Assistive Robotics Research Team

Position, Name
Research field
Email (+@aist.go.jp)

Team leader
Hideyuki TANAKA

High accuracy visual marker, environmental structuring, robot vision, positioning
(Research topic 5)

Senior researcher

Rehabilitation robotics and mechatronics
(Research topics 1, 2, 3, 10)

Senior researcher

Myoelectric robotic/prosthetic hands, research on development, evaluation and social implementation of assistive technology
(Research topics 1, 2, 3, 8, 9)

Senior researcher
Kunihiro OGATA

Modeling of human body and movement and assistive technology based on it
(Research topic 2, 7)

Senior researcher
Akihiko MURAI

Human performance augmentation by kinodynamic / cognitive interaction design
(Research topic 11, 12, 13, 14)

Senior researcher
Konami IZUMI

Fabrication of electronic circuits and sensor elements using various printing technologies, printing technology for curved surfaces, manufacture of wearable sensors using knitting and sewing techniques

Senior researcher

Mechanics and control of humanoid robot, Digital human simulation
(Research topic 11)

Senior researcher

Assistive technology and its biomechanical analysis

Postdoctoral researcher

Motion analysis, System design for sports training
(Research topic 11)

Postdoctoral researcher
Nobuyasu NAKANO

Human motor control mechanism and motor learning design
(Research topic 11)

Invited Researcher

Data utilization of medical, elderly care and healthcare information
(Research topic 3)

Technical Staff


Technical Staff


Technical Staff


Technical Staff



Research collaborator

Chief senior researcher

Assistive robotics, android robotics, face and gaze measurement, navigation
(Research topic 5)

With the aim of augmenting people's functioning, and improving QOL and service efficiency in an aged society, we will research and develop robotic technologies (assistive robotics, assistive technologies) that assist people in their daily lives, and aim to commercialize next-generation robotic devices that contribute to society. In addition to the development of sensors, measurement technologies, and technologies for physiological intervention, we are also developing technologies to assist for analyzing user's daily life to design devices, and to evaluate the safety and benefit of devices. We collaborate with companies in verification experiments and industrialization of technologies.
research overview

11.The design of interventions that enhance motor learning using an exoskeleton robot for upper limb movements

The experiment of upper limb movements using an exoskeleton robot
The experiment of upper limb movements
using an exoskeleton robot

To perform an effective intervention for improving motor performance, it is necessary to design an intervention based on an understanding of motor learning mechanisms. In this study, we focus on the movement of the upper limbs in the plane using an exoskeleton robot, which is a simplified movement that is easy to handle theoretically. We aim to design the interventions that enhance motor learning by analyzing measurement data of motor learning experiments in which the designed stimulus is applied to participants, and by using a digital human technology that analyzes human musculoskeletal information.

(Murai, Ayusawa, Washino and Nakano)

12.DATSURYOKU: Multi-level intervention to support motor skill acquisition

The failure in sports performance due to tension is often caused by excessive muscle co-contraction. It is easy to contract a muscle, but extremely difficult to de-contract it. The purpose of this research is to design the interaction between human and environment through kinodynamic and cognitive interventions to support the acquisition of motor skills (muscle relaxation). We would implement the system as a sports service, and improve motivation to exercise by preventing failures in real-life situations, thereby establishing an exercise habit.


13.Impedance model of the interaction between environment and human body and its modification design

This research develops a model of environment–human body interaction, which is critical for us to perform balanced motions such as locomotion and activities of daily living while standing. Specifically, movement smoothness and stiffness are quantitatively represented by an impedance between environment and body (ENV–BODY impedance) based on the concept of mechanical impedance, which is commonly used in robotics. This model could be applied to training programs for evaluating movement smoothness and roughness using real-time motion measurement/analysis and environment control technology.


14.Multilayered Kinodynamics Simulation for Detailed Whole-body Motion Generation and Analysis

This study generates and analyzes unsafe human motion that cannot be measured experimentally in laboratories with dynamic consistency. Detailed whole-body motions are generated by a multilayered kinodynamics simulation (MLKD Sim) that uses a detailed digital whole-body human model and a simple motion-representation model that parametrically represents human motion mechanisms. This study conducts detailed dynamics and kinematics analysis of unsafe human motions that cannot be measured experimentally in laboratories to prevent injuries, falls, and fatigue, and these results should find applications in the fields of medicine and welfare.


Journal papers
  • Sohei Washino, Akihiko Murai, Hirotoshi Mankyu, Futoshi Ogita, Hiroaki Kanehisa and Yasuhide Yoshitake
    "Lower lung-volume level induces lower vertical center of mass position and alters swimming kinematics during front-crawl swimming"
    Journal of biomechanics, vol.121, 110428, 24 May 2021.
  • Manuel G.-Catalano, Irene Frizza, Cecilia Morandi, Giorgio Grioli, Ko Ayusawa, Takahiro Ito and Gentiane Venture
    "HRP-4 Walks on Soft Feet"
    IEEE Robotics and Automation Letters, vol.6, no.2, pp.470-477, Apr 2021.
  • Kunihiro Ogata and Yoshio Matsumoto
    "Whole body sensing dummy of the elderly to evaluate robotic devices for nursing care"
    Advanced Robotics, vol.35, issue 8, pp.504-515, 24 Feb 2021.
  • Takahiro Ito, Ko Ayusawa, Eiichi Yoshida and Hiroshi Kobayashi
    "Simultaneous Control Framework for Humanoid Tracking Human Movement With Interacting Wearable Assistive Device"
    IEEE Robotics and Automation Letters, vol.5. no.2, pp.3604-3611, Apr 2020.
  • Genki Hisano, Satoru Hashizume, Yoshiyuki Kobayashi, Akihiko Murai, Toshiki Kobayashi, Motomu Nakashima and Hiroaki Hobara
    "Factors associated with a risk of prosthetic knee buckling during walking in unilateral transfemoral amputees"
    Gait & posture, vol.77, pp.69-74, March 2020.
  • Makoto Haga, Katsuyuki Hoshina, Hiroyuki Koyama, Tetsuro Miyata, Yosuke Ikegami, Akihiko Murai and Yoshihiko Nakamura
    "Bicycle exercise training improves ambulation in patients with peripheral artery disease"
    Journal of vascular surgery, vol.71, issue 3, pp.979-987, March 2020.
International conference papers
  • Keiko Homma, Mika Yasuoka, Yasuko Akutsu and Yoshio Matsumoto
    "Developing a Framework for Evaluating Robotic Care Devices in the Introduction Phase"
    Proceedings of the 2021 IEEE International Conference on Intelligence and Safety for Robotics, pp.77-80, 2021.
  • Hongyuan Ren, Takayuki Tanaka, Kotaro Hashimoto and Akihiko Murai
    "Analysis of Running Expansion with Trunk and Pelvic Rotation Assist Suit by Using SLIP Model"
    In Symposium on Robot Design, Dynamics and Control, pp.458-466, Springer, Cham. , Sep 2020.
  • Isamu Kajitani, Keiko Homma and Yoshio Matsumoto
    "Investigations on Monitoring Sensor Usage and Decision-Making: A Case Study in an Elderly Care Facility"
    Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Posture, Motion and Health. HCII 2020.
    Lecture Notes in Computer Science, vol 12198, pp.521-530, Jul 2020.
  • Yasuko Kitajima, Isamu Kajitani, Mitsuhiro Nakamura, Keiko Homma, Yoshio Matsumoto and Jukai Maeda
    "Verifying the Usefulness of Monitoring Sensors Used by Caregivers in Nursing Homes"
    Digital Human Modeling and Applications in Health, Safety, Ergonomics and Risk Management. Posture, Motion and Health. HCII 2020.
    Lecture Notes in Computer Science, vol 12198, pp.531-546, Jul 2020.
  • Hideyuki Tanaka
    "Ultra-High-Accuracy Visual Marker for Indoor Precise Positioning"
    Proc. The 2020 Int. Conf. Robotics and Automation (ICRA2020), pp.2338-2343, 2020.
  • Sohei Washino, Akihiko Murai, Hirotoshi Mankyu and Yasuhide Yoshitake
    "Association between Changes in Swimming Velocity, Vertical Center of Mass Position, and Projected Frontal Area during Maximal 200-m Front Crawl"
    Multidisciplinary Digital Publishing Institute Proceedings, vol.49, no.1, p.60, 15 Jun 2020.
  • Keiko Homma, Kiyoshi Fujiwara, Takuya Ogure and Isamu Kajitani
    "Development of Contact Safety Test Procedure for Defecation Assistance Devices"
    IEEE Global Conference on Life Sciences and Technologies, pp.153-156, Mar 2020.
  • Kunihiro Ogata and Yoshio Matsumoto
    "Estimating Road Surface and Gradient using Internal Sensors for Robot Assist Walker"
    2020 IEEE/SICE Int. Symp. on System Integration (SII2020), pp.826-831, Hawaii, USA, Jan 2020.