研究者詳細 - 我妻　広明

A Gait Analysis with Multibody Dynamics Toward Energy-Efficient Active Knee Prostheses 査読有り国際誌

Purevdorj Choisuren, Ge Yiqian, Kasai Shintaro, Dondogjamts Batbaatar, Naranbaatar Erdenesuren, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 873 - 877 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

In general, prosthetic knee users have a large stress in the locomotion due to less smoothness and unnecessary energy consumption. In the passive prosthesis, it is difficult to regulate the stiffness depending on the ground contact force. In consideration of designs for such an adaptivity to improve passive systems, we propose an artificial knee kinematics design to absorb the redundant contact force for the smooth and stable walking and explore necessary constraints for the proposed mechanics to be able to have multi-functions not only for walking but also knee flexion accumulating the power for jumping. In the analysis, we used Multibody Dynamics (MBD) to investigate. This result will contribute to design an integrated dynamic model by incorporating a flexible body and ground contact forces in various purposes.

DOI： 10.5954/icarob.2025.gs4-3

Signal Decomposition and Noise Reduction in Single-Channel EEG: A Morphological Component Analysis (MCA) Approach 査読有り国際誌

Shibata Kosei, Yang Yide, Kato Rena, Chame Hendry Ferreira, Bougrain Laurent, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 923 - 927 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study applies the Morphological Component Analysis (MCA) to single-channel EEG data obtained during human-to-human interactions in a board game (Hex-game). MCA, a dictionary-based signal decomposition method, separates signals into distinct morphological components. It enables the extraction of plausible brain activity and the removal of noise, such as ocular and muscular artifacts. By focusing on neural dynamics in interactive settings, this approach highlights the relationship between cognitive processes and social behavior. The approach suggests that MCA offers a promising framework for EEG analysis in complex, dynamic environments, combining effective feature extraction with robust artifact removal.

DOI： 10.5954/icarob.2025.gs6-1

Developing a Sound-Based Method to Synchronize Multiple Videos Recorded by Multiple Sound Sources 査読有り

Jargal Davaanyam, Kato Rena, Taniguchi Tomoki, Shibata Kosei, Koga Takahiro, Al Aama Obada, Tamukoh Hakaru, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 815 - 820 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The surround environmental monitoring from a vehicle on the road is important for the driving behavior analysis as well as the monitoring of driver's operations. A light weight mobile camera is useful for the record of multiple directions from the vehicle simultaneously. However, the timing synchronization is an important issue need to be solved. In this purpose, we proposed the sound-based method to synchronize different videos recorded with environmental sounds. In this task, the extraction of common sound features and amplifying of the features are necessary to superimpose those sound profiles to find consisting time points. In the validation the effectiveness, we used recoded videos from the bus driven by an expert driver.

DOI： 10.5954/icarob.2025.gs1-4

Analyzing Eye-Tracking Data to Detect Joint Attention in Hexgame Experiments 査読有り国際誌

Yang Yide, Kato Rena, Shibata Kosei, Chame Hendry Ferreira, Bougrain Laurent, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 941 - 945 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study aims to explore the mechanisms of joint attention in a strategic game experiment by analyzing Tobii eyetracking data. In this experiment, two participants play Hexgame, during which the gaze direction is tracked and projected onto the game's board plane through perspective geometry, in order to track attention sharing correlates at particular stages of the game from behavioral data. The primary focus of this study is the analysis of eye-tracking data to identify attention coordination between players during the progression of the game. Future work will expand this framework to assess win probabilities and predict subsequent moves, providing deeper insights into strategic decisionmaking.

DOI： 10.5954/icarob.2025.gs6-5

An Adaptive Control Method for a Knee-Joint Prosthetic Leg Toward Dynamic Stability and Gait Optimization 査読有り国際誌

Ge Yiqian, Purevdorj Choisuren, Kasai Shintaro, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 867 - 872 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This paper presents a hybrid control strategy that combines Model Predictive Control (MPC) and Linear Quadratic Regulator (LQR) to achieve robust and stable tracking of human knee joint motion. The state-space model of the system is discretized to facilitate real-time implementation. MPC is employed to track the knee joint trajectory during dynamic motion, while the LQR controller is activated at critical points, particularly when the joint angle approaches zero, to stabilize the system and ensure safety.

DOI： 10.5954/icarob.2025.gs4-2

A Data Format Integration of Open-Street-Map and Lanelet2 Toward the Ontology Framework for Safety Automated driving systems 査読有り国際誌

Al Aama Obada, Koga Takahiro, Taniguchi Tomoki, Jargal Davaanyam, Oishi Junya, Nemoto Shigeru, Mizushina Wataru, Hirao Kazuki, Tamukoh Hakaru, Wagatsuma Hiroaki

人工生命とロボットに関する国際会議予稿集 ( 株式会社ALife Robotics ) 30 808 - 814 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study proposes a framework that integrates OpenStreetMap (OSM) data with ontology-based systems to enhance automated driving. OSM provides static geographical data, while the Lanelet2 mapping framework incorporates lanelevel road information and topological relationships. This combination enables advanced testing of vehicle behavior in realistic environments. Ontology-based integration offers semantic representations of road elements and traffic rules, supporting the modeling of complex driving scenarios. By structuring spatial and semantic data, this approach ensures accurate simulation and testing, facilitating applications such as traffic analysis, route optimization, and automated driving decision-making. The framework enhances scalability, precision, and safety in autonomous vehicle development, enabling more effective testing and validation. This integration supports comprehensive, context-aware simulations that improve vehicle response to real-world driving conditions.

DOI： 10.5954/icarob.2025.gs1-3

Objective Evaluation of Out-of-Competition Volume of Action in Wheelchair Basketball Classification 査読有り国際誌

Shimoyama Y., Kasai S., Wagatsuma H., Ibusuki T., Tsukada T., Tachibana K.

Sports 13 ( 2 ) 2025年02月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In wheelchair basketball, classes are based on competition observations. Since 2021, out-of-competition testing has been implemented; however, research remains limited. This study aimed to determine whether the quantified volume of action (VOA) can be an indicator for classification and examined the influence of a competitive wheelchair on VOA evaluation. This cross-sectional study included 47 wheelchair basketball players (21 able-bodied, 26 with physical impairments: class 1, n = 8; class 2, n = 5; class 3, n = 4; class 4, n = 9). Tests were performed in a wheelchair (wheelchair condition) and on a trainer bed (bed condition). Participants held a ball and rotated their trunks in various planes. Movements were recorded using four cameras, and position coordinates were extracted using the three-dimensional DLT method. Classes and sitting conditions were compared across five groups: classes 1, 2, 3, 4, and able-bodied. Comparisons between classes revealed significant differences in all planes, including wheelchair and bed conditions (p < 0.05). The VOA expanded in the wheelchair condition compared to the bed condition across multiple classes and planes (p < 0.05). Measuring the VOA outside the competition while sitting on a bed may effectively classify players by eliminating equipment influence.

DOI： 10.3390/sports13020048

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85218859612&origin=inward

Signal Decomposition and Noise Reduction in Single-Channel EEG: A Morphological Component Analysis (MCA) Approach 査読有り国際誌

Shibata K., Yang Y., Kato R., Chame H.F., Bougrain L., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 917 - 921 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219559722&origin=inward

Developing a Sound-Based Method to Synchronize Multiple Videos Recorded by Multiple Sound Sources 査読有り国際誌

Jargal D., Kato R., Taniguchi T., Shibata K., Koga T., Al Aama O., Tamukoh H., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 809 - 814 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

The surround environmental monitoring from a vehicle on the road is important for the driving behavior analysis as well as the monitoring of driver’s operations. A light weight mobile camera is useful for the record of multiple directions from the vehicle simultaneously. However, the timing synchronization is an important issue need to be solved. In this purpose, we proposed the sound-based method to synchronize different videos recorded with environmental sounds. In this task, the extraction of common sound features and amplifying of the features are necessary to superimpose those sound profiles to find consisting time points. In the validation the effectiveness, we used recoded videos from the bus driven by an expert driver.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219506499&origin=inward

Analyzing Eye-Tracking Data to Detect Joint Attention in Hexgame Experiments 査読有り国際誌

Yang Y., Kato R., Shibata K., Chame H.F., Bougrain L., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 935 - 939 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study aims to explore the mechanisms of joint attention in a strategic game experiment by analyzing Tobii eyetracking data. In this experiment, two participants play Hexgame, during which the gaze direction is tracked and projected onto the game’s board plane through perspective geometry, in order to track attention sharing correlates at particular stages of the game from behavioral data. The primary focus of this study is the analysis of eye-tracking data to identify attention coordination between players during the progression of the game. Future work will expand this framework to assess win probabilities and predict subsequent moves, providing deeper insights into strategic decisionmaking.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219514149&origin=inward

An Adaptive Control Method for a Knee-Joint Prosthetic Leg Toward Dynamic Stability and Gait Optimization 査読有り国際誌

Ge Y., Purevdorj C., Kasai S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 861 - 866 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219552587&origin=inward

A Mathematical Framework for Logit Model in Transportation Mode Choice Analysis 査読有り国際誌

Altaweel A., Mine K., Lee B.Y., Yoon J.S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 891 - 895 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219558464&origin=inward

A Gait Analysis with Multibody Dynamics Toward Energy-Efficient Active Knee Prostheses 査読有り国際誌

Purevdorj C., Ge Y., Kasai S., Batbaatar D., Erdenesuren N., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 867 - 871 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219537777&origin=inward

A Data Format Integration of Open-Street-Map and Lanelet2 Toward the Ontology Framework for Safety Automated driving systems 査読有り国際誌

Al Aama O., Koga T., Taniguchi T., Jargal D., Oishi J., Nemoto S., Mizushina W., Hirao K., Wagatsuma H., Tamukoh H.

Proceedings of International Conference on Artificial Life and Robotics 802 - 808 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

This study proposes a framework that integrates Open Street Map (OSM) data with ontology-based systems to enhance automated driving. OSM provides static geographical data, while the Lanelet2 mapping framework incorporates lane level road information and topological relationships. This combination enables advanced testing of vehicle behaviour in realistic environments. Ontology-based integration offers semantic representations of road elements and traffic rules, supporting the modeling of complex driving scenarios. By structuring spatial and semantic data, this approach ensures accurate simulation and testing, facilitating applications such as traffic analysis, route optimization, and automated driving decision-making. The framework enhances scalability, precision, and safety in autonomous vehicle development, enabling more effective testing and validation. This integration supports comprehensive, context-aware simulations that improve vehicle response to real-world driving conditions.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219516635&origin=inward

A Computational Approach for Global Trade Analysis in Korea Contributing to the Forecasting of Future Efficacy in Global and Domestic Korean Transportations 査読有り国際誌

Lee B.Y., Altaweel A., Mine K., Yoon J.S., Wagatsuma H.

Proceedings of International Conference on Artificial Life and Robotics 896 - 900 2025年01月

担当区分：最終著者記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）

Economic forecasting studies are integral for shaping strategic policy decisions by providing data-driven insights that guide resource allocation, logistics and transportation, and long-term planning. This study investigate the trade dynamics of the Republic of Korea through the Global Trade Analysis Project Recursive dynamic GTAP-RD model with the GTAP v11 database to forecast economic scenarios and Shared Socioeconomic Pathways (SSPs) serve as growth trajectories. The analysis centers on the Republic of Korea's key trading partners, as identified by the GTAP database, and top trading sectors from the Korea Transport Database (KTDB) to compare the key influencers on Korea's trade thereby providing deeper strategic economic planning. This study investigates further the involvement of Korea's logistics and transportation by focusing on changes in import/export tonnage to inform infrastructure planning and strategic transport development. The evaluation of Korea's trade in the global context is of the essence to ensure adaptive logistics, backing economic resilience, and aligning with changeable global trade conditions.

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85219532388&origin=inward

A SYSTEMATIC RECORDING SYSTEM TO ANALYZE ERD/ERS IN EEG TO FOCUS INDIVIDUAL TIMING DIFFERENCES IN A THREE-GRASPING-TYPE TASK 査読有り国際誌

Shibata K., Fujiwara M., Duc P.H.H., Bougrain L., Hénaff P., Wagatsuma H.

ICIC Express Letters, Part B: Applications ( ICIC International 学会 ) 15 ( 10 ) 1009 - 1016 2024年10月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Motor rehabilitation is a physiotherapy technique for restoring motor functions in Activities of Daily Living (ADL) of patients with brain damages. Despite initial rapid recovery, progress tends to decline after six months, making rehabilitation chal-lenging. In this sense, possible feedback on the evolution of the brain activities since the reconstruction’s start contributes to maintaining the patient’s motivation to improve effectiveness. While frequent visualization by fMRI is ideal but costly, and hence the growing interest in cost-effective EEG-based visualization. In this study, we developed an Event-Related Desynchronization/Synchronization (ERD/ERS) analysis system. This system leverages motion capture and pressure sensors to select the onset timing in three grasping-type tasks. The system effectively reports the comparison among timings of the initiation of brain activities and movement-onset and reaching to the target object, for capturing appropriate activities for target motor functions. Through an EEG experiment involving three participants, we were able to verify the validity of the sound-based onset stimulus in the task. The system also highlighted the variability of motion timings across different participants and trials. This study underscores the potential of EEG-based systems in enhancing motor rehabilitation efforts.

DOI： 10.24507/icicelb.15.10.1009

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85205421060&origin=inward

A QUALITY ANALYSIS OF THE BILSTM ENCODER DECODER MODEL WITH MODIFIED J-DIVERGENCE FOR SENTENCES WITH DIFFERENT COMPLEXITIES 査読有り国際誌

Shrivastava M., Wagatsuma H.

ICIC Express Letters ( ICIC International 学会 ) 18 ( 7 ) 721 - 729 2024年07月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

The rapid increase in the field of artificial intelligence has made machines capable of making intelligent decisions. Machines can now recognize patterns and support human intelligent activities, and one of the main sources for machines to learn is natural languages. Natural languages are complex and sentences can have different structures, difficult for a machine to understand. A formal way to represent language is ontology, and ontology organizes information as a triple and set of rules. The task of extracting triples from various sources such as text documents, or web pages is termed as ontology population task that can be formulated either as a classification or a translation task. In both these tasks data from an unknown probability distribution is fed to a neural network that generates another probability distribution parametrized by network weight, and the objective here is to minimize the distance between two probability distributions by minimizing some loss function. In this research, we proposed a modified version of Jeffreys divergence as a learning method for machines to improve the ontology population task. We also analyze the performance of the neural network model based on different structures of sentences used for training and propose data selection method for improving model performance.

DOI： 10.24507/icicel.18.07.721

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85195828861&origin=inward

PERSONALIZED FEEDBACK IN FORMATIVE ASSESSMENT SUPPORT SYSTEM “KEY WORDS MEETING” FOR ENCOURAGING MOTIVATION OF LEARNERS AND MONITORING THEIR PERFORMANCE IN INDIVIDUAL CLASSROOMS 査読有り国際誌

Lee S., Kurishima K., Jahng D., Wagatsuma H.

ICIC Express Letters ( ICIC International 学会 ) 18 ( 7 ) 731 - 738 2024年07月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

Recently, digital learning technologies have made rapid strides for offering various opportunities in a diverse society. In the teaching and learning environment in school, appropriate personalized feedback is expected and highly important for effective communication and building trust relationship between instructors and learners to avoid unnecessary disputes among them. For the sake of building such a personalized learning environment, the formative assessment support system “Key Words Meeting” was proposed and has been used in classrooms of junior high schools, universities, graduate schools and general courses for learning experiences. The Web-based KWM finely works for needs as a formative assessment in schools, while functions for the visualization of individual records with respect to inquiries from the instructor have limitations in the sense of the Web-based implementation scheme. In the present study, we newly designed the Python-based back-end system to analyze the logging data in KWM for a fine-grained personalized support. In our proposed system, not only numerical scores to indicate the understanding level of each learner but also actions of the learner were clearly analyzed to be able to detect a mismatch with learning goals given by the instructor, which may contribute to the estimation of the person’s attitude, motivation, and a lack of understanding of the content to require a rapid and concrete feedback from the instructor.

DOI： 10.24507/icicel.18.07.731

その他リンク： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85196009446&origin=inward

AN ANCF-BASED THEORETICAL FRAMEWORK TO DEAL WITH LARGE DEFORMATION OF ELASTIC ELEMENT EMBEDDED IN HUMAN KNEE JOINT ORTHOSES 査読有り国際誌

Kasai S., Wagatsuma H.

ICIC Express Letters ( ICIC International 学会 ) 18 ( 6 ) 607 - 614 2024年06月

担当区分：最終著者記述言語：英語掲載種別：研究論文（学術雑誌）

In the human body, joint motion is crucial for any movement, and joint disorders deficit normal exercises of the body parts. Orthotic devices with 3D printing technologies have extended their possibilities to assist disabled people, while the principle for designing devices to fit individual needs is unclear. In this sense, mathematical modeling is highly important for analyzing interactions between the human joint and devices as a whole system. Currently, joint orthoses with flexible materials are expected to apply the human body kinetics for taking care of the body part of interest. For a fine validation analysis, we introduced the flexible multibody dynamic analysis with absolute nodal coordinate formulation (ANCF). It enables to demonstrate large deformations of target flexible materials. In our computer experiment, a flexible bar in the simple model was numerically analyzed in the theoretical framework with ANCF, which is expected to apply for knee joint support devices. Our linkage model demonstrated a large deformation occurring in the knee joint flexion-extension motion. The dynamic model is important for further advancements in human joint orthoses accompanied with flexible materials, which provide benefits not only in shapes fit for individual bodies, but also in the enhancement of the original body dynamics.

DOI： 10.24507/icicel.18.06.607