July 22nd (Thursday)
Opening Address and Announcements
09:15 – 09: 30

Marine Theater*K. Ohnishi (Keio University, Japan)

Keynote Lecture

Marine Theater
Chairperson: K. Ohnishi(Keio University, Japan)

09: 30 – 10: 20

Engineering review of biological evolution of motion control*M. Kumamoto (Kyoto University, Japan)

10: 20 – 10: 30

Discussions

10: 30 – 10: 40

BreakSession Program
Biological Evolution in terms of Motion Control I
Marine Theater
Chairperson: T. Yamada(National Museum of Nature and Science, Japan)
10: 40 – 11: 10

From ciliary to muscular locomotion in lancelets*K. Yasui(1), T. Kaji(1) and S. Tabata(2) (Hiroshima University, Japan(1); Kyushu
University, Japan(2))

11: 10 – 11: 40

Numerical investigation of hydrodynamics of rainbow trout swimming*K. Kamemoto (Yokohama National University, Japan) and A. Ojima (CollegeMaster Hands Inc., Japan)

11: 40 – 12: 10

Analyses of swimming motion of lancelet, blacktip reef shark andyellowfin*R. Sato(1), K. Fujii(2), M. Iwata(2), K. Yoshimura(2), S. Yamauchi(2), K.
Matsuzaki(2), Kosuke Yoshida(2), C. Nakamura(2), Y. Sato(3) and Y. Abe(2)(Kanazawa Institute of Technology, Japan(1); Aquamarine Fukushima, Japan(2);Ministry of Defense, Japan(3))

12: 10 – 12: 30

Discussion

12: 30 – 14: 30

Lunch BreakBiological Evolution in terms of Motion Control IIMarine Theater
Chairperson: M. Okabe(The Jikei University School of Medicine, Japan)
14: 30 – 15: 00

Muscular characteristics of aquatic mammals*T. Yamada (National Museum of Nature and Science, Japan) and M. Koizumi(Tokyo Ariake University of Medical and Health Sciences)

15: 00 – 15: 30

Genomics and the evolution of chordates*C. T. Amemiya (Benaroya Research Institute and University of Washington,USA) and T. Miyake (The Jikei University School of Medicine, Japan)

15: 30 – 16: 00

Evolution of locomotor adaptation in primates*M. Nakatsukasa (Kyoto University, Japan)

16: 00 – 16: 20

Discussions

July 23rd (Friday)
Biological and Engineering Reviews of Motion Control through Landing I
Marine Theater
Chairperson: T. Miyake(The Jikei University School of Medicine, Japan)
09: 30 – 10: 00

Transition from aquatic to terrestrial life and evolution of thevertebrate pharynx*M. Okabe (The Jikei University School of Medicine, Japan)

10: 00 – 10: 30

Evolutionary developmental perspective of limbs and fins ingnathostomes*T. Yano(1)(2), H. Yokoyama(1), S. Yonei-Tamura(1) and K. Tamura(1) (TohokuUniversity, Japan(1); Research Fellow of the Japan Society for the Promotion ofScience, Japan(2))

10: 30 – 10: 40

Discussions

10: 40 – 10: 45

Break

10: 45 – 11: 15

Fins to limb: evolution of the appendage skeleton and musculatureacross the fish-tetrapod transition*Per Erik Ahlberg (Uppsala University, Sweden)

11: 15 – 11: 45

Link parameters as analysis tool for animal movements*S. Oh and N. Inuzuka (The University of Tokyo, Japan)

11: 45 – 12: 15

The interplay of leg dynamics and multi-articular muscle function instabilising locomotion in uneven terrain*M. A. Daley (Royal Veterinary College, UK)

12: 15 – 12: 25

Discussions

12: 25 – 14: 00

Lunch Break

12: 45 – 13: 45

Dialogue Session I (Odd-numbered presentations)Biological and Engineering Reviews of Motion Control through Landing IIMarine Theater
Chairperson: M. Kumamoto(Kyoto University, Japan)
14: 00 – 14: 30

The pectoral fin musculature of the coelacanth: an implication forevolution of mono- and multi-articular muscles in tetrapod limbs* T. Miyake(1), M. Kumamoto(2), M. Iwata(3), M. Okabe(1), H. Koie(4), K. Fujii(3), K.
Matsuzaki(3), C. Nakamura(3), S. Yamauchi(3), Kosuke Yoshida(3), K. Yoshimura(3),A. Komada(3), S. Matsunaga(5), N. Kumai(5), Y. Yabumoto(6), K. Fujita(7), T.
Uyeno(8) and Y. Abe(3) (The Jikei University School of Medicine, Japan(1); Kyoto
University, Japan(2); Aquamarine Fukushima, Japan(3); Nihon University, Japan(4);Research Center of Computational Mechanics, Inc., Japan(5); Kitakyushu Museumof Natural History & Human History, Japan(6); Tokyo University of Marine
Science and Technology, Japan(7); National Museum of Nature and Science,Japan(8))

14: 30 – 15: 00

Investigation of a lancelet robot with triarticular muscle mechanism*T. Tsuji (Saitama University, Japan)

15: 00 – 15: 30

Robotics application using bi-articular muscle provided coordination
control model (BiCOOM)*T. Oda (OKI Electric Industry Co., Ltd., Japan)

15: 30 – 15: 50

Discussions

15: 50 – 16: 00

Break

16: 00 – 16: 30

Torque transfer function of the bi-articular muscle in engineer’s view
*T. Oshima(1), K. Koyanagi(1), T. Fujikawa(2) and N. Momose(3) (Toyama
Prefectural University, Japan(1); Osaka Electro-Communication University,Japan(2); Toyama National College of Technology, Japan(3))

16: 30 – 17: 00

Quadruped walking for rough terrain*K. Ohnishi (Keio University, Japan)

17: 00 – 17: 20

Discussions

July 24th (Saturday)
Physiological and Engineering Aspects of Neuro-Muscular Characteristics inMotion ControlMarine Theater
Chairperson: K. Ohnishi(Keio University, Japan)
09: 30 – 10: 00

The monkey primary motor cortex may generate motor commands
and estimated arm states during reaching movements*E. Miyashita, H. Ueda and Y. Ueyama (Tokyo Institute of Technology, Japan)

10: 00 – 10: 30

Useful signals from motor cortex*A. B. Schwartz (University of Pittsburgh, USA)

10: 30 – 10: 40

Discussions

10: 40 – 10: 50

Break

10: 50 – 11: 20

Forward dynamics simulation of human locomotion*N. Hata (OKI Electric Industry Co., Ltd., Japan)

11: 20 – 11: 50

A muscle-like actuator named “Twist Drive”*I. Godler (University of Kitakyushu, Japan) and T. Sonoda (Fukuoka Industry,Science & Technology Foundation, Japan)

11: 50 – 12: 20

Biarticular muscle structure robotics*S. Oh(1), Kengo Yoshida(2) and Y. Hori(1) (The University of Tokyo, Japan(1);Intelligent Infrastructure Development, Japan(2))

12: 20 – 12: 35

Discussions

12: 35 – 14: 00

Lunch Break

12: 45 – 13: 45

Dialogue Session II (Even-numbered presentations)

Mechatronics and Motion Control
Marine TheaterChairperson: I. Godler(University of Kitakyushu, Japan)
14: 00 – 14: 30

Actuator design for human machine interaction*K. Kong, J. Bae and M. Tomizuka (University of California, Berkeley, USA)

14: 30 – 15: 00

Motion control – a SMC approach*Asif Sabanovic (Sabanci University, Turkey)

15: 00 – 15: 30

Remote evaluation of muscular capabilities in patients withneurological impairments*R. Oboe(1), O. A. Daud(2), S. Masiero(1), F. Oscari(1) and G. Rosati(1) (Universityof Padova, Italy(1): University of Trento, Italy(2))

15: 30 – 15: 50

Discussions

15: 50 – 16: 00

Break

16: 00 – 16: 30

Electromagnetic actuators as artificial muscles for a robotic motion –advantages and limitations*T. Koseki (The University of Tokyo, Japan) and H.-J. Kim (Sungjin RoyalMotion Co., Ltd., Korea)

16: 30 – 17: 00

A consideration for push-pull motion*K. Ohnishi (Keio University, Japan)

17: 00 – 17: 10

Discussions

17: 10 – 17: 20

BreakGeneral Discussions and Concluding Remarks
Marine TheaterChairperson: M. Kumamoto(Kyoto University, Japan)
Chairperson: K. Ohnishi(Keio University, Japan)
17: 20 – 18: 20

General Discussions and Concluding Remarks

BanquetThe Oceans at the Current Rip
Aquamarine Fukushima
19: 30Banquet begins

Dialogue Program
Aqua-room I (1F) of Aquamarine Fukushima
Session I
July 23rd

Odd-numbered presentations chaired by T. Tsuji (Saitama University)

12: 45 – 13: 45
Session II
July 24th

Even-numbered presentations chaired by S. Oh (The University of Tokyo)

12: 45 – 13: 45
A list of Presentations
1.

Relationship of between elbow joint angle and moment arms of antigravity muscles
during the stance phase of tetrapods: case studies of upright and inverted quadrupedal
limb postures.

*S. Fujiwara (The University of Tokyo, Japan) (Note: This dialogue presentation is

one of session program presentations attended by M. Manabe, National Museum of Nature andScience)2.

Estimation of muscle strength during rising motion considering mechanicalcharacteristics of three pairs of muscle.

*T. Abe (Seijoh University, Japan), A. Kanai(Toyohashi SOZO University, Japan), K. Furukawa (Seijoh University, Japan) and T. Fujikawa (OsakaElectro-Communication University, Japan)

3.

Proposal of error convergence-type predictor using 2nd-order Volterra neuron networks
with input-delay.

4.

*S. Kobayakawa and H. Yokoi (Kyushu Institute of Technology, Japan)

Development of haptic data acquisition robot hand.

*T. Nozaki and Kouhei Ohnishi (KeioUniversity, Japan)

5.

Wire tension control for a PE line with modal transformation. *Yusuke Suzuki and Kouhei
Ohnishi (Keio University, Japan)

6.

Imitated bi-articular arm by motor drive with planetary gear. *A. Umemura, T.
Haneyoshi and Y. Saito (Tokyo Denki University, Japan)

7.

Biped walking pattern generation with clothoid curve.

*S. Shimmyo and Kouhei Ohnishi(Keio University, Japan)

8.

Study on power assisting rehabilitation robotic arm utilized hydraulic bilateral servo
actuators (HBSA).

*T. Higashihara (Takamatsu Prosthetic & Orthotic Mfg, Ltd., Japan), Y. Saito(Tokyo Denki University, Japan), Kengo Ohnishi (Tokyo Denki University, Japan) and T. Oshima(Toyama Prefectural University, Japan)

9.

An experimental validation of walking stabilization control for biped robot on uneventerrain.

*Tomoya Sato, S. Sakaino and Kouhei Ohnishi (Keio University, Japan)

10. Control system of an exoskeleton robot for aged people’s transportation. *J. Monnet, Y.
Saito and M. Noguchi (Tokyo Denki University, Japan)

11. Forceps robot with 2-DOF of roll-rotation and open-close. *M. Kawamoto, Yusuke Suzuki
and Kouhei Ohnishi (Keio University, Japan)

12. Haptic Communication between Japan and Italy through Internet. *D. Yashiro, R. Oboeand Kouhei Ohnishi (Keio University, Japan)

13. A new approach for torque sharing of robotic arms equipped with biarticular actuators.
*V. Salvucci, S. Oh and Y. Hori (The University of Tokyo, Japan)

14. Muscle motion actuator for humanoid robots.

*S. Obata, Y. Saito and H. Matsui (TokyoDenki University, Japan)

15. Control of a straight line motion for a humanoid robot using characteristics ofbi-articular simultaneous drive and machine learning control.

*H. Fukusho, T. Sugimotoand T. Koseki (The University of Tokyo, Japan)

16. Component analysis of contact motion based on modal power. *Y. Kasahara and Kouhei
Ohnishi (Keio University, Japan)

17. Force corresponding velocity bilateral control using gyrator principal. *T. Mizoguchi, H.
Kuwahara and Kouhei Ohnishi (Keio University, Japan)

18. Verification of flexible actuator with thrust-rotational wire. *K. Okuda, K. Sugawara, F.
Mitome and Kouhei Ohnishi (Keio University, Japan)

19. Knee stretch walking of biped robot utilizing toe and heel joints. *Takahiko Sato, S.
Shimmyo, Tomoya Sato and Kouhei Ohnishi (Keio University, Japan)

20. Proposal of a muscle activation level control method for limbs during motion and its
application to strength training.

*S. Komada, Y. Murakami and J. Hirai (Mie University, Japan)

21. Improvement of operability for redundant MDOF bilateral system in workspace. *R.
Horie and T. Murakami (Keio University, Japan)

22. Flexible interactive force control in human-system interaction. *T. Shimono (YokohamaNational University, Japan) and Kouhei Ohnishi (Keio University, Japan)

23. Modeling of nonlinear factor in thrust wires and application to motion control system.
*K. Sugawara, A. Suzuki, H. Kuwahara and Kouhei Ohnishi (Keio University, Japan)

24. Realization of efficient motions by information and energy transmission management
based on system connection theory.

*K. Natori (Aoyama Gakuin University, Japan)

25. Fracture prediction system using 2DOF haptic forceps robot.

*W. Motooka, Yusuke

Suzuki, D. Yashiro, Kouhei Ohnishi (Keio University, Japan)

26. Development and verification of POF flexible actuator. *F. Mitome, Y. Kasahara, K. Okuda,

K. Sugawara and Kouhei Ohnishi (Keio University, Japan)

27. Realization of bi-articular driven robotic arm with planetary gear based on disturbanceobserver.

*Y. Kimura, S. Oh and Y. Hori (The University of Tokyo, Japan)

28. Articulated multilateral control for adaptation to increase of system connection. *T.
Ishii and S. Katsura (Keio University, Japan)

29. Calculation of the maximum force distribution of an index finger by using linear
programming method.

*T. Sugimoto, H. Fukusho and T. Koseki (The University of Tokyo,Japan)

30. A synthesis method of motion using haptic devices.

*M. Miyagaki, H. Kuwahara and Kouhei

Ohnishi (Keio University, Japan)

31. High thrust force direct-drive linear actuator and its application to musculoskeletal
robots.

*Y. Fujimoto, I. A. Smadi, H. Ohmori and Y. Wakayama (Yokohama National University,Japan)

32. Thermal bilateral control without heat flux sensor.

*H. Morimitsu and S. Katsura (KeioUniversity, Japan)

33. A study on quantitative evaluation of extent of crying and laughing based on brain bloodflow measured by near infrared spectroscopy (NIRS).

*K. Noguchi, Yukihito Suzuki, J.

Ishikawa, T. Shiotsuki, N. Kamamichi, M. Izutsu, K. Furuta (Tokyo Denki University, Japan) and S.
Yoshino (Tokyo Denki University and Nippon Medical School, Japan)

34. Trial manufacture of a mechanical model of coelacanth lobe-fin. *T. Okada, S. Kawanoand R. Sato (Kanazawa Institute of Technology, Japan)

35. Trial manufacture of a robot with flagellar wave propulsor.

*T. Mizouchi, H. Niimi and R.

Sato (Kanazawa Institute of Technology, Japan)

36. Realization of motion distributor based on real-world haptics.

*Y. Yokokura and S.

Katsura (Keio University, Japan)

37. Construction of real-world environmental model considering frictions. *T. Shimoichi and
S. Katsura (Keio University, Japan)