Mitsuhiro Hayashibe 研究室

主宰者：Mitsuhiro Hayashibe

東北大学

AI 要約（直近 5 年の研究成果）

本研究室では、ロボットと人間の運動制御の仕組みを解明し、より柔軟で効率的なロボット動作の実現を目指しています。主な研究対象は、脚ロボットや多腕マニピュレータなどの複雑な機械システムの制御、および脳卒中患者など神経障害を持つ人間の歩行・運動機能の回復メカニズムです。生物の神経・筋肉システムから着想を得た制御理論と、機械学習・強化学習などの最新の計算手法を融合させることで、これらの課題に取り組んでいます。具体的には、深層強化学習や生物学的にインスパイアされた制御モデル（中枢パターン生成器など）を用いて、ロボットの歩行や物体操作を学習させる研究を行っています。同時に、脳画像計測（脳波）や筋電図、慣性計測ユニットなどの生体信号から運動学習に伴う脳や筋肉の変化を捉え、その仕組みを数理モデルで表現する研究も展開しています。さらに、布を扱うロボット技術や、力覚センサーを用いた接触状態推定など、実応用に向けた研究も実施しており、基礎研究から応用研究まで幅広い課題に取り組んでいます。これらの研究を通じて、個別の関節や筋肉の冗長性をいかに効率的に解決するかというロボット制御の根本的な課題と、人間がどのように複雑な動作を学習・実行するのかという神経科学的課題の両立を目指しています。

※ AI（Claude）が、公開されている論文要旨から研究の問い・手法・主要な発見を事実情報として抽出・再構成して自動生成しています。誤りを含む可能性があるため、正確性は研究室公式情報でご確認ください。

外部リンク

研究成果（100 件）

[2026] A Systematic Review of Robot Topological Semantic Mapping and Localization for Spatial Understanding
DOI: https://doi.org/10.1109/access.2026.3683985
[2025] Physics-Informed Learning Framework for Lower Limb Kinematic Prediction With Sparse Sensors and Its Application in Chronic Stroke
DOI: https://doi.org/10.1109/tnsre.2025.3581352
[2025] Two-Stage Learning of CPG and Postural Reflex Toward Quadruped Locomotion on Uneven Terrain With Simple Reward
DOI: https://doi.org/10.1109/access.2025.3579786
[2025] Motor synergy and energy efficiency emerge in whole-body locomotion learning
DOI: https://doi.org/10.1038/s41598-024-82472-x
[2025] Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors
DOI: https://doi.org/10.3389/frobt.2024.1504651
[2025] Foot trajectory as a key factor for diverse gait patterns in quadruped robot locomotion
DOI: https://doi.org/10.1038/s41598-024-84060-5
[2025] Concerted Control: Modulating Joint Stiffness Using GRF for Gait Generation At Different Speeds
DOI: https://doi.org/10.1109/lra.2025.3542703
[2025] Sparse Identification of Lagrangian for Nonlinear Dynamical Systems Involving Dissipation Function
DOI: https://doi.org/10.1115/1.4068081
[2025] Synergy-Based Evaluation of Hand Motor Function in Object Handling Using Virtual and Mixed Realities
DOI: https://doi.org/10.3390/s25072080
[2025] Local Collision Avoidance for Unmanned Surface Vehicles Based on an End-to-End Planner With a LiDAR Beam Map
DOI: https://doi.org/10.1109/tits.2025.3556419

続きを表示（残り 90 件）

[2025] A Longitudinal Study of Physical Function Factors Related to Lower Limb Circumduction During Gait in Acute Stroke Patients with Hemiparesis
DOI: https://doi.org/10.3390/s25237309
[2025] Two-stage Learning Framework Combining Joint-level Reinforcement Learning and Muscle-level Adaptation for Musculoskeletal Locomotion
DOI: https://doi.org/10.1109/iros60139.2025.11246973
[2025] Encoding flexible gait strategies in stick insects through data-driven inverse reinforcement learning
DOI: https://doi.org/10.1088/1748-3190/addc26
[2025] Fabric Flattening with Dual-Arm Manipulator via Hybrid Imitation and Reinforcement Learning
DOI: https://doi.org/10.3390/machines13100923
[2025] TactileAloha: Learning Bimanual Manipulation With Tactile Sensing
DOI: https://doi.org/10.1109/lra.2025.3585396
[2025] Simultaneous estimation of contact position and tool shape with high-dimensional parameters using force measurements and particle filtering
DOI: https://doi.org/10.1177/02783649251379515
[2025] Electroencephalography evidence of functional connectivity modulation and its correlation with bimanual visuomotor learning
DOI: https://doi.org/10.1007/s11571-025-10336-9
[2025] Partial Fabric Flattening for Seam Line Region Using Dual-Arm Manipulation
DOI: https://doi.org/10.1109/icma65362.2025.11120540
[2025] Fabric Manipulation Using Rubbing Motion for Local Edge Alignment
DOI: https://doi.org/10.1109/aim64088.2025.11175901
[2025] Bimodal Observation Based USV Global Path Tracking and Local Collision Avoidance
DOI: https://doi.org/10.1109/csee64583.2025.00016
[2025] Investigating Brain Connectivity Patterns in Varying Degrees of Bimanual Task Asymmetry
DOI: https://doi.org/10.1109/embc58623.2025.11254153
[2024] Transferable Deep Learning Models for Accurate Ankle Joint Moment Estimation during Gait Using Electromyography
DOI: https://doi.org/10.3390/app14198795
[2024] Footstep reward for energy-efficient quadruped gait generation and transition through deep reinforcement learning
DOI: https://doi.org/10.1080/01691864.2024.2442718
[2024] Locomotion Learning in a Musculoskeletal System through Reinforcement Learning of Joint Actions and LSTM Learning of Muscle Actions
DOI: https://doi.org/10.1109/mhs63891.2024.10856296
[2024] Learning-based object's stiffness and shape estimation with confidence level in multi-fingered hand grasping
DOI: https://doi.org/10.3389/fnbot.2024.1466630
[2024] Muscle Control Analysis of Human Walking and Cycling in Speed and Load Variations With Time-Varying Synergy
DOI: https://doi.org/10.1109/jsen.2024.3486294
[2024] Fixture-Free 2D Sewing Using a Dual-Arm Manipulator System
DOI: https://doi.org/10.1109/tase.2024.3474914
[2024] Synergy quality assessment of muscle modules for determining learning performance using a realistic musculoskeletal model
DOI: https://doi.org/10.3389/fncom.2024.1355855
[2024] Utilising redundancy in musculoskeletal systems for adaptive stiffness and muscle failure compensation: a model-free inverse statics approach
DOI: https://doi.org/10.1088/1748-3190/ad5129
[2024] Learn to Navigate in Dynamic Environments with Normalized LiDAR Scans
DOI: https://doi.org/10.1109/icra57147.2024.10611247
[2024] AI-CPG: Adaptive Imitated Central Pattern Generators for Bipedal Locomotion Learned Through Reinforced Reflex Neural Networks
DOI: https://doi.org/10.1109/lra.2024.3388842
[2024] Modulation of Alpha Band Brain Connectivity during Motor Imagery via Bimanual Motor Training
DOI: https://doi.org/10.1109/bci60775.2024.10480525
[2024] Identifying essential factors for energy-efficient walking control across a wide range of velocities in reflex-based musculoskeletal systems
DOI: https://doi.org/10.1371/journal.pcbi.1011771
[2024] Integrated Quantitative Evaluation of Spatial Cognition and Motor Function with HoloLens Mixed Reality
DOI: https://doi.org/10.3390/s24020528
[2024] Intelligence for Soft Robotics
DOI: https://doi.org/10.7210/jrsj.42.532
[2024] Improving the accuracy of hybrid BCI using SSVEP and Motor Imagery
DOI: https://doi.org/10.1299/jsmermd.2024.1a1-q07
[2024] The association Between Muscle and Kinematic Synergies When Walking at Different Speeds
DOI: https://doi.org/10.1299/jsmermd.2024.1p2-i08
[2024] Acceleration of Motor Learning on Steering Operation through Tactile-based Physical Interaction
DOI: https://doi.org/10.1299/jsmermd.2024.1p1-g02
[2023] Learnable Tegotae-based Feedback in CPGs with Sparse Observation Produces Efficient and Adaptive Locomotion
DOI: https://doi.org/10.1109/icra48891.2023.10160571
[2023] Morphological Characteristics That Enable Stable and Efficient Walking in Hexapod Robot Driven by Reflex-based Intra-limb Coordination
DOI: https://doi.org/10.1109/icra48891.2023.10161107
[2023] Prediction of Synchronous Dynamics of a Group of Physical Pendulums Using Machine Learning
DOI: https://doi.org/10.1299/jsmermd.2023.1a2-f27
[2023] Gait Generation for Quadruped Robots Using Deep Reinforcement Learning with Spike Representation
DOI: https://doi.org/10.1299/jsmermd.2023.2p1-g09
[2023] Development of Mixed Reality-based Wearable Game Using Multiple Depth Cameras for Body Balance Assessment
DOI: https://doi.org/10.1299/jsmermd.2023.1a1-d24
[2023] Imitation Learning With Time-Varying Synergy for Compact Representation of Spatiotemporal Structures
DOI: https://doi.org/10.1109/access.2023.3264213
[2023] Ground Reaction Force and Moment Estimation through EMG Sensing Using Long Short-Term Memory Network during Posture Coordination
DOI: https://doi.org/10.34133/cbsystems.0016
[2023] Multimodal bipedal locomotion generation with passive dynamics via deep reinforcement learning
DOI: https://doi.org/10.3389/fnbot.2022.1054239
[2023] Soft-body dynamics induces energy efficiency in undulatory swimming: A deep learning study
DOI: https://doi.org/10.3389/frobt.2023.1102854
[2023] EMG-Based Estimation of Lower Limb Joint Angles and Moments Using Long Short-Term Memory Network
DOI: https://doi.org/10.3390/s23063331
[2023] Synergy-Space Recurrent Neural Network for Transferable Forearm Motion Prediction from Residual Limb Motion
DOI: https://doi.org/10.3390/s23094188
[2023] Autonomous Navigation System in Pedestrian Scenarios Using a Dreamer-Based Motion Planner
DOI: https://doi.org/10.1109/lra.2023.3273514
[2023] Sparse identification of Lagrangian for nonlinear dynamical systems via proximal gradient method
DOI: https://doi.org/10.1038/s41598-023-34931-0
[2023] Speed-Variable Gait Phase Estimation During Ambulation via Temporal Convolutional Network
DOI: https://doi.org/10.1109/jsen.2023.3343721
[2023] Effects of visual-electrotactile stimulation feedback on brain functional connectivity during motor imagery practice
DOI: https://doi.org/10.1038/s41598-023-44621-6
[2023] LSTM Network-Based Estimation of Ground Reaction Forces During Walking in Stroke Patients Using Markerless Motion Capture System
DOI: https://doi.org/10.1109/tmrb.2023.3310196
[2023] Latent Representation-Based Learning Controller for Pneumatic and Hydraulic Dual Actuation of Pressure-Driven Soft Actuators
DOI: https://doi.org/10.1089/soro.2022.0224
[2023] Transhumeral Arm Reaching Motion Prediction through Deep Reinforcement Learning-Based Synthetic Motion Cloning
DOI: https://doi.org/10.3390/biomimetics8040367
[2023] Self-organizing neural network for reproducing human postural mode alternation through deep reinforcement learning
DOI: https://doi.org/10.1038/s41598-023-35886-y
[2023] Performance Evaluation of Model-Based Reinforcement Learning using Latent Representation of Images in Spike Encoding
DOI: https://doi.org/10.1299/jsmermd.2023.1p1-g10
[2022] Game-based Evaluation of Whole-body Movement Functions with CoM Stability and Motion Smoothness
DOI: https://doi.org/10.1109/embc48229.2022.9870892
[2022] Classification of Human Balance Recovery Strategies Through Kinematic Motor Synergy Analysis
DOI: https://doi.org/10.1109/embc48229.2022.9870922
[2022] Quantifying Motor and Cognitive Function of the Upper Limb Using Mixed Reality Smartglasses
DOI: https://doi.org/10.1109/embc48229.2022.9871648
[2022] Multibranch convolutional neural network with contrastive representation learning for decoding same limb motor imagery tasks
DOI: https://doi.org/10.3389/fnhum.2022.1032724
[2022] Synergetic synchronized oscillation by distributed neural integrators to induce dynamic equilibrium in energy dissipation systems
DOI: https://doi.org/10.1038/s41598-022-21261-w
[2022] Joint elasticity produces energy efficiency in underwater locomotion: Verification with deep reinforcement learning
DOI: https://doi.org/10.3389/frobt.2022.957931
[2022] A Hierarchical Deep Reinforcement Learning Framework With High Efficiency and Generalization for Fast and Safe Navigation
DOI: https://doi.org/10.1109/tie.2022.3190850
[2022] Prediction of Whole-Body Velocity and Direction From Local Leg Joint Movements in Insect Walking via LSTM Neural Networks
DOI: https://doi.org/10.1109/lra.2022.3191850
[2022] Temporal Variation Quantification During Cognitive Dual-Task Gait Using Two IMU Sensors
DOI: https://doi.org/10.1109/embc48229.2022.9871785
[2022] Systematic Motion Integration with Multiple Depth Cameras Allowing Sensor Movement for Stable Skeleton Tracking
DOI: https://doi.org/10.1109/embc48229.2022.9870876
[2022] A New Augmented L<sub>1</sub> Adaptive Control for Wheel-Legged Robots: Design and Experiments
DOI: https://doi.org/10.23919/acc53348.2022.9867587
[2022] Motor synergy generalization framework for new targets in multi-planar and multi-directional reaching task
DOI: https://doi.org/10.1098/rsos.211721
[2022] Reinforcement Learning based Hierarchical Control for Path Tracking of a Wheeled Bipedal Robot with Sim-to-Real Framework
DOI: https://doi.org/10.1109/sii52469.2022.9708882
[2022] Deep Adversarial Domain Adaptation With Few-Shot Learning for Motor-Imagery Brain-Computer Interface
DOI: https://doi.org/10.1109/access.2022.3178100
[2022] Analysis of Human Walking in Speed and Load Change Conditions with Time-Varying Synergy
DOI: https://doi.org/10.1299/jsmermd.2022.2a1-i09
[2022] Immediate Discrimination of Hand Movements Using Recurrent Neural Networks and Quantification of Cognitive Tasks Using Rock-Paper-Scissors Games
DOI: https://doi.org/10.1299/jsmermd.2022.2a1-a10
[2022] Characteristic Evaluation of Bending-Type Fluidic Elastomer Actuator for Pneumatic/Hydraulic Dual-Actuation
DOI: https://doi.org/10.1299/jsmermd.2022.2p1-k05
[2022] Verification of Environmental Adaptability of Snake Robot that Controlled with Model-based Reinforcement Learning
DOI: https://doi.org/10.1299/jsmermd.2022.2a2-p04
[2022] Prediction of Ground Reaction Forces during Walking with Depth Camera Sensors via Recurrent Neural Network
DOI: https://doi.org/10.1299/jsmermd.2022.2a2-d02
[2021] Individual deformability compensation of soft hydraulic actuators through iterative learning-based neural network
DOI: https://doi.org/10.1088/1748-3190/ac1b6f
[2021] Seamless Temporal Gait Evaluation during Walking and Running Using Two IMU Sensors
DOI: https://doi.org/10.1109/embc46164.2021.9629492
[2021] Control Strategies for Gait Tele-Rehabilitation System Based on Parallel Robotics
DOI: https://doi.org/10.3390/app112311095
[2021] Mutual Information-Based Time Window Adaptation for Improving Motor Imagery-Based BCI
DOI: https://doi.org/10.1109/smc52423.2021.9658700
[2021] Simultaneous Quantification of Personalized Balance, Motion Class and Quality for Whole-body Exercise through Synergy Probe
DOI: https://doi.org/10.1109/embc46164.2021.9629777
[2021] An Optimal Transport Based Transferable System for Detection of Erroneous Somato-Sensory Feedback from Neural Signals
DOI: https://doi.org/10.3390/brainsci11111393
[2021] Verification of Effects of Modularity on Motor Learning Using Musculoskeletal Model
DOI: https://doi.org/10.1299/jsmermd.2021.2p3-e06
[2021] Automatic Body Balance Evaluation by Instability Estimation Based on Centroidal Angular Momentum in a Game Environment
DOI: https://doi.org/10.1299/jsmeth.2021.56.115_paper
[2021] Visual‐Electrotactile Stimulation Feedback to Improve Immersive Brain‐Computer Interface Based on Hand Motor Imagery
DOI: https://doi.org/10.1155/2021/8832686
[2021] Balance Stability Augmentation for Wheel-Legged Biped Robot Through Arm Acceleration Control
DOI: https://doi.org/10.1109/access.2021.3071055
[2021] Spiking Neural Network Discovers Energy-Efficient Hexapod Motion in Deep Reinforcement Learning
DOI: https://doi.org/10.1109/access.2021.3126311
[2021] Synergy Emergence in Deep Reinforcement Learning for Full-Dimensional Arm Manipulation
DOI: https://doi.org/10.1109/tmrb.2021.3056924
[2021] Reproducing Human Arm Strategy and Its Contribution to Balance Recovery Through Model Predictive Control
DOI: https://doi.org/10.3389/fnbot.2021.679570
[2021] Inter-Subject Transfer Learning Using Euclidean Alignment and Transfer Component Analysis for Motor Imagery-Based BCI
DOI: https://doi.org/10.1109/smc52423.2021.9658731
[2021] Quantitative Evaluation of Muscle Activity on Upper Limbs in Daily Activities Using Wearable EMG Sensor System
DOI: https://doi.org/10.1299/jsmermd.2021.2p2-d06
[2021] Adaptive and Energy-Efficient Optimal Control in CPGs Through Tegotae-Based Feedback
DOI: https://doi.org/10.3389/frobt.2021.632804
[2021] Quantification of Joint Redundancy considering Dynamic Feasibility using Deep Reinforcement Learning
DOI: https://doi.org/10.1109/icra48506.2021.9561048
[2021] Deep Reinforcement Learning Framework for Underwater Locomotion of Soft Robot
DOI: https://doi.org/10.1109/icra48506.2021.9561145
[2021] Grey-box modeling and hypothesis testing of functional near-infrared spectroscopy-based cerebrovascular reactivity to anodal high-definition tDCS in healthy humans
DOI: https://doi.org/10.1371/journal.pcbi.1009386
[2021] Deep Reinforcement Learning with Gait Mode Specification for Quadrupedal Trot-Gallop Energetic Analysis
DOI: https://doi.org/10.1109/embc46164.2021.9630547
[2021] Gait Generation for Legged Robot by Encoder-Decoder Model
DOI: https://doi.org/10.1299/jsmermd.2021.1p1-i07
[2021] Emergence of Motor Synergy in Multi-directional Reaching with Deep Reinforcement Learning
DOI: https://doi.org/10.1109/ieeeconf49454.2021.9382755
[2021] Towards Robust Wheel-Legged Biped Robot System: Combining Feedforward and Feedback Control
DOI: https://doi.org/10.1109/ieeeconf49454.2021.9382678

科研費（0 件）

まだデータがありません（KAKEN 取り込み後に表示）。

所属学会・役職（0 件）

まだデータがありません（学会データ連携後に表示）。

AI 要約（直近 5 年の研究成果）

外部リンク

関連研究室(8 件)

研究成果（100 件）

科研費（0 件）

所属学会・役職（0 件）