Research

Japanese version is available from  http://www.ynl.t.u-tokyo.ac.jp/wp/research/sports-robotics/

Kinematics & dynamics computation framework developed in robotics can be applied to biomechanical analysis of human body motions.

Our research group is developing a new musculo-skeletal model integrating human-body with felxibly-deformable object such as sports-specific prosthesis leg., using continuous deformation model investigated in soft robotics research field.

Related research topics are:

• Motion capture system and its computation algorithm
• Dynamical computation to estimate muscle-tendon force
• Sports motion analysis

I’m interested in the following topics in soft robotics.

• Design methodology of soft robots that can achieve not only flexible deformation but also human-scale high output force. Our group is developing a soft robot hand actuated by an oil-hydraulic pump that can supply MPa order pressure.
• Dynamic modeling and simulation of continutous deformation of a soft robot. Our group applies the piece-wise constant strain model, which was proposed in soft robotics, to modeling of a leaf-spring type prosthesis.

I’ve been working on humanoid robotics for a long time, since I was a master course student. Especially, I’m interested in

• Dynamics computation of a human and humanoid robot motion
• Biped locomotion control of a humanoid robot
• Mechanism design of a humanoid robot

Modeling and simation of human pedestrian flows are important technologies for estimating congestion and evaluate a risk in an urban city to prevent a pedestrain accident. I’m working on

• Measurement of human crowd
• Rule-based and machine-learning-based moedling of human pedestrian flows

Under construction