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RIKEN Information R&D and Strategy Headquarters Man-Machine Collaboration Research Team

Team Leader: Takashi Minato (D.Eng.)

Research Summary

Takashi Minato (D.Eng)

We aim to find the principle of human-machine collaboration that maximizes human abilities and enhances the sense of agency. We further develop an assistive robot that estimates human motor intentions and physically supports human daily activities.

Main Research Fields

  • Complex Systems

Related Research Fields

  • Engineering
  • Informatics
  • Interdisciplinary Science & Engineering
  • Intelligent robotics
  • Intelligent informatics
  • Human interface and interaction


  • Assistive robotics
  • Motor control
  • Motion estimation
  • Machine learning
  • Biosignal analysis

Selected Publications

Papers with an asterisk(*) are based on research conducted outside of RIKEN.

  • 1. Tatsuya Teramae, Takamitsu Matsubara, Tomoyuki Noda, Jun Morimoto.:
    "Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns"
    IEEE Robotics and Automation Letters, Vol. 5, Issue: 4, pp. 6607-6614, 2020
  • 2. *Shinya Chiyohara, Jun-ichiro Furukawa, Tomoyuki Noda, Jun Morimoto and Hiroshi Imamizu.:
    "Passive Training with Upper Extremity Exoskeleton Robot Affects Proprioceptive Acuity and Performance of Motor Learning"
    Scientific Reports, 10, Article number; 11820, 2020
  • 3. *Masashi Hamaya, Takamitsu Matsubara, Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto.:
    "Design of Physical User-Robot Interactions for Model Identification of Soft Actuators on Exoskeleton Robots"
    International Journal of Robotics Research, first published online: June 6, 2019
  • 4. *Barkan Ugurlu, Paolo Formi, Corinne Doppmann, Emre Sariyildiz, and Jun Morimoto.:
    "Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles"
    IEEE Transactions on Industrial Informatics, Vol. 15, Issue 12, pp. 6270-6279
  • 5. *Tadej Petric, Luka Peternel, Jun Morimoto, and Jan Babic.:
    "Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability
    Frontiers in Neurorobotics, fnbot.2019.00030, 2019
  • 6. *Tatsuya Teramae, Koji Ishihara, Jan Babic, Jun Morimoto, and Erhan Oztop.:
    "Human-in-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots"
    Frontiers in Neurorobotics, fnbot.2018.00071
  • 7. *Tatsuya Teramae, Tomoyuki Noda, and Jun Morimoto.:
    "EMG-Based Model Predictive Control for Physical Human-Robot Interaction: Application for Assist-As-Needed Control"
    IEEE Robotics and Automation Letters, Vol. 3, issue 1, pp.210-217, 2018
  • 8. *Masashi Hamaya, Takamitsu Matsubara, Tomoyuki Noda, Tatsuya Teramae, and Jun Morimoto.:
    "Learning assistive strategies for exoskeleton robots from user-robot physical interaction"
    Pattern Recognition Letters, Vol. 99, pp. 67-76, 2017
  • 9. *Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, and Jun Morimoto.:
    "Human movement modeling to detect bio-signal sensor failures for myoelectric assistive robot control"
    IEEE Transactions on Robotics, Vol. 33, Issue 4, pp. 846-857, 2017
  • 10. *Jun-ichiro Furukawa, Tomoyuki Noda, Tatsuya Teramae, and Jun Morimoto.:
    "An EMG-Driven Weight Support System with Pneumatic Artificial Muscles"
    IEEE Systems Journal, Vol. 10, No. 3, pp. 1026-1034, 2016

Recent Research Results

Lab Members

Principal investigator

Takashi Minato
Team Leader

Core members

Jun Morimoto
Senior Visiting Scientist
Junichiro Furukawa
Research Scientist
Takahide Ito
Special technical staff
Akihide Inano
Senior Technical Staff

Contact Information

3rd Floor, Advanced Telecommunications Research Institute International
2-2-2 Hikaridai Seika-cho, Sorakugun, Kyoto
619-0288 Japan (Kansai Science City)
Email: jun.morimoto [at] riken.jp