Motion Estimation of an Unknown Rigid Body Rotating Freely in Zero Gravity Based on Complex Spectrum of Position of a Point on the Body. - Hiroaki Hirai; Yasuhiro Masutani; Fumio Miyazaki (ICRA, 1998)

Rhythmic Movement by Neural Oscillator with Periodic Stimulus. - Hiroaki Hirai; Fumio Miyazaki (ICRA, 2003)

What Are Key Mechanisms for Adaptive Wall-Bouncing Control? - Hiroaki Hirai; Fumio Miyazaki (ROBIO, 2004)

Dynamic temporal patterns betwen robots: The self-organized timing selection in juggling-like passing the balls. - Hiroaki Hirai; Fumio Miyazaki (ROBIO, 2005)

Passive Stabilization of Juggling-like Ball-passing Task. - Hiroaki Hirai; Fumio Miyazaki (ICRA, 2006)

Development of an ankle-foot orthosis with a pneumatic passive element. - Hiroaki Hirai; Ryuta Ozawa; Satoru Goto; Hiroki Fujigaya; Shodo Yamasaki; Yasuhiko Hatanaka; Sadao Kawamura (RO-MAN, 2006)

Emergence of a dynamic pattern in wall-bouncing juggling: self-organized timing selection for rhythmic movement. - Hiroaki Hirai; Fumio Miyazaki (Robotica, 2006)

Dynamic coordination between robots: self-organized timing selection in a juggling-like ball-passing task. - Hiroaki Hirai; Fumio Miyazaki (IEEE Trans. Syst. Man Cybern. Part B, 2006)

A simple control design for human-robot coordination based on the knowledge of dynamical role division. - Ryohei Ueha; Hang T. T. Pham; Hiroaki Hirai; Fumio Miyazaki (IROS, 2009)

A study on dynamical role division in a crank-rotation task from the viewpoint of kinetics and muscle activity analysis. - Hang T. T. Pham; Ryohei Ueha; Hiroaki Hirai; Fumio Miyazaki (IROS, 2010)

Extraction and implementation of muscle synergies in hand-force control. - Hang T. T. Pham; Mariko Kimura; Hiroaki Hirai; Fumio Miyazaki (ICRA, 2011)

A preliminary experiment for transferring human motion to a musculoskeletal robot - Decomposition of human running based on muscular coordination -. - Taiki Iimura; Keita Inoue; Hang T. T. Pham; Hiroaki Hirai; Fumio Miyazaki (IROS, 2011)

Decomposition of Limb Movement Based on Muscular Coordination During Human Running. - Taiki Iimura; Keita Inoue; Hang T. T. Pham; Hiroaki Hirai; Fumio Miyazaki (J. Adv. Comput. Intell. Intell. Informatics, 2011)

Muscle synergy analysis of human adaptation to a variable-stiffness exoskeleton: Human walk with a knee exoskeleton with pneumatic artificial muscles. - Daisuke Maeda; Kenta Tominaga; Takanori Oku; Hang T. T. Pham; Shin Saeki; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (Humanoids, 2012)

Analysis of muscle coordination in human pedaling and implementation with a musculoskeletal robot. - Takanori Oku; Keita Inoue; Hang T. T. Pham; Kenta Tominaga; Daisuke Maeda; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (Humanoids, 2012)

Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles. - Yohei Ariga; Hang T. T. Pham; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (ICRA, 2012)

Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles: II. Application to EMG-based human-machine interface for an elbow-joint system. - Yohei Ariga; Daisuke Maeda; Hang T. T. Pham; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (IROS, 2012)

Tacit representation of muscle activities during coordination training: Muscle synergy analysis to visualize motor enhancement in virtual trajectory of multi-joint arm movement. - Keitaro Koba; Kenta Murakami; Takanori Oku; Kanna Uno; Pipatthana Phatiwuttipat; Yuto Yamashita; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (BioRob, 2014)

A novel muscle synergy extraction method to explain the equilibrium-point trajectory and endpoint stiffness during human upper-limb movements on a horizontal plane. - Kanna Uno; Takanori Oku; Pipatthana Phatiwuttipat; Keitaro Koba; Yuto Yamashita; Kenta Murakami; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (BioRob, 2014)

Pilot study on quantitative assessment of muscle imbalance: Differences of muscle synergies, equilibrium-point trajectories, and endpoint stiffness in normal and pathological upper-limb movements. - Takanori Oku; Kanna Uno; Tomoki Nishi; Masayuki Kageyama; Pipatthana Phatiwuttipat; Keitaro Koba; Yuto Yamashita; Kenta Murakami; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki; Hiroaki Naritomi (EMBC, 2014)

Iterative motion learning with stiffness adaptation for multi-joint robots. - Mitsunori Uemura; Sadao Kawamura; Hiroaki Hirai; Fumio Miyazaki (ROBIO, 2014)

Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement. - Hang T. T. Pham; Yohei Ariga; Kenta Tominaga; Takanori Oku; Kanna Nakayama; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (Adv. Robotics, 2014)

Reconstruction of Human Skills by Using PCA and Transferring them to a Robot. - Masahiro Takeuchi; Jun Shimodaira; Yuki Amaoka; Shinsuke Hamatani; Hiroaki Hirai; Fumio Miyazaki (J. Robotics Mechatronics, 2014)

Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: An inspiration from electromyography analysis of human pedaling. - Eichi Watanabe; Takanori Oku; Hiroaki Hirai; Kanna Uno; Mitsunori Uemura; Fumio Miyazaki (Humanoids, 2015)

Adaptive tracking control with partial regressor for multi-joint robot. - Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (IECON, 2015)

Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. Experimental evidence for three equilibrium-point-based synergies during human pedaling. - Eichi Watanabe; Takanori Oku; Hiroaki Hirai; Fumiaki Yoshikawa; Yuma Nagakawa; Akira Kuroiwa; Emerson Paul Grabke; Mitsunori Uemura; Fumio Miyazaki; Hermano Igo Krebs (Humanoids, 2016)

Equilibrium-point-based synergies that encode coordinates in task space: A practical method for translating functional synergies from human to musculoskeletal robot arm. - Fumiaki Yoshikawa; Hiroaki Hirai; Eichi Watanabe; Yuma Nagakawa; Akira Kuroiwa; Emerson Paul Grabke; Mitsunori Uemura; Fumio Miyazaki; Hermano Igo Krebs (Humanoids, 2016)

Efficacy of a knee orthosis that uses an elastic element. - Ippei Kamada; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki (EMBC, 2017)

MIT-Skywalker: Evaluating comfort of bicycle/saddle seat. - Rogério Sales Gonçalves; Taya Hamilton; Ali R. Daher; Hiroaki Hirai; Hermano Igo Krebs (ICORR, 2017)

Effects of partial body-weight support and functional electrical stimulation on gait characteristics during treadmill locomotion: Pros and cons of saddle-seat-type body-weight support. - Natsumi Kataoka; Hiroaki Hirai; Taya Hamilton; Fumiaki Yoshikawa; Akira Kuroiwa; Yuma Nagakawa; Eichi Watanabe; Yudai Ninomaru; Yuri Saeki; Mitsunori Uemura; Fumio Miyazaki; Hiroshi Nakata; et al. (ICORR, 2017)

Alteration in Foot Strike Pattern While Running with Elastic Insoles: Case Study on the Effects of Long-term Training. - Ryo Fujihara; Kohei Kozasa; Hiroaki Hirai; Hermano Igo Krebs (BioRob, 2018)

An Investigation into Rhythmic and Discrete Gait Using the MIT Skywalker. - Brennan Leo Jackson; Rui Moura Coelho; Hiroaki Hirai; Hermano Igo Krebs (BioRob, 2018)

Interferential Electrical Stimulation Applied to the Soleus Muscle in Humans: Preliminary Study on the Relationship Among Stimulation Parameters, Force Output, and Pain Sensation. - Kohei Kozasa; Ryo Fujihara; Hiroaki Hirai; Hermano Igo Krebs (BioRob, 2018)

Exploiting the Invariant Structure for Controlling Multiple Muscles in Anthropomorphic Legs: III. Reproducing Hemiparetic Walking from Equilibrium Point- Based Synergies. - Eichi Watanabe; Kohei Kozasa; Ryo Fujihara; Hiroaki Hirai; Keishi Yoshida; Hiroaki Naritomi; Hermano Igo Krebs (ICORR, 2019)

Standing and Stepping Control with Switching Rules for Bipedal Robots Based on Angular Momentum Around Ankle. - Mitsunori Uemura; Hiroaki Hirai (Int. J. Humanoid Robotics, 2019)

Electrical Stimulation to Modulate Human Ankle Impedance: Effects of Intervention on Balance Control in Quiet and Perturbed Stances. - Kohei Kozasa; Pham Duc Huy Hoang; Hiroaki Hirai; Kaito Hori; Hideto Niwa; Ryo Fujihara; Kazuhiro Matsui; Atsushi Nishikawa; Hermano Igo Krebs (BioRob, 2020)

Equilibrium point-based control of muscle-driven anthropomorphic legs reveals modularity of human motor control during pedalling. - Eichi Watanabe; Hiroaki Hirai; Hermano Igo Krebs (Adv. Robotics, 2020)

Inter-limb Asymmetry of Equilibrium Regulation in the Legs of 10-11-Year-Old Boys during Overground Sprinting. - Kazuto Noro; Hiroaki Hirai; Hideya Okamoto; Daisuke Kogawa; Chikako Kamimukai; Hiroshi Nagao; Yasunori Kaneko; Kaito Hori; Satoru Yamamoto; Naoto Yamada; Takashi Yajima; Kazuhiro Matsui; et al. (EMBC, 2021)

Earable Ω (OMEGA): A Novel Clenching Interface Using Ear Canal Sensing for Human Metacarpophalangeal Joint Control by Functional Electrical Stimulation. - Kazuhiro Matsui; Yuya Suzuki; Keita Atsuumi; Miwa Nagai; Shotaro Ohno; Hiroaki Hirai; Atsushi Nishikawa; Kazuhiro Taniguchi (Sensors, 2022)

Visual EMG Biofeedback System in a Virtual Reality Space for Relearning Internal Models* -Case studies focusing on equilibrium point velocity-. - Tetsuya Ando; Yuto Okamoto; Kazuhiro Matsui; Keita Atsuumi; Kazuhiro Taniguchi; Hiroaki Hirai; Atsushi Nishikawa (SII, 2023)

Transverse Pelvic/Saddle Rotation Characterizing Push-Off Initiation During Saddle-Seat-Type Body-Weight-Supported Treadmill Walking. - Ryohei Terada; Hiroaki Hirai; Kosei Sasaki; Hirokazu Kuga; Keisuke Furukawa; Kazuhiro Matsui; Atsushi Nishikawa; Hermano Igo Krebs (BioRob, 2024)

A Study of Spatial Perception in Virtual Space via Display and the Intervention Effects of Haptic Feedback. - Kotaro Okada; Kazuhiro Matsui; Keita Atsuumi; Kazuhiro Taniguchi; Hiroaki Hirai; Atsushi Nishikawa (IEEE Access, 2024)

Comparison of Parameters of Regression Equations for Estimating the Perceptual Quantity of Pseudo-Haptics. - Kazuhiro Matsui; Iori Kikuchi; Kotaro Okada; Keita Atsuumi; Kazuhiro Taniguchi; Hiroaki Hirai; Atsushi Nishikawa (J. Robotics Mechatronics, 2024)

Pilot study of the relation between various dynamics of avatar experience and perceptual characteristics. - Yuto Okamoto; Kazuhiro Matsui; Tetsuya Ando; Keita Atsuumi; Kazuhiro Taniguchi; Hiroaki Hirai; Atsushi Nishikawa (PeerJ Comput. Sci., 2024)

Impact of Virtual Self-Touch on the Embodiment of Avatars with Different Body Sizes. - Kotaro Okada; Kazuhiro Matsui; Ruu Fujii; Ryoma Kojima; Keita Atsuumi; Hiroaki Hirai; Atsushi Nishikawa (VR Workshops, 2025)