2025/07/01 更新

写真a

コク コキ
谷 子曦
所属
理工学術院 創造理工学部
職名
助教
学位
博士(工学) ( 2025年02月 早稲田大学 )

経歴

  • 2025年04月
    -
    継続中

    早稲田大学   理工学術院   助教

学歴

  • 2018年09月
    -
    2025年02月

    早稲田大学   大学院先進理工学研究科   生命理工学専攻, 博士(工学)  

    博士(工学)

  • 2016年09月
    -
    2018年09月

    早稲田大学   大学院先進理工学研究科   生命理工学専攻, 修士(工学)  

    修士(工学)

研究分野

  • 制御、システム工学 / ヒューマンインタフェース、インタラクション / 知能ロボティクス / ロボティクス、知能機械システム / 機械力学、メカトロニクス

研究キーワード

  • ロボット操縦

  • 人間計測

  • ハプティクス

  • ヒューマンインタフェース

  • ヒューマノイドロボット

  • 知能ロボティクス

▼全件表示

受賞

  • Best Student Paper Award

    2019年08月   IEEE ICMA 2019   Development of a training system to increase knee extension load during walking.- Design and evaluation of training device -  

    受賞者: Zixi Gu, Mazoon Salim Al Maamari, Di Zhang, Yasuo Kawakami, Sarah Cosentino, Atsuo Takanishi

  • Best Paper Finalist

    2019年08月   IEEE ICMA 2019   Development of a training system to increase knee extension load during walking.- Design and evaluation of training device -  

    受賞者: Zixi Gu, Mazoon Salim Al Maamari, Di Zhang, Yasuo Kawakami, Sarah Cosentino, Atsuo Takanishi

 

論文

  • Development of a Non-Contacting Muscular Activity Measurement System for Evaluating Knee Extensors Training in Real-Time

    Sensors   22 ( 12 ) 4632 - 4632  2022年06月  [国際誌]

    担当区分:筆頭著者, 責任著者

     概要を見る

    To give people more specific information on the quality of their daily motion, it is necessary to continuously measure muscular activity during everyday occupations in an easy way. The traditional methods to measure muscle activity using a combination of surface electromyography (sEMG) sensors and optical motion capture system are expensive and not suitable for non-technical users and unstructured environment. For this reason, in our group we are researching methods to estimate leg muscle activity using non-contact wearable sensors, improving ease of movement and system usability. In a previous study, we developed a method to estimate muscle activity via only a single inertial measurement unit (IMU) on the shank. In this study, we describe a method to estimate muscle activity during walking via two IMU sensors, using an original sensing system and specifically developed estimation algorithms based on ANN techniques. The muscle activity estimation results, estimated by the proposed algorithm after optimization, showed a relatively high estimation accuracy with a correlation efficient of R2 = 0.48 and a standard deviation STD = 0.10, with a total system average delay of 192 ms. As the average interval between different gait phases in human gait is 250–1000 ms, a 192 ms delay is still acceptable for daily walking requirements. For this reason, compared with the previous study, the newly proposed system presents a higher accuracy and is better suitable for real-time leg muscle activity estimation during walking.

    DOI

    Scopus

    4
    被引用数
    (Scopus)
  • Development of a Knee Extensors Training System with Active Resistance Component

    2021 IEEE International Conference on Mechatronics and Automation (ICMA)     878 - 883  2021年08月  [査読有り]  [国際誌]

    担当区分:筆頭著者, 責任著者

     概要を見る

    Knee extensors play a key role in maintaining balance and stabilizing gait. Insufficient training of knee extensors leads to muscle atrophy and progressive overall body instability. However, training knee extensors requires specific exercises which are not easily integrated in activities of daily life. For example, even if walking is one of the most popular daily exercise, its training effects are limited to lower leg muscles. To better integrate knee extensor training in daily life we are developing a training device which can apply additional mechanical load on the knee joint during daily normal walking, to extend the training effects of simple walking to knee extensors. We projected a longterm study to develop an integrated system which combines a training function with an assisting function. Integrated sensors measure the biological data of muscular activity to automatically select the proper mode in real-time. In 2019, we designed a prototype of the training device and evaluated its effects on the knee extensor muscle with preliminary experiments. The results validated the feasibility of the training system and showed that the training load need to be adapted to the gait phase during walking. In this study, we improved the training device with active resistance component to adjust the training load in real-time.

    DOI

  • ウォーキングのトレーニング効果を促進する膝装具の開発~二足歩行ロボットと人工知能による筋活動推定研究に基づく装具プロトタイプ評価~

    COSENTINO Sarah, GU Zixi, AL MAAMARI Mazoon, 川上泰雄, 高西淳夫

    デサントスポーツ科学   41  2020年  [国内誌]

    担当区分:筆頭著者, 責任著者

     概要を見る

    介護予防のためには筋力低下の防止が必要であり,特に膝伸展筋力の維持が重要といわれている.介護予防策としては運動が推奨されているが,その中でも人気の高い運動の一つとしてウォーキングが挙げられる.しかしウォーキングでは下腿優位であり,膝伸展筋力が鍛えられないという問題がある.そこで我々は,機械的なデバイスで負荷をかける装具の開発に取り組む.装具は小型かつ電力を必要としないダンパを用いて設計を行う.負荷力などの装具の要求仕様はこれまでの研究で既に決定しており,本研究では膝装具のプロトタイプの製作,および評価を実施することとした.将来的には,膝装具のダンパをアクティブ機構に変更し,筋活動評価システムと統合することで,筋活動量に合わせて自動的にトレーニング負荷を調整可能な新しいトレーニングシステムを提案する.

    DOI J-GLOBAL

  • Design and Evaluation of a Training system to Increase Knee Extension Load During Walking

    2019 IEEE International Conference on Mechatronics and Automation (ICMA)     1288 - 1293  2019年08月  [査読有り]  [国際誌]

    担当区分:筆頭著者, 責任著者

     概要を見る

    Prevention of mobility loss due to aging is critical to avoid or postpone the necessity for continuous care in late stages of life. In particular, knee extensors have a key role in maintaining balance and stabilizing gait. As loss of muscle strength in knee extensors jeopardize mobility abilities, continuous training of these muscles is fundamental. Walking is the most popular daily exercise. However, the training effects of simple walking are limited to lower leg muscles, leading to a progressive deterioration of knee extension muscles strength if not integrated with specific exercises targeting those muscles. Therefore, we are developing a training device to apply additional mechanical load on the knee during walking and extend the training effect of simple walking to knee extensors. The training device will be designed for maximum versatility using a compact oil damper with no need for electrical power. The specifications of the device will be determined using results from preliminary research on knee extensor muscle activity during walking, evaluated with an IMU (Inertial Measurement Unit) based measuring system. In this study, we designed a prototype of the device and evaluated its training effect on knee extensor muscle.

    DOI

  • 足首に装着する単一の慣性センサに基づく足の筋肉収縮強度推定手法の提案

    谷 子曦, 兒玉 拓磨, 河西 利太朗, 張 頔, 孔 维晟, コセンティノ サラ, セッサ サルバトーレ, 川上 泰雄, 高西 淳夫

    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)   18th ( ROMBUNNO.2B3-04 )  2017年  [査読有り]  [国内誌]

    担当区分:筆頭著者, 責任著者

    J-GLOBAL

  • Development of Pneumatic Circuit with Intraoral Pressure Control on Humanoid Saxophone Playing Robot

    2024 7th International Conference on Mechatronics, Robotics and Automation (ICMRA)     43 - 48  2024年09月  [査読有り]  [国際誌]

     概要を見る

    To investigate the human mechanisms involved in musical instrument performance, the humanoid saxophone playing robot was developed. However, there are limitations regarding the performance stability and difficulties in controlling dynamics. To address these issues and ensure stable sound production, an improved pneumatic circuit that combines intraoral pressure control with the existing flow control mechanism was developed in this study. The oral cavity was improved by reforming the frame part with hard materials to increase air tightness and facilitate easier maintenance compared to the previous design. Soft material was partly used to enable tongue movement and cross section change while absorbing echoes in oral cavity. A proportional valve was implemented as the air outlet of the oral cavity to mimic the human act of air inhalation, solving the problem of control delay and enabling smoother note transitions. The improved system allows the robot to deliver a consistent and stable performance, enabling a better musical expression.

    DOI

  • The creation of DarumaTO: a social companion robot for Buddhist/Shinto elderlies

    2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)     606 - 611  2019年07月  [査読有り]  [国際誌]

     概要を見る

    A growing need of socially assistive devices is now present in several countries affected by ageing societies. Robotics offers a solution to this problem, however the introduction of such devices is proving to be challenging because of users' acceptance. The cultural factor, blended with the background religion, may be critical in obtaining a positive impression. In order to achieve this goal, we introduce the use of skeuomorphism into robotics and present one first application: the development of DarumaTO social robot. DarumaTO is inspired to the traditional Buddhist and Shinto doll called Daruma, and it has has 2 degrees of freedom. It can communicate through visual tracking, voice and facial expression. The design results into a device that has a familiar appearance to a Buddhist or Shinto elderly person.

    DOI

  • Knee extensor muscular activity estimation during different walking patterns: flat normal and brisk walking, stair climbing

    2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)     1554 - 1557  2018年07月  [査読有り]  [国際誌]

     概要を見る

    Preserving mobility, the ability to keep a correct posture and dynamic balance in order to walk properly, is fundamental to maintain autonomy in daily life. Based on the correlation between muscle groups and autonomy, previous research has suggested that maintaining muscular tone in knee extensors is critical. Continuous training of knee extensors during aging is therefore essential to maintain independence. In this work, it is hypothesized that it is possible to estimate knee extensor activity only from IMU data based on a simple lower limbs model. The accuracy of the knee extensor activity estimation algorithm has been tested using sEMG measurements as control data on three different walking patterns: normal walk, fast walk and stair climbing. Estimated knee torque area and measured muscular activity for each step were compared confirming a high estimation accuracy with a correlation efficient R=0.80. Moreover, muscular activity can be divided based on intensity in three groups of statistically significant difference confirmed by the Steel-Dwass method. Future works should test the usability of the algorithm for different walking patterns, and use the collected data and the refined algorithm to implement a smart resistive device to increase knee extensor exertion during each walking pattern to the level necessary for sufficient extensor training.

    DOI

  • Development of a low-cost smart home system using wireless environmental monitoring sensors for functionally independent elderly people

    2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)     153 - 158  2017年12月  [査読有り]  [国際誌]

     概要を見る

    The number of older adults is increasing much faster than the other age groups in the world. Especially in Japan, more and more older adult are becoming functionally independent. The smart home are appearing which provides comfort and monitors the life of the residents. However, when thinking about healthy older adults, there are two important points to take into account for the smart home: providing comfort and monitoring the position inside the house of the older adults on their daily life. This can also help their families giving them peace of mind. In this study, we designed a smart home system which includes low-cost sensor parts and a finger robot. This system can be used to control home appliances, such as air conditioners to keep the residents in a comfortable environment. Without the need of additional sensors only by using CO2 sensors, this system can provide information such as the room the resident is in, or if he/she is at home or not. As a result, we show a working system and the CO2 sensor is able to judge the position of the resident, and we are even able to understand the movement path of the resident.

    DOI

  • Reliability of stride length estimation in self-pace and brisk walking with an inertial measurement unit on shank

        671 - 676  2017年08月  [査読有り]  [国際誌]

     概要を見る

    The use of Inertial Measurement Unit (IMU) for gait analysis is gaining popularity because of its advantages of low cost and non-limited workspace. In this context, researchers are focusing on methods for automated data analysis. For example, many algorithms for stride length estimation have been developed. These algorithms rely on event detection to compute gait parameters during walking and on orientation estimation for a more precise double integration of acceleration. However, at the present, there is not comparison between existing algorithms, and the applicability of each algorithm for different walking patterns is not clear. In this paper, we studied the effect on the stride length estimation using three different techniques of event detection and two techniques of orientation estimation, by using an IMU on the lateral side of shank above the ankle. In total 6 patterns of stride estimation algorithms were compared on different walking patterns of normal and brisk walking. We evaluated the techniques in terms of precision, accuracy, and shape of the histogram of the stride estimation error.

    DOI

  • Stride length estimation in self-pace and brisk walking with a single inertial measurement unit on the shank

    Proceedings of the ICRA 2017 Workshop on Advances and Challenges on the Development, Testing and Assessment of Assistive and Rehabilitation Robots: Experiences from Engineering And Human Science Research   1 ( 53 ) 53 - 56  2017年05月  [査読有り]  [国際誌]

     概要を見る

    The use of inertial sensors to measure spatial parameters of human gait is becoming more and more attractive because of their low cost and simple use in settings outside the laboratories and long tracking experiments. Furthermore, several wearable exoskeletons embed and use such sensors in the internal control loop or to measure the user training progress by monitoring the spatiotemporal parameters of gait, such as the stride length.
    Many algorithms for stride length estimation have been developed. However, it is fundamental to implement methodologies to identify critical points on stride length estimation, depending on different walking patterns. In this paper, we studied the effect on stride length estimation of three different techniques to remove the gravitational component of acceleration in self-pace and brisk walking by using an inertial measurement unit on the lateral side of shank above the ankle. We evaluate the techniques by considering precision, accuracy, and shape of the histogram of the stride estimation error.

▼全件表示

共同研究・競争的資金等の研究課題

  • 特定課題研究助成費「研究基盤形成」

    早稲田大学  特定課題研究助成費

    研究期間:

    2025年06月
    -
    2026年03月
     

 

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