357 - 362  2021.01

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    When using a backpack, proper shoulder load reduction is required. We focused on pain (nociceptive pain), which is a warning signal to protect the human body, and we aimed to extract the shoulder parts to avoid heavy loads while walking with a backpack. We set 19 measuring points on each shoulder and 12 measuring points on the lower back. Using three-axis tactile sensors, we then recorded the interface load on the shoulders and lower back under two back panel conditions: general flat panel and panel with lumbar pad. With 180 data for mean load and 150 data for peak load on each measuring point, we confirmed the load distribution and load shift effects using a lumbar pad by comparing the shoulder load and the lower back load. Then, the shoulder load data was normalized by the pain threshold for a single-point pressure stimulus at each measuring point of the subject. The pain threshold was estimated by an approximate expression with a sigmoid function for pain scores, which were collected by subjective evaluation with a pain scale. In statistical analysis, through multiple comparisons (Steel-Dwass test) for the mean values of the normalized shoulder load on each measuring point and its mean value of the entire shoulder, we extracted seven potential high-risk points (coracoid process, medial and lateral part of the clavicle regions, medial and lateral part of the ridgeline of the shoulder, and supraspinatus). Moreover, we observed that high-risk loads remained locally behind a significant reduction of the entire shoulder load with a lumbar pad. These results can be used to improve backpack design for proper loads on the shoulder.


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Misc 【 display / non-display

  • Proposal for a movable lumbar pad for backpack considering pelvic motion

    若生然太, 三宅太文, 菅野重樹

    人間生活工学   22 ( 1 )  2021


  • つまずき予防のための歩行訓練ロボットの開発

    三宅太文, 藤江正克, 菅野重樹

    地域ケアリング   22 ( 5 )  2020


  • Gait training robot for trip prevention improving toe control ability

    三宅太文, 三宅太文

    立石科学技術振興財団助成研究成果集(Web)   ( 29 )  2020


  • ワイヤ駆動型歩行訓練ロボットによる断続的な介入による訓練効果の検証

    三宅太文, 小林洋, 藤江正克, 菅野重樹

    日本ロボット学会学術講演会予稿集(CD-ROM)   37th  2019


  • リチウムイオン電池の等価回路モデル解析による劣化箇所推定に関する研究

    三宅太文, 鈴木智幸, 船橋賢, 亀崎允啓, 荘田隆博, 石居真, 菅野重樹

    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(CD-ROM)   20th  2019


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Research Projects 【 display / non-display

  • 人のつまずき回避能力を向上させるワイヤ駆動型歩行訓練ロボットの制御手法構築


    Project Year :


    三宅 太文

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Syllabus 【 display / non-display


Committee Memberships 【 display / non-display

  • 2019.06

    日本ロボット学会 実行委員

  • 2017

    Co-Chair of the Student Activities Committee of the IEEE Robotics and Automation Society