Jun Morimoto
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View article: Dynamical modeling of torso stability in running via hip–knee three pairs of six springs
Dynamical modeling of torso stability in running via hip–knee three pairs of six springs Open
Prior spring-mass locomotion models achieve stable gaits by prescribing a constant touchdown angle (TD angle) during the flight phase; however, they either exclude torso modeling or depend on online state feedback to stabilize the pitch an…
View article: Feasibility Study of Non-Circular Machining Using a Spindle Rotational Trajectory Control
Feasibility Study of Non-Circular Machining Using a Spindle Rotational Trajectory Control Open
In recent years, there has been demand for the increased adoption of electric vehicles and further efficiency improvement of internal combustion engines for environmental purposes. The cylindrical shapes of motor cases and cylinders are ma…
View article: Role specialization enables superior task performance by human dyads than individuals
Role specialization enables superior task performance by human dyads than individuals Open
It is generally accepted that collaboration yields better performance than when the same task is performed by individuals operating alone. Is collaboration always superior to individual performances, or do its benefits depend on whether co…
View article: Neural-enhanced motion-to-EMG: refining simulated muscle activity from musculoskeletal models using a Seq2Seq approach
Neural-enhanced motion-to-EMG: refining simulated muscle activity from musculoskeletal models using a Seq2Seq approach Open
Electromyography (EMG) is essential for accurate assessment of motor function in rehabilitation, sports science, and robotics. However, its various time-consuming human operations (e.g., electromagnetic noise countermeasures) limit its wid…
View article: Object-Centric Mobile Manipulation through SAM2-Guided Perception and Imitation Learning
Object-Centric Mobile Manipulation through SAM2-Guided Perception and Imitation Learning Open
Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation and manipulation, executing manipulation only after reaching …
View article: Poxel: Voxel Reconstruction for 3D Printing
Poxel: Voxel Reconstruction for 3D Printing Open
Recent advancements in 3D reconstruction, especially through neural rendering approaches like Neural Radiance Fields (NeRF) and Plenoxel, have led to high-quality 3D visualizations. However, these methods are optimized for digital environm…
View article: Cutting Sequence Diffuser: Sim-to-Real Transferable Planning for Object Shaping by Grinding
Cutting Sequence Diffuser: Sim-to-Real Transferable Planning for Object Shaping by Grinding Open
Automating object shaping by grinding with a robot is a crucial industrial process that involves removing material with a rotating grinding belt. This process generates removal resistance depending on such process conditions as material ty…
View article: Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control
Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control Open
While MPC enables nonlinear feedback control by solving an optimal control problem at each timestep, the computational burden tends to be significantly large, making it difficult to optimize a policy within the control period. To address t…
View article: Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot
Hierarchical Learning Framework for Whole-Body Model Predictive Control of a Real Humanoid Robot Open
The simulation-to-real gap problem and the high computational burden of whole-body Model Predictive Control (whole-body MPC) continue to present challenges in generating a wide variety of movements using whole-body MPC for real humanoid ro…
View article: Rapid functional remodeling of the targeted contralesional hemisphere induced by one week of noninvasive closed-loop neurofeedback guides motor recovery in post-stroke patients with chronic motor impairment: a phase I trial
Rapid functional remodeling of the targeted contralesional hemisphere induced by one week of noninvasive closed-loop neurofeedback guides motor recovery in post-stroke patients with chronic motor impairment: a phase I trial Open
Post-stroke hemiplegia of the upper extremities continues to pose a significant therapeutic hurdle. Contralesional uncrossed corticospinal pathways (CST) are involved in the recovery processes. Here, we test the feasibility, safety, and pr…
View article: Phase-Amplitude Reduction-Based Imitation Learning
Phase-Amplitude Reduction-Based Imitation Learning Open
In this study, we propose the use of the phase-amplitude reduction method to construct an imitation learning framework. Imitating human movement trajectories is recognized as a promising strategy for generating a range of human-like robot …
View article: Modeling Inverse Airflow Dynamics Toward Fast Movement Generation Using Pneumatic Artificial Muscle With Long Air Tubes
Modeling Inverse Airflow Dynamics Toward Fast Movement Generation Using Pneumatic Artificial Muscle With Long Air Tubes Open
This study entailed the derivation of an inverse airflow dynamics model that causes pneumatic transmission delay due to the long air tube in pneumatic artificial muscle control. The inverse model of the derived airflow dynamics was used in…
View article: Unsupervised Neural Motion Retargeting for Humanoid Teleoperation
Unsupervised Neural Motion Retargeting for Humanoid Teleoperation Open
This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to identify the relationship between the human and the humanoid…
View article: Modeling Inverse Airflow Dynamics Towards Fast Movement Generation using Pneumatic Artificial Muscle with Long Air Tubes
Modeling Inverse Airflow Dynamics Towards Fast Movement Generation using Pneumatic Artificial Muscle with Long Air Tubes Open
This study entailed the derivation of an inverse airflow dynamics model that causes pneumatic transmission delay due to the long air tube in pneumatic artificial muscle (PAM) control. The inverse model of the derived airflow dynamics was u…
View article: Joint-Aware Transformer: An Inter-Joint Correlation Encoding Transformer for Short-Term 3D Human Motion Prediction
Joint-Aware Transformer: An Inter-Joint Correlation Encoding Transformer for Short-Term 3D Human Motion Prediction Open
3D Skeleton-based human motion prediction, a classic task in computer vision, aims to forecast subsequent motions based on historical motion observations. In particular, precise short-term motion prediction is crucial for the effectiveness…
View article: Curriculum-based humanoid robot identification using large-scale human motion database
Curriculum-based humanoid robot identification using large-scale human motion database Open
Identifying an accurate dynamics model remains challenging for humanoid robots. The difficulty is mainly due to the following two points. First, a good initial model is required to evaluate the feasibility of motions for data acquisition. …
View article: GAN-Based Semi-Supervised Training of LSTM Nets for Intention Recognition in Cooperative Tasks
GAN-Based Semi-Supervised Training of LSTM Nets for Intention Recognition in Cooperative Tasks Open
The accumulation of a sufficient amount of data for training deep neural networks is a major hindrance in the application of deep learning in robotics.Acquiring real-world data requires considerable time and effort, yet it might still not …
View article: Exploring The Role of Thigh Muscle Coordination with Biarticular Muscles for Stable Running
Exploring The Role of Thigh Muscle Coordination with Biarticular Muscles for Stable Running Open
Legged animals including humans appear to efficiently exploit their elastic muscle coordination to achieve stable locomotion. Previous studies have shown that the elasticity of the leg realizes stable locomotion through the simple models c…
View article: A case of brain abscess caused by <i>Bacteroides fragilis</i> following intracerebral hemorrhage
A case of brain abscess caused by <i>Bacteroides fragilis</i> following intracerebral hemorrhage Open
症例は86歳男性.1週間前から持続する視野障害と頭痛を主訴に受診した.頭部CTで右後頭葉皮質下出血を認め,保存的加療目的に入院した.入院時より誤嚥性肺炎による発熱を繰り返し,そのたびに抗菌薬治療で軽快していた.Day35に失行が出現し,Day41に施行した頭部MRIで脳出血部に脳膿瘍を疑う病変を認め,硬膜下や右側脳室内にも同様の病変を認めた.穿頭によるドレナージ術を行い,術中所見から脳膿瘍と診断した.術中検体と同日採取した血液培養から Bacteroides fragili…
View article: Foundational Policy Acquisition via Multitask Learning for Motor Skill Generation
Foundational Policy Acquisition via Multitask Learning for Motor Skill Generation Open
In this study, we propose a multitask reinforcement learning algorithm for foundational policy acquisition to generate novel motor skills. \textcolor{\hcolor}{Learning the rich representation of the multitask policy is a challenge in dynam…
View article: Learning to Shape by Grinding: Cutting-surface-aware Model-based Reinforcement Learning
Learning to Shape by Grinding: Cutting-surface-aware Model-based Reinforcement Learning Open
Object shaping by grinding is a crucial industrial process in which a rotating grinding belt removes material. Object-shape transition models are essential to achieving automation by robots; however, learning such a complex model that depe…
View article: Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation
Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation Open
This study introduces a body-weight-support (BWS) robot actuated by two pneumatic artificial muscles (PAMs). Conventional BWS devices typically use springs or a single actuator, whereas our robot has a split force-controlled BWS (SF-BWS), …
View article: Distinctive alterations in the mesocorticolimbic circuits in various psychiatric disorders
Distinctive alterations in the mesocorticolimbic circuits in various psychiatric disorders Open
Aim Increasing evidence suggests that psychiatric disorders are linked to alterations in the mesocorticolimbic dopamine‐related circuits. However, the common and disease‐specific alterations remain to be examined in schizophrenia (SCZ), ma…
View article: Aberrant Large-Scale Network Interactions Across Psychiatric Disorders Revealed by Large-Sample Multi-Site Resting-State Functional Magnetic Resonance Imaging Datasets
Aberrant Large-Scale Network Interactions Across Psychiatric Disorders Revealed by Large-Sample Multi-Site Resting-State Functional Magnetic Resonance Imaging Datasets Open
Background and Hypothesis Dynamics of the distributed sets of functionally synchronized brain regions, known as large-scale networks, are essential for the emotional state and cognitive processes. However, few studies were performed to elu…