The Experts below are selected from a list of 6921 Experts worldwide ranked by ideXlab platform
Suguru Arimoto - One of the best experts on this subject based on the ideXlab platform.
-
Evaluation of inertia matching of trans-femoral prosthesis based on Riemannian Distance
IEEE ICME International Conference on Complex Medical Engineering, 2010Co-Authors: Takahiro Wada, Masahiro Sekimoto, Toyokazu Takeuchi, Yuuki Shiba, Suguru ArimotoAbstract:A method to quantify the matching of inertia property of a trans-femoral prosthesis to a given user's skill will be explored for better design of the prosthesis. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though such smooth gait is important to increase the amputee's activities of daily living (ADL). Inertia of the prosthesis plays an important role in natural and smooth gaits during the swing phase. We suppose that goodness of gait or easiness of walking is strongly related to effective use of the prosthesis inertia. In this paper, we will attempt to quantify matching of inertia property of the prosthesis to a given user's skill / condition from the effective use of the prosthesis inertia during gait in the swing phase. Gaits of an expert prosthesis user will be measured by changing inertia properties. Effective use of inertia property of the prosthesis in gait is evaluated by closeness of the gait to the inertia-induced motion using inertia-induced measure. In addition gait of a novice prosthesis user will be measured to compare with the expert's results.
-
Observation of human multi-joint arm movement from the viewpoint of a Riemannian Distance
2009Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Boris I. Prilutsky, Tadao Isaka, Sadao KawamuraAbstract:This paper aims at analyzing dynamic characteristics of human arm movements from the viewpoint of Riemannian Distance. In order to evaluate the amount of inertia-induced movement of a multi-joint arm, a measure called inertia-induced measure is developed. By applying the measure to actual human reaching, it is shown that the smooth reaching tends to be closer to the inertia-induced movement than the clumsy reaching. From this observation, it is suggested that humans use their own inertia properties efficiently in smooth reaching.
-
Evaluation of gait with trans-femoral prosthesis based on Riemannian Distance
2009 International Conference on Mechatronics and Automation, 2009Co-Authors: Takahiro Wada, Masahiro Sekimoto, Toyokazu Takeuchi, Yuuki Shiba, Suguru ArimotoAbstract:This paper presents a method to quantify the goodness of gait with a trans-femoral prosthesis in order to evaluate walking skill with the prosthesis and its application to its design. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though such smooth gait is important to increase the amputee's activities of daily living (ADL). Inertia of the prosthesis plays an important role in natural and smooth gaits during the swing phase. We suppose that goodness of gait or easiness of walking is strongly related to effective use of the prosthesis inertia. Recently, inertia-induced measure has been proposed as a measure to quantify inertia-induced motion of a multi-body system based on the Riemannian Distance. In this paper, we will attempt to evaluate the goodness or easiness of walking with a prosthesis leg by quantifying the effective use of the prosthesis inertia based on the Riemannian Distance. Gaits with several different inertia properties will be measured. The results will then demonstrate the strong relevance between subjective evaluation of easiness of walking and effective use of inertia evaluated based on the Riemannian Distance.
-
skilled motion plannings of multi body systems based upon Riemannian Distance
International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
-
ICRA - Skilled-motion plannings of multi-body systems based upon Riemannian Distance
2008 IEEE International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
Masahiro Sekimoto - One of the best experts on this subject based on the ideXlab platform.
-
Evaluation of inertia matching of trans-femoral prosthesis based on Riemannian Distance
IEEE ICME International Conference on Complex Medical Engineering, 2010Co-Authors: Takahiro Wada, Masahiro Sekimoto, Toyokazu Takeuchi, Yuuki Shiba, Suguru ArimotoAbstract:A method to quantify the matching of inertia property of a trans-femoral prosthesis to a given user's skill will be explored for better design of the prosthesis. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though such smooth gait is important to increase the amputee's activities of daily living (ADL). Inertia of the prosthesis plays an important role in natural and smooth gaits during the swing phase. We suppose that goodness of gait or easiness of walking is strongly related to effective use of the prosthesis inertia. In this paper, we will attempt to quantify matching of inertia property of the prosthesis to a given user's skill / condition from the effective use of the prosthesis inertia during gait in the swing phase. Gaits of an expert prosthesis user will be measured by changing inertia properties. Effective use of inertia property of the prosthesis in gait is evaluated by closeness of the gait to the inertia-induced motion using inertia-induced measure. In addition gait of a novice prosthesis user will be measured to compare with the expert's results.
-
Observation of human multi-joint arm movement from the viewpoint of a Riemannian Distance
2009Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Boris I. Prilutsky, Tadao Isaka, Sadao KawamuraAbstract:This paper aims at analyzing dynamic characteristics of human arm movements from the viewpoint of Riemannian Distance. In order to evaluate the amount of inertia-induced movement of a multi-joint arm, a measure called inertia-induced measure is developed. By applying the measure to actual human reaching, it is shown that the smooth reaching tends to be closer to the inertia-induced movement than the clumsy reaching. From this observation, it is suggested that humans use their own inertia properties efficiently in smooth reaching.
-
Evaluation of gait with trans-femoral prosthesis based on Riemannian Distance
2009 International Conference on Mechatronics and Automation, 2009Co-Authors: Takahiro Wada, Masahiro Sekimoto, Toyokazu Takeuchi, Yuuki Shiba, Suguru ArimotoAbstract:This paper presents a method to quantify the goodness of gait with a trans-femoral prosthesis in order to evaluate walking skill with the prosthesis and its application to its design. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though such smooth gait is important to increase the amputee's activities of daily living (ADL). Inertia of the prosthesis plays an important role in natural and smooth gaits during the swing phase. We suppose that goodness of gait or easiness of walking is strongly related to effective use of the prosthesis inertia. Recently, inertia-induced measure has been proposed as a measure to quantify inertia-induced motion of a multi-body system based on the Riemannian Distance. In this paper, we will attempt to evaluate the goodness or easiness of walking with a prosthesis leg by quantifying the effective use of the prosthesis inertia based on the Riemannian Distance. Gaits with several different inertia properties will be measured. The results will then demonstrate the strong relevance between subjective evaluation of easiness of walking and effective use of inertia evaluated based on the Riemannian Distance.
-
skilled motion plannings of multi body systems based upon Riemannian Distance
International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
-
ICRA - Skilled-motion plannings of multi-body systems based upon Riemannian Distance
2008 IEEE International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
Jihun Bae - One of the best experts on this subject based on the ideXlab platform.
-
skilled motion plannings of multi body systems based upon Riemannian Distance
International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
-
ICRA - Skilled-motion plannings of multi-body systems based upon Riemannian Distance
2008 IEEE International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
Takahiro Wada - One of the best experts on this subject based on the ideXlab platform.
-
Evaluation of inertia matching of trans-femoral prosthesis based on Riemannian Distance
IEEE ICME International Conference on Complex Medical Engineering, 2010Co-Authors: Takahiro Wada, Masahiro Sekimoto, Toyokazu Takeuchi, Yuuki Shiba, Suguru ArimotoAbstract:A method to quantify the matching of inertia property of a trans-femoral prosthesis to a given user's skill will be explored for better design of the prosthesis. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though such smooth gait is important to increase the amputee's activities of daily living (ADL). Inertia of the prosthesis plays an important role in natural and smooth gaits during the swing phase. We suppose that goodness of gait or easiness of walking is strongly related to effective use of the prosthesis inertia. In this paper, we will attempt to quantify matching of inertia property of the prosthesis to a given user's skill / condition from the effective use of the prosthesis inertia during gait in the swing phase. Gaits of an expert prosthesis user will be measured by changing inertia properties. Effective use of inertia property of the prosthesis in gait is evaluated by closeness of the gait to the inertia-induced motion using inertia-induced measure. In addition gait of a novice prosthesis user will be measured to compare with the expert's results.
-
Evaluation of gait with trans-femoral prosthesis based on Riemannian Distance
2009 International Conference on Mechatronics and Automation, 2009Co-Authors: Takahiro Wada, Masahiro Sekimoto, Toyokazu Takeuchi, Yuuki Shiba, Suguru ArimotoAbstract:This paper presents a method to quantify the goodness of gait with a trans-femoral prosthesis in order to evaluate walking skill with the prosthesis and its application to its design. Advancements in the mechanism and the control method of trans-femoral prostheses have drastically improved the gait of amputees. However, realization of a natural gait has not been investigated in detail even though such smooth gait is important to increase the amputee's activities of daily living (ADL). Inertia of the prosthesis plays an important role in natural and smooth gaits during the swing phase. We suppose that goodness of gait or easiness of walking is strongly related to effective use of the prosthesis inertia. Recently, inertia-induced measure has been proposed as a measure to quantify inertia-induced motion of a multi-body system based on the Riemannian Distance. In this paper, we will attempt to evaluate the goodness or easiness of walking with a prosthesis leg by quantifying the effective use of the prosthesis inertia based on the Riemannian Distance. Gaits with several different inertia properties will be measured. The results will then demonstrate the strong relevance between subjective evaluation of easiness of walking and effective use of inertia evaluated based on the Riemannian Distance.
Sadao Kawamura - One of the best experts on this subject based on the ideXlab platform.
-
Observation of human multi-joint arm movement from the viewpoint of a Riemannian Distance
2009Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Boris I. Prilutsky, Tadao Isaka, Sadao KawamuraAbstract:This paper aims at analyzing dynamic characteristics of human arm movements from the viewpoint of Riemannian Distance. In order to evaluate the amount of inertia-induced movement of a multi-joint arm, a measure called inertia-induced measure is developed. By applying the measure to actual human reaching, it is shown that the smooth reaching tends to be closer to the inertia-induced movement than the clumsy reaching. From this observation, it is suggested that humans use their own inertia properties efficiently in smooth reaching.
-
skilled motion plannings of multi body systems based upon Riemannian Distance
International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
-
ICRA - Skilled-motion plannings of multi-body systems based upon Riemannian Distance
2008 IEEE International Conference on Robotics and Automation, 2008Co-Authors: Masahiro Sekimoto, Suguru Arimoto, Sadao Kawamura, Jihun BaeAbstract:This paper focuses on the Riemannian Distance and its application to skilled-motion plannings for the system. The Riemannian Distance from one pose to another and vice versa is defined as the minimum curve-length measured by the Riemannian metric based upon the system inertia matrix among all curves connecting the two poses. The minimum-length curve in this meaning is called "geodesic" and reflects a movement of the system affected only by inertia-tensor-originated force (i.e., pure inertia, centrifugal, and Coriolis forces). In order to investigate in detail such a movement along the geodesic, some computer simulations are conducted in the cases of planar motions by a 4-DOF robot arm and biped walkings by a whole-body robot. It is shown through simulation results that movements attaining the Riemannian Distance (natural movements in inertial actions) in the two cases tend to be similar to those in human skilled motions when human-scale robot models are chosen. Based upon the Riemannian Distance, motion plannings for multi-body systems using physical properties inherent in their own physical structures are discussed.
