Eichi Watanabe

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Motor redundancy is a fundamental problem inherent to the inverse problem of motor planning in a muscle-activated endoskeleton such as that of a human and an anthropomorphic musculoskeletal robot. This paper proposes a biologically inspired control framework for multiple redundant muscles, based on the invariant structure in the group of agonist-antagonist(More)
Robotic therapy for rehabilitation of the lower extremity is currently in its early stage of development. Aiming at exploring an efficacious intervention for gait rehabilitation, we investigate the characteristics of an end-effector gait-training device that combines saddle-seat-type body-weight-supported treadmill training with functional electrical(More)
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