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Kang S, Ishihara K, Sugimoto N, Morimoto J. Curriculum-based humanoid robot identification using large-scale human motion database. Front Robot AI 2023; 10:1282299. [PMID: 38099007 PMCID: PMC10720581 DOI: 10.3389/frobt.2023.1282299] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/23/2023] [Accepted: 11/13/2023] [Indexed: 12/17/2023] Open
Abstract
Identifying an accurate dynamics model remains challenging for humanoid robots. The difficulty is mainly due to the following two points. First, a good initial model is required to evaluate the feasibility of motions for data acquisition. Second, a highly nonlinear optimization problem needs to be solved to design movements to acquire the identification data. To cope with the first point, in this paper, we propose a curriculum of identification to gradually learn an accurate dynamics model from an unreliable initial model. For the second point, we propose using a large-scale human motion database to efficiently design the humanoid movements for the parameter identification. The contribution of our study is developing a humanoid identification method that does not require the good initial model and does not need to solve the highly nonlinear optimization problem. We showed that our curriculum-based approach was able to more efficiently identify humanoid model parameters than a method that just randomly picked reference motions for identification. We evaluated our proposed method in a simulation experiment and demonstrated that our curriculum was led to obtain a wide variety of motion data for efficient parameter estimation. Consequently, our approach successfully identified an accurate model of an 18-DoF, simulated upper-body humanoid robot.
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Affiliation(s)
- Sunhwi Kang
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Koji Ishihara
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Norikazu Sugimoto
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Jun Morimoto
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
- Graduate School of Informatics, Kyoto University, Kyoto, Japan
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Chiyohara S, Furukawa JI, Noda T, Morimoto J, Imamizu H. Proprioceptive short-term memory in passive motor learning. Sci Rep 2023; 13:20826. [PMID: 38012253 PMCID: PMC10682388 DOI: 10.1038/s41598-023-48101-9] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/24/2023] [Accepted: 11/22/2023] [Indexed: 11/29/2023] Open
Abstract
A physical trainer often physically guides a learner's limbs to teach an ideal movement, giving the learner proprioceptive information about the movement to be reproduced later. This instruction requires the learner to perceive kinesthetic information and store the instructed information temporarily. Therefore, (1) proprioceptive acuity to accurately perceive the taught kinesthetics and (2) short-term memory to store the perceived information are two critical functions for reproducing the taught movement. While the importance of proprioceptive acuity and short-term memory has been suggested for active motor learning, little is known about passive motor learning. Twenty-one healthy adults (mean age 25.6 years, range 19-38 years) participated in this study to investigate whether individual learning efficiency in passively guided learning is related to these two functions. Consequently, learning efficiency was significantly associated with short-term memory capacity. In particular, individuals who could recall older sensory stimuli showed better learning efficiency. However, no significant relationship was observed between learning efficiency and proprioceptive acuity. A causal graph model found a direct influence of memory on learning and an indirect effect of proprioceptive acuity on learning via memory. Our findings suggest the importance of a learner's short-term memory for effective passive motor learning.
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Affiliation(s)
- Shinya Chiyohara
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan
| | - Jun-Ichiro Furukawa
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan
- Man-Machine Collaboration Research Team, Guardian Robot Project, RIKEN, Kyoto, Japan
| | - Tomoyuki Noda
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan.
- Man-Machine Collaboration Research Team, Guardian Robot Project, RIKEN, Kyoto, Japan.
- Graduate School of Informatics, Kyoto University, Kyoto, Japan.
| | - Hiroshi Imamizu
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan
- Department of Psychology, Graduate School of Humanities and Sociology, The University of Tokyo, Hongo 7-3-1, Bunkyo-Ku, Tokyo, 113-0033, Japan
- Research Into Artifacts, Center for Engineering, School of Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo-Ku, Tokyo, 113-8656, Japan
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3
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Yamada H, Morimoto J, Funazaki S, Tonezawa S, Takahashi A, Yoshida M, Nagashima S, Hara K. Retrospective Study of IDegLira, a New Fixed-Ratio Combination, in Japanese Patients With Type 2 Diabetes Mellitus: Analysis of Background Factors Affecting Effectiveness After 6 Months of Treatment. J Clin Med Res 2023; 15:406-414. [PMID: 37822852 PMCID: PMC10563818 DOI: 10.14740/jocmr4995] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/18/2023] [Accepted: 09/23/2023] [Indexed: 10/13/2023] Open
Abstract
Background The aim of the study was to provide real-world data on the effectiveness and safety of a new fixed-ratio combination, insulin degludec/liraglutide (IDegLira) injection in Japanese patients with type 2 diabetes mellitus (T2DM). Methods The primary endpoint was the change in glycated hemoglobin (HbA1c) level 6 months after the introduction of IDegLira. We also examined the rate of achievement of target HbA1c 7% and the individualized HbA1c targets set for each patient. Baseline characteristics associated with the change in HbA1c were also assessed. Seventy-five patients with T2DM were included in the analysis. Results After the initiation of IDegLira, HbA1c decreased significantly from baseline with a change of -1.81% (baseline 9.61% and at 6 months 7.80%; P < 0.001). At baseline, the achievement rate of 7% HbA1c was 2.67% (n = 2), which increased to 36.0% (n = 27) after 6 months of IDegLira introduction (P < 0.05). The attainment rate of individualized HbA1c targets, which were set considering each patient's characteristics, improved from 2.67% (n = 2) to 49.3% (n = 37) (P < 0.001). Regardless of sex, body mass index, estimated glomerular filtration rate, duration of diabetes, or history of glucagon-like peptide-1 receptor agonist use, IDegLira significantly reduced HbA1c, but a higher C-peptide index was associated with a greater reduction in HbA1c. Conclusion In this study, initiation of IDegLira in a real-world clinical setting was beneficial in lowering HbA1c in Japanese T2DM patients with inadequate glycemic control with existing therapy.
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Affiliation(s)
- Hodaka Yamada
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
| | - Jun Morimoto
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
| | - Shunsuke Funazaki
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
| | - Shiori Tonezawa
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
| | - Asuka Takahashi
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
| | - Masashi Yoshida
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
| | - Shuichi Nagashima
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
| | - Kazuo Hara
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, Saitama 330-8503, Japan
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Takai A, Teramae T, Noda T, Ishihara K, Furukawa JI, Fujimoto H, Hatakenaka M, Fujita N, Jino A, Hiramatsu Y, Miyai I, Morimoto J. Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation. Front Hum Neurosci 2023; 17:1197380. [PMID: 37497041 PMCID: PMC10366359 DOI: 10.3389/fnhum.2023.1197380] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/31/2023] [Accepted: 06/15/2023] [Indexed: 07/28/2023] Open
Abstract
This study introduces a body-weight-support (BWS) robot actuated by two pneumatic artificial muscles (PAMs). Conventional BWS devices typically use springs or a single actuator, whereas our robot has a split force-controlled BWS (SF-BWS), in which two force-controlled actuators independently support the left and right sides of the user's body. To reduce the experience of weight, vertical unweighting support forces are transferred directly to the user's left and right hips through a newly designed harness with an open space around the shoulder and upper chest area to allow freedom of movement. A motion capture evaluation with three healthy participants confirmed that the proposed harness does not impede upper-body motion during laterally identical force-controlled partial BWS walking, which is quantitatively similar to natural walking. To evaluate our SF-BWS robot, we performed a force-tracking and split-force control task using different simulated load weight setups (40, 50, and 60 kg masses). The split-force control task, providing independent force references to each PAM and conducted with a 60 kg mass and a test bench, demonstrates that our SF-BWS robot is capable of shifting human body weight in the mediolateral direction. The SF-BWS robot successfully controlled the two PAMs to generate the desired vertical support forces.
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Affiliation(s)
- Asuka Takai
- Department of Brain Robot Interface, Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
- Graduate School of Engineering Division of Mechanical Engineering, Osaka Metropolitan University, Osaka, Japan
| | - Tatsuya Teramae
- Department of Brain Robot Interface, Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Tomoyuki Noda
- Department of Brain Robot Interface, Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Koji Ishihara
- Department of Brain Robot Interface, Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Jun-ichiro Furukawa
- Department of Brain Robot Interface, Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
- Man-Machine Collaboration Research Team, Guardian Robot Project, RIKEN, Kyoto, Japan
| | - Hiroaki Fujimoto
- Neurorehabilitation Research Institute, Morinomiya Hospital, Osaka, Japan
| | - Megumi Hatakenaka
- Neurorehabilitation Research Institute, Morinomiya Hospital, Osaka, Japan
| | - Nobukazu Fujita
- Neurorehabilitation Research Institute, Morinomiya Hospital, Osaka, Japan
| | - Akihiro Jino
- Neurorehabilitation Research Institute, Morinomiya Hospital, Osaka, Japan
| | - Yuichi Hiramatsu
- Neurorehabilitation Research Institute, Morinomiya Hospital, Osaka, Japan
| | - Ichiro Miyai
- Neurorehabilitation Research Institute, Morinomiya Hospital, Osaka, Japan
| | - Jun Morimoto
- Department of Brain Robot Interface, Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
- Man-Machine Collaboration Research Team, Guardian Robot Project, RIKEN, Kyoto, Japan
- Graduate School of Informatics, Kyoto University, Kyoto, Japan
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5
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Yamada H, Yoshida M, Funazaki S, Morimoto J, Tonezawa S, Takahashi A, Nagashima S, Masahiko K, Kiyoshi O, Hara K. Retrospective Analysis of the Effectiveness of Oral Semaglutide in Type 2 Diabetes Mellitus and Its Effect on Cardiometabolic Parameters in Japanese Clinical Settings. J Cardiovasc Dev Dis 2023; 10:jcdd10040176. [PMID: 37103055 PMCID: PMC10141082 DOI: 10.3390/jcdd10040176] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/18/2023] [Revised: 04/09/2023] [Accepted: 04/16/2023] [Indexed: 04/28/2023] Open
Abstract
Glucagon-like peptide-1 receptor agonists (GLP-1RA) have a more potent glycated hemoglobin (HbA1c)-lowering effect than existing therapies and are widely used for treating type 2 diabetes mellitus (T2DM). Once-daily oral semaglutide is the world's first oral GLP-1RA. This study aimed to provide real-world data on oral semaglutide in Japanese patients with T2DM and its effects on cardiometabolic parameters. This was a single-center retrospective observational study. We examined changes in HbA1c and body weight (BW) and the rate of achieving HbA1c < 7% after 6 months of oral semaglutide treatment in Japanese patients with T2DM. Furthermore, we examined differences in the efficacy of oral semaglutide with multiple patient backgrounds. A total of 88 patients were included in this study. Overall, the mean (standard error of the mean) HbA1c at 6 months decreased by -1.24% (0.20%) from baseline, and BW at 6 months (n = 85) also decreased by -1.44 kg (0.26 kg) from baseline. The percentage of patients who achieved HbA1c < 7% changed significantly from 14% at baseline to 48%. HbA1c decreased from baseline regardless of age, sex, body mass index, chronic kidney disease, or diabetes duration. Additionally, alanine aminotransferase, total cholesterol, triglyceride, and non-high-density lipoprotein cholesterol were significantly reduced from baseline. Oral semaglutide may be an effective option for the intensification of therapy in Japanese patients with T2DM who have inadequate glycemic control with existing therapy. It may also reduce BW and improve cardiometabolic parameters.
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Affiliation(s)
- Hodaka Yamada
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Masashi Yoshida
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Shunsuke Funazaki
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Jun Morimoto
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Shiori Tonezawa
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Asuka Takahashi
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Shuichi Nagashima
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Kimura Masahiko
- Department of Pharmacy, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Otsuka Kiyoshi
- Department of Pharmacy, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
| | - Kazuo Hara
- Department of Medicine, Division of Endocrinology and Metabolism, Jichi Medical University Saitama Medical Center, 1-847 Amanuma-cho, Omiya-ku, Saitama 330-8503, Japan
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6
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Nakamura Y, Ishida T, Tanaka SC, Mitsuyama Y, Yokoyama S, Shinzato H, Itai E, Okada G, Kobayashi Y, Kawashima T, Miyata J, Yoshihara Y, Takahashi H, Aoki R, Nakamura M, Ota H, Itahashi T, Morita S, Kawakami S, Abe O, Okada N, Kunimatsu A, Yamashita A, Yamashita O, Imamizu H, Morimoto J, Okamoto Y, Murai T, Hashimoto RI, Kasai K, Kawato M, Koike S. Distinctive alterations in the mesocorticolimbic circuits in various psychiatric disorders. Psychiatry Clin Neurosci 2023. [PMID: 36905180 DOI: 10.1111/pcn.13542] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 11/17/2022] [Revised: 03/03/2023] [Accepted: 03/07/2023] [Indexed: 03/12/2023]
Abstract
AIM Increasing evidence suggests that psychiatric disorders are linked to alterations in the mesocorticolimbic dopamine-related circuits. However, the common and disease-specific alterations remain to be examined in schizophrenia (SCZ), major depressive disorder (MDD), and autism spectrum disorder (ASD). Thus, this study aimed to examine common and disease-specific features related to mesocorticolimbic circuits. METHODS This study included 555 participants from four institutes with five scanners: 140 individuals with SCZ (45.0% female), 127 individuals with MDD (44.9%), 119 individuals with ASD (15.1%), and 169 healthy controls (HC) (34.9%). All participants underwent resting-state functional magnetic resonance imaging. A parametric empirical Bayes approach was adopted to compare estimated effective connectivity among groups. Intrinsic effective connectivity focusing on the mesocorticolimbic dopamine-related circuits including the ventral tegmental area (VTA), shell and core parts of the nucleus accumbens (NAc), and medial prefrontal cortex (mPFC) were examined using a dynamic causal modeling analysis across these psychiatric disorders. RESULTS The excitatory shell-to-core connectivity was greater in the all patients than in the HC group. The inhibitory shell-to-VTA and shell-to-mPFC connectivities were greater in the ASD group than in the HC, MDD, and SCZ groups. Furthermore, the VTA-to-core and VTA-to-shell connectivities were excitatory in the ASD group, while those connections were inhibitory in the HC, MDD, and SCZ groups. CONCLUSION Impaired signaling in the mesocorticolimbic dopamine-related circuits could be an underlying neuropathogenesis of various psychiatric disorders. These findings will improve the understanding of unique neural alternations of each disorder and will facilitate identification of effective therapeutic targets. This article is protected by copyright. All rights reserved.
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Affiliation(s)
- Yuko Nakamura
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, the University of Tokyo, Meguro-ku, Tokyo, 153-8902, Japan.,University of Tokyo Institute for Diversity & Adaptation of Human Mind (UTIDAHM), Meguro-ku, Tokyo, 153-8902, Japan
| | - Takuya Ishida
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, the University of Tokyo, Meguro-ku, Tokyo, 153-8902, Japan.,Department of Neuropsychiatry, Graduate School of Wakayama Medical University, Wakayama, 641-8509, Japan
| | - Saori C Tanaka
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, 619-0288, Japan.,Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, Nara, 630-0192, Japan
| | - Yuki Mitsuyama
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, 734-8551, Japan
| | - Satoshi Yokoyama
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, 734-8551, Japan
| | - Hotaka Shinzato
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, 734-8551, Japan
| | - Eri Itai
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, 734-8551, Japan
| | - Go Okada
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, 734-8551, Japan
| | - Yuko Kobayashi
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, 606-8507, Japan
| | - Takahiko Kawashima
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, 606-8507, Japan
| | - Jun Miyata
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, 606-8507, Japan
| | - Yujiro Yoshihara
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, 606-8507, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry and Behavioral Sciences, Tokyo Medical and Dental University, Tokyo, 113-8510, Japan
| | - Ryuta Aoki
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, 157-8577, Japan
| | - Motoaki Nakamura
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, 157-8577, Japan
| | - Haruhisa Ota
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, 157-8577, Japan
| | - Takashi Itahashi
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, 157-8577, Japan
| | - Susumu Morita
- Department of Neuropsychiatry, Graduate School of Medicine, University of Tokyo, Bunkyo-ku, Tokyo, 113-8655, Japan
| | - Shintaro Kawakami
- Department of Neuropsychiatry, Graduate School of Medicine, University of Tokyo, Bunkyo-ku, Tokyo, 113-8655, Japan
| | - Osamu Abe
- Department of Radiology, Graduate School of Medicine, the University of Tokyo, Bunkyo-ku, Tokyo, 113-8655, Japan
| | - Naohiro Okada
- The International Research Center for Neurointelligence (WPI-IRCN), Institutes for Advanced Study (UTIAS), University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8654, Japan
| | - Akira Kunimatsu
- Department of Radiology, International University of Health and Welfare Mita Hospital, Tokyo, 108-8329, Japan
| | - Ayumu Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, 619-0288, Japan.,Department of Psychiatry, Boston University School of Medicine, MA, 02118, USA
| | - Okito Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, 619-0288, Japan.,Center for Advanced Intelligence Project, RIKEN, Tokyo, 103-0027, Japan
| | - Hiroshi Imamizu
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, 619-0288, Japan.,Department of Psychology, Graduate School of Humanities and Sociology, the University of Tokyo, Tokyo, 113-8654, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, 619-0288, Japan.,Department of Systems Science, Graduate School of Informatics, Kyoto University, Kyoto, 606-8501, Japan
| | - Yasumasa Okamoto
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, 734-8551, Japan
| | - Toshiya Murai
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, 606-8507, Japan
| | - Ryu-Ichiro Hashimoto
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, 157-8577, Japan.,Department of Language Sciences, Tokyo Metropolitan University, Tokyo, 192-0397, Japan
| | - Kiyoto Kasai
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, the University of Tokyo, Meguro-ku, Tokyo, 153-8902, Japan.,University of Tokyo Institute for Diversity & Adaptation of Human Mind (UTIDAHM), Meguro-ku, Tokyo, 153-8902, Japan.,Department of Neuropsychiatry, Graduate School of Medicine, University of Tokyo, Bunkyo-ku, Tokyo, 113-8655, Japan.,The International Research Center for Neurointelligence (WPI-IRCN), Institutes for Advanced Study (UTIAS), University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8654, Japan
| | - Mitsuo Kawato
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, 619-0288, Japan
| | - Shinsuke Koike
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, the University of Tokyo, Meguro-ku, Tokyo, 153-8902, Japan.,University of Tokyo Institute for Diversity & Adaptation of Human Mind (UTIDAHM), Meguro-ku, Tokyo, 153-8902, Japan.,The International Research Center for Neurointelligence (WPI-IRCN), Institutes for Advanced Study (UTIAS), University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8654, Japan
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7
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Ishida T, Nakamura Y, Tanaka SC, Mitsuyama Y, Yokoyama S, Shinzato H, Itai E, Okada G, Kobayashi Y, Kawashima T, Miyata J, Yoshihara Y, Takahashi H, Morita S, Kawakami S, Abe O, Okada N, Kunimatsu A, Yamashita A, Yamashita O, Imamizu H, Morimoto J, Okamoto Y, Murai T, Kasai K, Kawato M, Koike S. Aberrant Large-Scale Network Interactions Across Psychiatric Disorders Revealed by Large-Sample Multi-Site Resting-State Functional Magnetic Resonance Imaging Datasets. Schizophr Bull 2023:7074397. [PMID: 36919870 DOI: 10.1093/schbul/sbad022] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 03/16/2023]
Abstract
BACKGROUND AND HYPOTHESIS Dynamics of the distributed sets of functionally synchronized brain regions, known as large-scale networks, are essential for the emotional state and cognitive processes. However, few studies were performed to elucidate the aberrant dynamics across the large-scale networks across multiple psychiatric disorders. In this paper, we aimed to investigate dynamic aspects of the aberrancy of the causal connections among the large-scale networks of the multiple psychiatric disorders. STUDY DESIGN We applied dynamic causal modeling (DCM) to the large-sample multi-site dataset with 739 participants from 4 imaging sites including 4 different groups, healthy controls, schizophrenia (SCZ), major depressive disorder (MDD), and bipolar disorder (BD), to compare the causal relationships among the large-scale networks, including visual network, somatomotor network (SMN), dorsal attention network (DAN), salience network (SAN), limbic network (LIN), frontoparietal network, and default mode network. STUDY RESULTS DCM showed that the decreased self-inhibitory connection of LIN was the common aberrant connection pattern across psychiatry disorders. Furthermore, increased causal connections from LIN to multiple networks, aberrant self-inhibitory connections of DAN and SMN, and increased self-inhibitory connection of SAN were disorder-specific patterns for SCZ, MDD, and BD, respectively. CONCLUSIONS DCM revealed that LIN was the core abnormal network common to psychiatric disorders. Furthermore, DCM showed disorder-specific abnormal patterns of causal connections across the 7 networks. Our findings suggested that aberrant dynamics among the large-scale networks could be a key biomarker for these transdiagnostic psychiatric disorders.
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Affiliation(s)
- Takuya Ishida
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, The University of Tokyo, Tokyo, Japan.,Department of Neuropsychiatry, Graduate School of Wakayama Medical University, Wakayama, Japan
| | - Yuko Nakamura
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, The University of Tokyo, Tokyo, Japan.,University of Tokyo Institute for Diversity and Adaptation of Human Mind (UTIDAHM), Tokyo, Japan
| | - Saori C Tanaka
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan.,Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan
| | - Yuki Mitsuyama
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Satoshi Yokoyama
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Hotaka Shinzato
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Eri Itai
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Go Okada
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Yuko Kobayashi
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Takahiko Kawashima
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Jun Miyata
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Yujiro Yoshihara
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry and Behavioral Sciences, Tokyo Medical and Dental University, Tokyo, Japan.,Center for Brain Integration Research, Tokyo Medical and Dental University, Tokyo, Japan
| | - Susumu Morita
- Department of Neuropsychiatry, Graduate School of Medicine, University of Tokyo, Tokyo, Japan
| | - Shintaro Kawakami
- Department of Neuropsychiatry, Graduate School of Medicine, University of Tokyo, Tokyo, Japan
| | - Osamu Abe
- Department of Radiology, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
| | - Naohiro Okada
- The International Research Center for Neurointelligence (WPI-IRCN), Institutes for Advanced Study (UTIAS), University of Tokyo, Tokyo, Japan
| | - Akira Kunimatsu
- Department of Radiology, International University of Health and Welfare Mita Hospital, Tokyo, Japan
| | - Ayumu Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan.,Department of Information Physics and Computing, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan
| | - Okito Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan.,Center for Advanced Intelligence Project, RIKEN, Tokyo, Japan
| | - Hiroshi Imamizu
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan.,Department of Psychology, Graduate School of Humanities and Sociology, The University of Tokyo, Tokyo, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan.,Department of Systems Science, Graduate School of Informatics, Kyoto University, Kyoto, Japan
| | - Yasumasa Okamoto
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Toshiya Murai
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Kiyoto Kasai
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, The University of Tokyo, Tokyo, Japan.,University of Tokyo Institute for Diversity and Adaptation of Human Mind (UTIDAHM), Tokyo, Japan.,Department of Neuropsychiatry, Graduate School of Medicine, University of Tokyo, Tokyo, Japan.,The International Research Center for Neurointelligence (WPI-IRCN), Institutes for Advanced Study (UTIAS), University of Tokyo, Tokyo, Japan
| | - Mitsuo Kawato
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan
| | - Shinsuke Koike
- Center for Evolutionary Cognitive Sciences, Graduate School of Art and Sciences, The University of Tokyo, Tokyo, Japan.,University of Tokyo Institute for Diversity and Adaptation of Human Mind (UTIDAHM), Tokyo, Japan.,The International Research Center for Neurointelligence (WPI-IRCN), Institutes for Advanced Study (UTIAS), University of Tokyo, Tokyo, Japan
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8
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Takai A, Fu Q, Doibata Y, Lisi G, Tsuchiya T, Mojtahedi K, Yoshioka T, Kawato M, Morimoto J, Santello M. Learning acquisition of consistent leader-follower relationships depends on implicit haptic interactions. Sci Rep 2023; 13:3476. [PMID: 36859436 PMCID: PMC9977766 DOI: 10.1038/s41598-023-29722-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/11/2022] [Accepted: 02/09/2023] [Indexed: 03/03/2023] Open
Abstract
Are leaders made or born? Leader-follower roles have been well characterized in social science, but they remain somewhat obscure in sensory-motor coordination. Furthermore, it is unknown how and why leader-follower relationships are acquired, including innate versus acquired controversies. We developed a novel asymmetrical coordination task in which two participants (dyad) need to collaborate in transporting a simulated beam while maintaining its horizontal attitude. This experimental paradigm was implemented by twin robotic manipulanda, simulated beam dynamics, haptic interactions, and a projection screen. Clear leader-follower relationships were learned only when strong haptic feedback was introduced. This phenomenon occurred despite participants not being informed that they were interacting with each other and the large number of equally-valid alternative dyadic coordination strategies. We demonstrate the emergence of consistent leader-follower relationships in sensory-motor coordination, and further show that haptic interaction is essential for dyadic co-adaptation. These results provide insights into neural mechanisms responsible for the formation of leader-follower relationships in our society.
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Affiliation(s)
- Asuka Takai
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International, Seika, Japan
- Graduate School of Engineering Division of Mechanical Engineering, Osaka Metropolitan University, Osaka, Japan
| | - Qiushi Fu
- Department of Mechanical and Aerospace Engineering, University of Central Florida, Orlando, USA
| | - Yuzuru Doibata
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International, Seika, Japan
| | - Giuseppe Lisi
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International, Seika, Japan
| | - Toshiki Tsuchiya
- School of Biological and Health Systems Engineering, Arizona State University, Tempe, USA
| | - Keivan Mojtahedi
- School of Biological and Health Systems Engineering, Arizona State University, Tempe, USA
| | - Toshinori Yoshioka
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International, Seika, Japan
- XNef, Kyoto, Japan
| | - Mitsuo Kawato
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International, Seika, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International, Seika, Japan.
- Graduate School of Informatics, Department of Systems Science, Kyoto University, Kyoto, Japan.
| | - Marco Santello
- School of Biological and Health Systems Engineering, Arizona State University, Tempe, USA.
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9
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Yamanokuchi T, Kwon Y, Tsurumine Y, Uchibe E, Morimoto J, Matsubara T. Randomized-to-Canonical Model Predictive Control for Real-World Visual Robotic Manipulation. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3189156] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Tomoya Yamanokuchi
- Graduate School of Information Science, Nara Institute of Science and Technology (NAIST), Ikoma, Nara, Japan
| | - Yuhwan Kwon
- Graduate School of Information Science, Nara Institute of Science and Technology (NAIST), Ikoma, Nara, Japan
| | - Yoshihisa Tsurumine
- Graduate School of Information Science, Nara Institute of Science and Technology (NAIST), Ikoma, Nara, Japan
| | - Eiji Uchibe
- Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Jun Morimoto
- Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Takamitsu Matsubara
- Graduate School of Information Science, Nara Institute of Science and Technology (NAIST), Ikoma, Nara, Japan
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10
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Matsuo Y, LeCun Y, Sahani M, Precup D, Silver D, Sugiyama M, Uchibe E, Morimoto J. Deep learning, reinforcement learning, and world models. Neural Netw 2022; 152:267-275. [DOI: 10.1016/j.neunet.2022.03.037] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/15/2021] [Revised: 02/19/2022] [Accepted: 03/28/2022] [Indexed: 12/01/2022]
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11
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Takeuchi H, Yahata N, Lisi G, Tsurumi K, Yoshihara Y, Kawada R, Murao T, Mizuta H, Yokomoto T, Miyagi T, Nakagami Y, Yoshioka T, Yoshimoto J, Kawato M, Murai T, Morimoto J, Takahashi H. Development of a classifier for gambling disorder based on functional connections between brain regions. Psychiatry Clin Neurosci 2022; 76:260-267. [PMID: 35279904 PMCID: PMC9322453 DOI: 10.1111/pcn.13350] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 10/14/2021] [Revised: 02/14/2022] [Accepted: 03/08/2022] [Indexed: 11/30/2022]
Abstract
AIM Recently, a machine-learning (ML) technique has been used to create generalizable classifiers for psychiatric disorders based on information of functional connections (FCs) between brain regions at resting state. These classifiers predict diagnostic labels by a weighted linear sum (WLS) of the correlation values of a small number of selected FCs. We aimed to develop a generalizable classifier for gambling disorder (GD) from the information of FCs using the ML technique and examine relationships between WLS and clinical data. METHODS As a training dataset for ML, data from 71 GD patients and 90 healthy controls (HCs) were obtained from two magnetic resonance imaging sites. We used an ML algorithm consisting of a cascade of an L1-regularized sparse canonical correlation analysis and a sparse logistic regression to create the classifier. The generalizability of the classifier was verified using an external dataset. This external dataset consisted of six GD patients and 14 HCs, and was collected at a different site from the sites of the training dataset. Correlations between WLS and South Oaks Gambling Screen (SOGS) and duration of illness were examined. RESULTS The classifier distinguished between the GD patients and HCs with high accuracy in leave-one-out cross-validation (area under curve (AUC = 0.89)). This performance was confirmed in the external dataset (AUC = 0.81). There was no correlation between WLS, and SOGS and duration of illness in the GD patients. CONCLUSION We developed a generalizable classifier for GD based on information of functional connections between brain regions at resting state.
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Affiliation(s)
- Hideaki Takeuchi
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan.,Department of Psychiatry and Behavioral Sciences, Graduate School of Medical and Dental Sciences, Tokyo Medical and Dental University, Tokyo, Japan
| | - Noriaki Yahata
- Institute for Quantum Life Science, National Institutes for Quantum Science and Technology, Chiba, Japan.,Applied MRI Research, Department of Molecular Imaging and Theranostics, Institute for Quantum Medical Science, National Institutes for Quantum Science and Technology, Chiba, Japan.,Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan
| | - Giuseppe Lisi
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan.,Nagoya Institute of Technology, Nagoya, Japan
| | - Kosuke Tsurumi
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Yujiro Yoshihara
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Ryosaku Kawada
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Takuro Murao
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Hiroto Mizuta
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Tatsunori Yokomoto
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Takashi Miyagi
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | | | - Toshinori Yoshioka
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan
| | - Junichiro Yoshimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan.,Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan
| | - Mitsuo Kawato
- Applied MRI Research, Department of Molecular Imaging and Theranostics, Institute for Quantum Medical Science, National Institutes for Quantum Science and Technology, Chiba, Japan
| | - Toshiya Murai
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International (ATR), Kyoto, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry and Behavioral Sciences, Graduate School of Medical and Dental Sciences, Tokyo Medical and Dental University, Tokyo, Japan
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12
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Mavsar M, Ridge B, Pahic R, Morimoto J, Ude A. Simulation-Aided Handover Prediction From Video Using Recurrent Image-to-Motion Networks. IEEE Trans Neural Netw Learn Syst 2022; PP:1-13. [PMID: 35635818 DOI: 10.1109/tnnls.2022.3175720] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Recent advances in deep neural networks have opened up new possibilities for visuomotor robot learning. In the context of human-robot or robot-robot collaboration, such networks can be trained to predict future poses and this information can be used to improve the dynamics of cooperative tasks. This is important, both in terms of realizing various cooperative behaviors, and for ensuring safety. In this article, we propose a recurrent neural architecture, capable of transforming variable-length input motion videos into a set of parameters describing a robot trajectory, where predictions can be made after receiving only a few frames. A simulation environment is utilized to expand the training database and to improve generalization capability of the network. The resulting architecture demonstrates good accuracy when predicting handover trajectories, with models trained on synthetic and real data showing better performance than when trained on real or simulated data only. The computed trajectories enable the execution of handover tasks with uncalibrated robots, which was verified in an experiment with two real robots.
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13
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Furukawa JI, Okajima S, An Q, Nakamura Y, Morimoto J. Selective Assist Strategy by Using Lightweight Carbon Frame Exoskeleton Robot. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3148799] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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14
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Itoh TD, Ishihara K, Morimoto J. Implicit Contact Dynamics Modeling With Explicit Inertia Matrix Representation for Real-Time, Model-Based Control in Physical Environment. Neural Comput 2021; 34:360-377. [PMID: 34915580 DOI: 10.1162/neco_a_01465] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/20/2021] [Accepted: 09/03/2021] [Indexed: 11/04/2022]
Abstract
Model-based control has great potential for use in real robots due to its high sampling efficiency. Nevertheless, dealing with physical contacts and generating accurate motions are inevitable for practical robot control tasks, such as precise manipulation. For a real-time, model-based approach, the difficulty of contact-rich tasks that requires precise movement lies in the fact that a model needs to accurately predict forthcoming contact events within a limited length of time rather than detect them afterward with sensors. Therefore, in this study, we investigate whether and how neural network models can learn a task-related model useful enough for model-based control, that is, a model predicting future states, including contact events. To this end, we propose a structured neural network model predicting a control (SNN-MPC) method, whose neural network architecture is designed with explicit inertia matrix representation. To train the proposed network, we develop a two-stage modeling procedure for contact-rich dynamics from a limited number of samples. As a contact-rich task, we take up a trackball manipulation task using a physical 3-DoF finger robot. The results showed that the SNN-MPC outperformed MPC with a conventional fully connected network model on the manipulation task.
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Affiliation(s)
- Takeshi D Itoh
- Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, 619-0288, Japan, and Graduate School of Science and Technology, Nara Institute of Science and Technology, Nara, 630-0192, Japan
| | - Koji Ishihara
- Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, 619-0288, Japan
| | - Jun Morimoto
- Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, 619-0288, Japan and Graduate School of Informatics, Kyoto University, Kyoto, 606-8501, Japan
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15
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Takai A, Lisi G, Noda T, Teramae T, Imamizu H, Morimoto J. Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training. Front Neurosci 2021; 15:704402. [PMID: 34744603 PMCID: PMC8567031 DOI: 10.3389/fnins.2021.704402] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/02/2021] [Accepted: 09/23/2021] [Indexed: 11/13/2022] Open
Abstract
Improving human motor performance via physical guidance by an assist robot device is a major field of interest of the society in many different contexts, such as rehabilitation and sports training. In this study, we propose a Bayesian estimation method to predict whether motor performance of a user can be improved or not by the robot guidance from the user's initial skill level. We designed a robot-guided motor training procedure in which subjects were asked to generate a desired circular hand movement. We then evaluated the tracking error between the desired and actual subject's hand movement. Results showed that we were able to predict whether a novel user can reduce the tracking error after the robot-guided training from the user's initial movement performance by checking whether the initial error was larger than a certain threshold, where the threshold was derived by using the proposed Bayesian estimation method. Our proposed approach can potentially help users to decide if they should try a robot-guided training or not without conducting the time-consuming robot-guided movement training.
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Affiliation(s)
- Asuka Takai
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
- Mechanical and Physical Engineering Course, Graduate School of Engineering, Osaka City University, Osaka, Japan
| | - Giuseppe Lisi
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Tomoyuki Noda
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Tatsuya Teramae
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
| | - Hiroshi Imamizu
- Department of Psychology, The University of Tokyo, Tokyo, Japan
- Department of Cognitive Neuroscience, Brain Information Communication Research Laboratory Group, ATR, Kyoto, Japan
| | - Jun Morimoto
- Department of Brain Robot Interface, Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International (ATR), Kyoto, Japan
- Graduate School of Informatics, Kyoto University, Kyoto, Japan
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16
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Umakoshi M, Yasuhara T, Morimoto J, Murai S, Sasaki T, Kameda M, Kin K, Miyoshi Y, Date I. Spinal Surgery after Bilateral Subthalamic Stimulation for Patients with Parkinson's Disease: A Retrospective Outcome Analysis of Pain and Functional Control. Neurol Med Chir (Tokyo) 2021; 61:607-618. [PMID: 34408107 PMCID: PMC8531877 DOI: 10.2176/nmc.oa.2021-0094] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/28/2023] Open
Abstract
Parkinson’s disease (PD) patients often suffer from spinal diseases requiring surgeries, although the risk of complications is high. There are few reports on outcomes after spinal surgery for PD patients with deep brain stimulation (DBS). The objective of this study was to explore the data on spinal surgery for PD patients with precedent DBS. We evaluated 24 consecutive PD patients with 28 spinal surgeries from 2007 to 2017 who received at least a 2-year follow-up. The characteristics and outcomes of PD patients after spinal surgery were compared to those of 156 non-PD patients with degenerative spinal diseases treated in 2013–2017. Then, the characteristics, outcomes, and spinal alignment of PD patients receiving DBS were analyzed in degenerative spinal/lumbar diseases. The mean age at the time of spinal surgery was 68 years. The Hoehn and Yahr score regarding PD was stage 1 for 8 patients, stage 2 for 2 patients, stage 3 for 8 patients, stage 4 for 10 patients, and stage 5 for 0 patient. The median preoperative L-DOPA equivalent daily dose was 410 mg. Thirteen patients (46%) received precedent subthalamic nucleus (STN) DBS. Lumbar lesions with pain were common, and operation and anesthesia times were long in PD patients. Pain and functional improvement of PD patients persisted for 2 years after surgery with a higher complication rate than for non-PD patients. PD patients with STN DBS maintained better lumbar lordosis for 2 years after spinal surgery. STN DBS significantly maintained spinal alignment with subsequent pain and functional amelioration 2 years after surgery. The outcomes of spinal surgery for PD patients might be favorably affected by thorough treatment for PD including DBS.
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Affiliation(s)
- Michiari Umakoshi
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
| | - Takao Yasuhara
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
| | - Jun Morimoto
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
| | - Satoshi Murai
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
| | - Tatsuya Sasaki
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
| | - Masahiro Kameda
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
| | - Kyohei Kin
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
| | - Yasuyuki Miyoshi
- Department of Neurosurgery, Kawasaki Medical School General Medical Center
| | - Isao Date
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
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17
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Macpherson T, Matsumoto M, Gomi H, Morimoto J, Uchibe E, Hikida T. Parallel and hierarchical neural mechanisms for adaptive and predictive behavioral control. Neural Netw 2021; 144:507-521. [PMID: 34601363 DOI: 10.1016/j.neunet.2021.09.009] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Revised: 07/21/2021] [Accepted: 09/06/2021] [Indexed: 12/21/2022]
Abstract
Our brain can be recognized as a network of largely hierarchically organized neural circuits that operate to control specific functions, but when acting in parallel, enable the performance of complex and simultaneous behaviors. Indeed, many of our daily actions require concurrent information processing in sensorimotor, associative, and limbic circuits that are dynamically and hierarchically modulated by sensory information and previous learning. This organization of information processing in biological organisms has served as a major inspiration for artificial intelligence and has helped to create in silico systems capable of matching or even outperforming humans in several specific tasks, including visual recognition and strategy-based games. However, the development of human-like robots that are able to move as quickly as humans and respond flexibly in various situations remains a major challenge and indicates an area where further use of parallel and hierarchical architectures may hold promise. In this article we review several important neural and behavioral mechanisms organizing hierarchical and predictive processing for the acquisition and realization of flexible behavioral control. Then, inspired by the organizational features of brain circuits, we introduce a multi-timescale parallel and hierarchical learning framework for the realization of versatile and agile movement in humanoid robots.
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Affiliation(s)
- Tom Macpherson
- Laboratory for Advanced Brain Functions, Institute for Protein Research, Osaka University, Osaka, Japan
| | - Masayuki Matsumoto
- Division of Biomedical Science, Faculty of Medicine, University of Tsukuba, Tsukuba, Ibaraki, Japan
| | - Hiroaki Gomi
- NTT Communication Science Laboratories, Nippon Telegraph and Telephone Co., Kanagawa, Japan
| | - Jun Morimoto
- Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan; Graduate School of Informatics, Kyoto University, Kyoto, Japan
| | - Eiji Uchibe
- Department of Brain Robot Interface, ATR Computational Neuroscience Laboratories, Kyoto, Japan
| | - Takatoshi Hikida
- Laboratory for Advanced Brain Functions, Institute for Protein Research, Osaka University, Osaka, Japan.
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18
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Tanaka SC, Yamashita A, Yahata N, Itahashi T, Lisi G, Yamada T, Ichikawa N, Takamura M, Yoshihara Y, Kunimatsu A, Okada N, Hashimoto R, Okada G, Sakai Y, Morimoto J, Narumoto J, Shimada Y, Mano H, Yoshida W, Seymour B, Shimizu T, Hosomi K, Saitoh Y, Kasai K, Kato N, Takahashi H, Okamoto Y, Yamashita O, Kawato M, Imamizu H. A multi-site, multi-disorder resting-state magnetic resonance image database. Sci Data 2021; 8:227. [PMID: 34462444 PMCID: PMC8405782 DOI: 10.1038/s41597-021-01004-8] [Citation(s) in RCA: 28] [Impact Index Per Article: 9.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/06/2020] [Accepted: 07/26/2021] [Indexed: 11/18/2022] Open
Abstract
Machine learning classifiers for psychiatric disorders using resting-state functional magnetic resonance imaging (rs-fMRI) have recently attracted attention as a method for directly examining relationships between neural circuits and psychiatric disorders. To develop accurate and generalizable classifiers, we compiled a large-scale, multi-site, multi-disorder neuroimaging database. The database comprises resting-state fMRI and structural images of the brain from 993 patients and 1,421 healthy individuals, as well as demographic information such as age, sex, and clinical rating scales. To harmonize the multi-site data, nine healthy participants (“traveling subjects”) visited the sites from which the above datasets were obtained and underwent neuroimaging with 12 scanners. All participants consented to having their data shared and analyzed at multiple medical and research institutions participating in the project, and 706 patients and 1,122 healthy individuals consented to having their data disclosed. Finally, we have published four datasets: 1) the SRPBS Multi-disorder Connectivity Dataset 2), the SRPBS Multi-disorder MRI Dataset (restricted), 3) the SRPBS Multi-disorder MRI Dataset (unrestricted), and 4) the SRPBS Traveling Subject MRI Dataset. Measurement(s) | mental or behavioural disorder • brain measurement • Demographic Data | Technology Type(s) | functional magnetic resonance imaging • magnetic resonance imaging • Resting State Functional Connectivity Magnetic Resonance Imaging | Factor Type(s) | age • sex • site • disorder | Sample Characteristic - Organism | Homo sapiens |
Machine-accessible metadata file describing the reported data: 10.6084/m9.figshare.14716329
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Affiliation(s)
- Saori C Tanaka
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.
| | - Ayumu Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Department of Psychiatry, Boston University School of Medicine, Massachusetts, USA
| | - Noriaki Yahata
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Department of Neuropsychiatry, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan.,Institute for Quantum Life Science, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Takashi Itahashi
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Giuseppe Lisi
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
| | - Takashi Yamada
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Naho Ichikawa
- Brain, Mind and KANSEI Sciences Research Center, Hiroshima University, Hiroshima, Japan
| | - Masahiro Takamura
- Brain, Mind and KANSEI Sciences Research Center, Hiroshima University, Hiroshima, Japan
| | - Yujiro Yoshihara
- Department of Psychiatry, Kyoto University Graduate School of Medicine, Kyoto, Japan
| | - Akira Kunimatsu
- Department of Radiology, IMSUT Hospital, Institute of Medical Science, The University of Tokyo, Tokyo, Japan.,Department of Radiology, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
| | - Naohiro Okada
- Department of Neuropsychiatry, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan.,The International Research Center for Neurointelligence (WPI-IRCN) at the University of Tokyo Institutes for Advanced Study (UTIAS), Tokyo, Japan
| | - Ryuichiro Hashimoto
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan.,Department of Language Sciences, Tokyo Metropolitan University, Tokyo, Japan
| | - Go Okada
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical and Health Sciences, Hiroshima University, Hiroshima, Japan
| | - Yuki Sakai
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Department of Psychiatry, Graduate School of Medical Science, Kyoto Prefectural University of Medicine, Kyoto, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Department of Systems Science, Graduate School of Informatics, Kyoto University, Kyoto, Japan
| | - Jin Narumoto
- Department of Psychiatry, Graduate School of Medical Science, Kyoto Prefectural University of Medicine, Kyoto, Japan
| | - Yasuhiro Shimada
- Brain Activity Imaging Center, ATR-Promotions Inc., Kyoto, Japan
| | - Hiroaki Mano
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Center for Information and Neural Networks (CiNet), National Institute of Information and Communications Technology (NICT), Osaka, Japan.,Laboratory of Single Molecule Imaging, WPI Immunology Frontier Research Center, Osaka University, Osaka, Japan
| | - Wako Yoshida
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Department of Systems Science, Graduate School of Informatics, Kyoto University, Kyoto, Japan
| | - Ben Seymour
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Center for Information and Neural Networks (CiNet), National Institute of Information and Communications Technology (NICT), Osaka, Japan.,Laboratory of Single Molecule Imaging, WPI Immunology Frontier Research Center, Osaka University, Osaka, Japan.,The Wellcome Centre for Integrative Neuroimaging, University of Oxford, Oxford, UK
| | - Takeshi Shimizu
- Department of Neuromodulation and Neurosurgery, Osaka University Graduate School of Medicine, Osaka, Japan.,Department of Neurosurgery, Osaka University Graduate School of Medicine, Osaka, Japan
| | - Koichi Hosomi
- Department of Neuromodulation and Neurosurgery, Osaka University Graduate School of Medicine, Osaka, Japan.,Department of Neurosurgery, Osaka University Graduate School of Medicine, Osaka, Japan
| | - Youichi Saitoh
- Department of Neuromodulation and Neurosurgery, Osaka University Graduate School of Medicine, Osaka, Japan.,Department of Neurosurgery, Osaka University Graduate School of Medicine, Osaka, Japan
| | - Kiyoto Kasai
- Department of Neuropsychiatry, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan.,The International Research Center for Neurointelligence (WPI-IRCN) at the University of Tokyo Institutes for Advanced Study (UTIAS), Tokyo, Japan
| | - Nobumasa Kato
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry and Behavioral Sciences, Tokyo Medical and Dental University, Tokyo, Japan
| | - Yasumasa Okamoto
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical and Health Sciences, Hiroshima University, Hiroshima, Japan
| | - Okito Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Center for Advanced Intelligence Project, RIKEN, Tokyo, Japan
| | - Mitsuo Kawato
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Center for Advanced Intelligence Project, RIKEN, Tokyo, Japan
| | - Hiroshi Imamizu
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan.,Department of Psychology, Graduate School of Humanities and Sociology, The University of Tokyo, Tokyo, Japan
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19
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Furukawa JI, Morimoto J. Composing an Assistive Control Strategy Based on Linear Bellman Combination From Estimated User's Motor Goal. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3051562] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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20
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Umeda T, Minemura H, Tanino Y, Hirai K, Koizumi T, Nikaido T, Sato Y, Togawa R, Kawamata T, Watanabe N, Tomita H, Rikimaru M, Morimoto J, Suzuki Y, Uematsu M, Fukuhara N, Fukuhara A, Saito J, Kanazawa K, Shibata Y. P44.02 Mild Interstitial Pneumonia as a Risk Factor for Chemotherapy-Induced Acute Exacerbation of Interstitial Pneumonia in Patients with Lung Cancer. J Thorac Oncol 2021. [DOI: 10.1016/j.jtho.2021.01.841] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
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21
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Ichikawa N, Lisi G, Yahata N, Okada G, Takamura M, Hashimoto RI, Yamada T, Yamada M, Suhara T, Moriguchi S, Mimura M, Yoshihara Y, Takahashi H, Kasai K, Kato N, Yamawaki S, Seymour B, Kawato M, Morimoto J, Okamoto Y. Publisher Correction: Primary functional brain connections associated with melancholic major depressive disorder and modulation by antidepressants. Sci Rep 2020; 10:17650. [PMID: 33057026 PMCID: PMC7560725 DOI: 10.1038/s41598-020-73436-y] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/02/2022] Open
Affiliation(s)
- Naho Ichikawa
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Giuseppe Lisi
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Noriaki Yahata
- Institute for Quantum Life Science, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Go Okada
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Masahiro Takamura
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Ryu-Ichiro Hashimoto
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Takashi Yamada
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Makiko Yamada
- Institute for Quantum Life Science, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan.,Department of Functional Brain Imaging Research, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Tetsuya Suhara
- Institute for Quantum Life Science, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Sho Moriguchi
- Department of Neuropsychiatry, Keio University School of Medicine, Tokyo, Japan
| | - Masaru Mimura
- Department of Neuropsychiatry, Keio University School of Medicine, Tokyo, Japan
| | - Yujiro Yoshihara
- Department of Psychiatry, Kyoto University Graduate School of Medicine, Kyoto, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry, Kyoto University Graduate School of Medicine, Kyoto, Japan.,Graduate School of Medical and Dental Sciences, Tokyo Medical and Dental University, Tokyo, Japan
| | - Kiyoto Kasai
- Department of Youth Mental Health, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
| | - Nobumasa Kato
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Shigeto Yamawaki
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Ben Seymour
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan. .,Computational and Biological Learning Lab, Cambridge University, Cambridge, UK.
| | - Mitsuo Kawato
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Jun Morimoto
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Yasumasa Okamoto
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan.
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22
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Teramae T, Matsubara T, Noda T, Morimoto J. Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.3015460] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
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23
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Yoshihara Y, Lisi G, Yahata N, Fujino J, Matsumoto Y, Miyata J, Sugihara GI, Urayama SI, Kubota M, Yamashita M, Hashimoto R, Ichikawa N, Cahn W, van Haren NEM, Mori S, Okamoto Y, Kasai K, Kato N, Imamizu H, Kahn RS, Sawa A, Kawato M, Murai T, Morimoto J, Takahashi H. Overlapping but Asymmetrical Relationships Between Schizophrenia and Autism Revealed by Brain Connectivity. Schizophr Bull 2020; 46:1210-1218. [PMID: 32300809 PMCID: PMC7505174 DOI: 10.1093/schbul/sbaa021] [Citation(s) in RCA: 22] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Although the relationship between schizophrenia spectrum disorder (SSD) and autism spectrum disorder (ASD) has long been debated, it has not yet been fully elucidated. The authors quantified and visualized the relationship between ASD and SSD using dual classifiers that discriminate patients from healthy controls (HCs) based on resting-state functional connectivity magnetic resonance imaging. To develop a reliable SSD classifier, sophisticated machine-learning algorithms that automatically selected SSD-specific functional connections were applied to Japanese datasets from Kyoto University Hospital (N = 170) including patients with chronic-stage SSD. The generalizability of the SSD classifier was tested by 2 independent validation cohorts, and 1 cohort including first-episode schizophrenia. The specificity of the SSD classifier was tested by 2 Japanese cohorts of ASD and major depressive disorder. The weighted linear summation of the classifier's functional connections constituted the biological dimensions representing neural classification certainty for the disorders. Our previously developed ASD classifier was used as ASD dimension. Distributions of individuals with SSD, ASD, and HCs s were examined on the SSD and ASD biological dimensions. We found that the SSD and ASD populations exhibited overlapping but asymmetrical patterns in the 2 biological dimensions. That is, the SSD population showed increased classification certainty for the ASD dimension but not vice versa. Furthermore, the 2 dimensions were correlated within the ASD population but not the SSD population. In conclusion, using the 2 biological dimensions based on resting-state functional connectivity enabled us to discover the quantified relationships between SSD and ASD.
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Affiliation(s)
- Yujiro Yoshihara
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Giuseppe Lisi
- Department of Brain Robot Interface, ATR (Advanced Telecommunications Research Institute International) Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Noriaki Yahata
- Department of Decoded Neurofeedback, ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
- Department of Youth Mental Health, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
- Department of Molecular Imaging and Theranostics, National Institute of Radiological Sciences, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Junya Fujino
- Medical Institute of Developmental Disabilities Research, Showa University Karasuyama Hospital, Tokyo, Japan
| | - Yukiko Matsumoto
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Jun Miyata
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Gen-ichi Sugihara
- Department of Psychiatry and Behavioral Sciences, Graduate School of Medical and Dental Sciences, Tokyo Medical and Dental University, Tokyo, Japan
| | - Shin-ichi Urayama
- Human Brain Research Center, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Manabu Kubota
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
- Medical Institute of Developmental Disabilities Research, Showa University Karasuyama Hospital, Tokyo, Japan
- Department of Functional Brain Imaging Research, National Institute of Radiological Sciences, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Masahiro Yamashita
- Department of Cognitive Neuroscience, ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Ryuichiro Hashimoto
- Department of Decoded Neurofeedback, ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
- Medical Institute of Developmental Disabilities Research, Showa University Karasuyama Hospital, Tokyo, Japan
- Department of Language Sciences, Tokyo Metropolitan University, Tokyo, Japan
| | - Naho Ichikawa
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Weipke Cahn
- Department of Psychiatry, Brain Centre Rudolf Magnus, University Medical Center Utrecht, Utrecht, the Netherlands
| | - Neeltje E M van Haren
- Department of Psychiatry, Brain Centre Rudolf Magnus, University Medical Center Utrecht, Utrecht, the Netherlands
| | - Susumu Mori
- Department of Radiology, Johns Hopkins University School of Medicine, Baltimore, MD
| | - Yasumasa Okamoto
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Kiyoto Kasai
- Department of Neuropsychiatry, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
| | - Nobumasa Kato
- Medical Institute of Developmental Disabilities Research, Showa University Karasuyama Hospital, Tokyo, Japan
| | - Hiroshi Imamizu
- Department of Cognitive Neuroscience, ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
- Department of Psychology, Graduate School of Humanities and Sociology, The University of Tokyo, Tokyo, Japan
| | - René S Kahn
- Department of Psychiatry, Brain Centre Rudolf Magnus, University Medical Center Utrecht, Utrecht, the Netherlands
| | - Akira Sawa
- Department of Psychiatry, Johns Hopkins University School of Medicine, Baltimore, MD
| | - Mitsuo Kawato
- Department of Decoded Neurofeedback, ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Toshiya Murai
- Department of Psychiatry, Graduate School of Medicine, Kyoto University, Kyoto, Japan
| | - Jun Morimoto
- Department of Brain Robot Interface, ATR (Advanced Telecommunications Research Institute International) Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry and Behavioral Sciences, Graduate School of Medical and Dental Sciences, Tokyo Medical and Dental University, Tokyo, Japan
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24
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Suzuki D, Yamada H, Yoshida M, Funazaki S, Amamoto M, Morimoto J, Hara K. Sodium-glucose cotransporter 2 inhibitors improved time-in-range without increasing hypoglycemia in Japanese patients with type 1 diabetes: A retrospective, single-center, pilot study. J Diabetes Investig 2020; 11:1230-1237. [PMID: 32100964 PMCID: PMC7477508 DOI: 10.1111/jdi.13240] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 11/22/2019] [Revised: 02/04/2020] [Accepted: 02/19/2020] [Indexed: 01/08/2023] Open
Abstract
AIMS/INTRODUCTION Studies have shown that sodium-glucose cotransporter 2 (SGLT2) inhibitors increased time-in-range (TIR; percentage of time glucose level remains between 3.9 and 10.0 mmol/L [70-180 mg/dL]) and decreased glycemic variability in patients with type 1 diabetes. The aim of this study was to investigate the effects of SGLT2 inhibitors on TIR, glycemic variability and glucose control in Japanese patients with type 1 diabetes in a real clinical setting. MATERIALS AND METHODS We designed a single-arm, retrospective cohort study to analyze data from patients starting to use ipragliflozin or dapagliflozin and who used a sensor-based flash glucose monitoring system between February 2019 and August 2019. We measured TIR, time above range >180 mg/dL (percentage of time with glucose level of >180 mg/dL or >10.0 mmol/L), time below range <70 mg/dL (percentage of time with glucose level of <70 mg/dL or <3.9 mmol/L), mean glucose and standard deviation, and coefficient of variation for glycemic variability, and then compared the data before and after SGLT2 inhibitors treatments. RESULTS We enrolled 15 patients in the study. The total dosages of basal insulin decreased significantly, but the total doses of bolus insulin did not change significantly. TIR increased significantly by approximately 11.6%; the time below range <70 mg/dL remained unchanged; and the mean glucose and standard deviation decreased significantly, whereas the coefficients of variation did not. CONCLUSIONS SGLT2 inhibitors improved TIR and the mean glucose level and standard deviation without increasing the time below range <70 mg/dL in patients with type 1 diabetes.
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Affiliation(s)
- Daisuke Suzuki
- Department of MedicineDivision of Endocrinology and MetabolismJichi Medical University Saitama Medical CenterSaitamaJapan
| | - Hodaka Yamada
- Department of MedicineDivision of Endocrinology and MetabolismJichi Medical University Saitama Medical CenterSaitamaJapan
| | - Masashi Yoshida
- Department of MedicineDivision of Endocrinology and MetabolismJichi Medical University Saitama Medical CenterSaitamaJapan
| | - Shunsuke Funazaki
- Department of MedicineDivision of Endocrinology and MetabolismJichi Medical University Saitama Medical CenterSaitamaJapan
| | - Misato Amamoto
- Department of MedicineDivision of Endocrinology and MetabolismJichi Medical University Saitama Medical CenterSaitamaJapan
| | - Jun Morimoto
- Department of MedicineDivision of Endocrinology and MetabolismJichi Medical University Saitama Medical CenterSaitamaJapan
| | - Kazuo Hara
- Department of MedicineDivision of Endocrinology and MetabolismJichi Medical University Saitama Medical CenterSaitamaJapan
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25
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Maeda G, Koç O, Morimoto J. Phase portraits as movement primitives for fast humanoid robot control. Neural Netw 2020; 129:109-122. [PMID: 32505964 DOI: 10.1016/j.neunet.2020.04.007] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2019] [Revised: 03/27/2020] [Accepted: 04/05/2020] [Indexed: 11/28/2022]
Abstract
Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems. Such methods are known to be computationally intensive and sensitive to model accuracy. On the other hand, animals plan complex motor actions not only fast but seemingly with little effort even on unseen tasks. This natural sense to infer temporal dynamics and coordination motivates us to approach robot control from a motor skill learning perspective to design fast and computationally light controllers that can be learned autonomously by the robot under mild modeling assumptions. This article introduces Phase Portrait Movement Primitives (PPMP), a primitive that predicts dynamics on a low dimensional phase space which in turn is used to govern the high dimensional kinematics of the task. The stark difference with other primitive formulations is a built-in mechanism for phase prediction in the form of coupled oscillators that replaces model-based state estimators such as Kalman filters. The policy is trained by optimizing the parameters of the oscillators whose output is connected to a kinematic distribution in the form of a phase portrait. The drastic reduction in dimensionality allows us to efficiently train and execute PPMPs on a real human-sized, dual-arm humanoid upper body on a task involving 20 degrees-of-freedom. We demonstrate PPMPs in interactions requiring fast reactions times while generating anticipative pose adaptation in both discrete and cyclic tasks.
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Affiliation(s)
- Guilherme Maeda
- ATR Computational Neuroscience Laboratories, Department of Brain Robot Interface, 2-2-2 Hikaridai, Seika-cho, Soraku-gun, Kyoto 619-0288, Japan.
| | - Okan Koç
- ATR Computational Neuroscience Laboratories, Department of Brain Robot Interface, 2-2-2 Hikaridai, Seika-cho, Soraku-gun, Kyoto 619-0288, Japan; Max Planck Institute, Max-Planck-Ring 4, 72076, Tübingen, Germany.
| | - Jun Morimoto
- ATR Computational Neuroscience Laboratories, Department of Brain Robot Interface, 2-2-2 Hikaridai, Seika-cho, Soraku-gun, Kyoto 619-0288, Japan.
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26
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Chiyohara S, Furukawa JI, Noda T, Morimoto J, Imamizu H. Passive training with upper extremity exoskeleton robot affects proprioceptive acuity and performance of motor learning. Sci Rep 2020; 10:11820. [PMID: 32678206 PMCID: PMC7366915 DOI: 10.1038/s41598-020-68711-x] [Citation(s) in RCA: 12] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/12/2020] [Accepted: 05/27/2020] [Indexed: 11/09/2022] Open
Abstract
Sports trainers often grasp and move trainees' limbs to give instructions on desired movements, and a merit of this passive training is the transferring of instructions via proprioceptive information. However, it remains unclear how passive training affects the proprioceptive system and improves learning. This study examined changes in proprioceptive acuity due to passive training to understand the underlying mechanisms of upper extremity training. Participants passively learned a trajectory of elbow-joint movement as per the instructions of a single-arm upper extremity exoskeleton robot, and the performance of the target movement and proprioceptive acuity were assessed before and after the training. We found that passive training improved both the reproduction performance and proprioceptive acuity. We did not identify a significant transfer of the training effect across arms, suggesting that the learning effect is specific to the joint space. Furthermore, we found a significant improvement in learning performance in another type of movement involving the trained elbow joint. These results suggest that participants form a representation of the target movement in the joint space during the passive training, and intensive use of proprioception improves proprioceptive acuity.
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Affiliation(s)
- Shinya Chiyohara
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan
| | - Jun-Ichiro Furukawa
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan
| | - Tomoyuki Noda
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan.
| | - Hiroshi Imamizu
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institute International (ATR), Keihanna Science City, Kyoto, 619-0288, Japan.,Department of Psychology, Graduate School of Humanities and Sociology, The University of Tokyo, Hongo 7-3-1, Bunkyo, 113-0033, Japan.,Research Into Artifacts, Center for Engineering, School of Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo, 113-8656, Japan
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27
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Kuwahara K, Sasaki T, Yasuhara T, Kameda M, Okazaki Y, Hosomoto K, Kin I, Okazaki M, Yabuno S, Kawauchi S, Tomita Y, Umakoshi M, Kin K, Morimoto J, Lee JY, Tajiri N, Borlongan CV, Date I. Long-Term Continuous Cervical Spinal Cord Stimulation Exerts Neuroprotective Effects in Experimental Parkinson's Disease. Front Aging Neurosci 2020; 12:164. [PMID: 32612523 PMCID: PMC7309445 DOI: 10.3389/fnagi.2020.00164] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2020] [Accepted: 05/12/2020] [Indexed: 01/11/2023] Open
Abstract
BACKGROUND Spinal cord stimulation (SCS) exerts neuroprotective effects in animal models of Parkinson's disease (PD). Conventional stimulation techniques entail limited stimulation time and restricted movement of animals, warranting the need for optimizing the SCS regimen to address the progressive nature of the disease and to improve its clinical translation to PD patients. OBJECTIVE Recognizing the limitations of conventional stimulation, we now investigated the effects of continuous SCS in freely moving parkinsonian rats. METHODS We developed a small device that could deliver continuous SCS. At the start of the experiment, thirty female Sprague-Dawley rats received the dopamine (DA)-depleting neurotoxin, 6-hydroxydopamine, into the right striatum. The SCS device was fixed below the shoulder area of the back of the animal, and a line from this device was passed under the skin to an electrode that was then implanted epidurally over the dorsal column. The rats were divided into three groups: control, 8-h stimulation, and 24-h stimulation, and behaviorally tested then euthanized for immunohistochemical analysis. RESULTS The 8- and 24-h stimulation groups displayed significant behavioral improvement compared to the control group. Both SCS-stimulated groups exhibited significantly preserved tyrosine hydroxylase (TH)-positive fibers and neurons in the striatum and substantia nigra pars compacta (SNc), respectively, compared to the control group. Notably, the 24-h stimulation group showed significantly pronounced preservation of the striatal TH-positive fibers compared to the 8-h stimulation group. Moreover, the 24-h group demonstrated significantly reduced number of microglia in the striatum and SNc and increased laminin-positive area of the cerebral cortex compared to the control group. CONCLUSIONS This study demonstrated the behavioral and histological benefits of continuous SCS in a time-dependent manner in freely moving PD animals, possibly mediated by anti-inflammatory and angiogenic mechanisms.
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Affiliation(s)
- Ken Kuwahara
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Tatsuya Sasaki
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Takao Yasuhara
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Masahiro Kameda
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Yosuke Okazaki
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Kakeru Hosomoto
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Ittetsu Kin
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Mihoko Okazaki
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Satoru Yabuno
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Satoshi Kawauchi
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Yousuke Tomita
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Michiari Umakoshi
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Kyohei Kin
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Jun Morimoto
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
| | - Jea-Young Lee
- Department of Neurosurgery and Brain Repair, Morsani College of Medicine, University of South Florida, Tampa, FL, United States
| | - Naoki Tajiri
- Department of Neurophysiology and Brain Science, Graduate School of Medical Sciences, Nagoya City University, Nagoya, Japan
| | - Cesar V. Borlongan
- Department of Neurosurgery and Brain Repair, Morsani College of Medicine, University of South Florida, Tampa, FL, United States
| | - Isao Date
- Department of Neurological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, Japan
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28
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Kin K, Yasuhara T, Kameda M, Tomita Y, Umakoshi M, Kuwahara K, Kin I, Kidani N, Morimoto J, Okazaki M, Sasaki T, Tajiri N, Borlongan CV, Date I. Cell encapsulation enhances antidepressant effect of the mesenchymal stem cells and counteracts depressive-like behavior of treatment-resistant depressed rats. Mol Psychiatry 2020; 25:1202-1214. [PMID: 30108315 DOI: 10.1038/s41380-018-0208-0] [Citation(s) in RCA: 17] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 02/22/2018] [Revised: 06/05/2018] [Accepted: 06/20/2018] [Indexed: 12/20/2022]
Abstract
Despite the advances in pharmacological therapies, only the half of depressed patients respond to currently available treatment. Thus, the need for further investigation and development of effective therapies, especially those designed for treatment-resistant depression, has been sorely needed. Although antidepressant effects of mesenchymal stem cells (MSCs) have been reported, the potential benefit of this cell therapy on treatment-resistant depression is unknown. Cell encapsulation may enhance the survival rate of grafted cells, but the therapeutic effects and mechanisms mediating encapsulation of MSCs remain unexplored. Here, we showed that encapsulation enhanced the antidepressant effects of MSCs by attenuating depressive-like behavior of Wistar Kyoto (WKY) rats, which are considered as a promising animal model of treatment-resistant depression. The implantation of encapsulated MSCs (eMSCs) into the lateral ventricle counteracted depressive-like behavior and enhanced the endogenous neurogenesis in the subventricular zone (SVZ) and the dentate gyrus (DG) of the hippocampus, whereas the implantation of MSCs without encapsulation or the implantation of eMSCs into the striatum did not show such ameliorative effects. eMSCs displayed robust and stable secretion of vascular endothelial growth factor (VEGF), brain-derived neurotrophic factor, fibroblast growth factor-2, and ciliary neurotrophic factor (CNTF), and the implantation of eMSCs into the lateral ventricle activated relevant pathways associated with these growth factors. Additionally, eMSCs upregulated intrinsic expression of VEGF and CNTF and their receptors. This study suggests that the implantation of eMSCs into the lateral ventricle exerted antidepressant effects likely acting via neurogenic pathways, supporting their utility for depression treatment.
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Affiliation(s)
- Kyohei Kin
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan.
| | - Takao Yasuhara
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Masahiro Kameda
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Yousuke Tomita
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Michiari Umakoshi
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Ken Kuwahara
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Ittetsu Kin
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Naoya Kidani
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Jun Morimoto
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Mihoko Okazaki
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Tatsuya Sasaki
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
| | - Naoki Tajiri
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan.,Department of Psychology, Kibi International University Graduate School of Psychology, 8, iga-cho, takahashi-shi, Okayama, 716-8508, Japan
| | - Cesario V Borlongan
- Department of Neurosurgery, University of South Florida College Medicine, 12901 Bruce B Downs Blvd, Tampa, FL, 33612, USA
| | - Isao Date
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, 2-5-1, Shikata-cho, Kita-ku, Okayama-shi, Okayama, 700-8558, Japan
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Pahič R, Ridge B, Gams A, Morimoto J, Ude A. Training of deep neural networks for the generation of dynamic movement primitives. Neural Netw 2020; 127:121-131. [PMID: 32339807 DOI: 10.1016/j.neunet.2020.04.010] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/24/2019] [Revised: 02/28/2020] [Accepted: 04/09/2020] [Indexed: 10/24/2022]
Abstract
Dynamic movement primitives (DMPs) have proven to be an effective movement representation for motor skill learning. In this paper, we propose a new approach for training deep neural networks to synthesize dynamic movement primitives. The distinguishing property of our approach is that it can utilize a novel loss function that measures the physical distance between movement trajectories as opposed to measuring the distance between the parameters of DMPs that have no physical meaning. This was made possible by deriving differential equations that can be applied to compute the gradients of the proposed loss function, thus enabling an effective application of backpropagation to optimize the parameters of the underlying deep neural network. While the developed approach is applicable to any neural network architecture, it was evaluated on two different architectures based on encoder-decoder networks and convolutional neural networks. Our results show that the minimization of the proposed loss function leads to better results than when more conventional loss functions are used.
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Affiliation(s)
- Rok Pahič
- Humanoid and Cognitive Robotics Laboratory, Department of Automatics, Biocybernetics, and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia; Jozef Stefan International Postgraduate School, Jamova 39, 1000 Ljubljana, Slovenia.
| | - Barry Ridge
- Humanoid and Cognitive Robotics Laboratory, Department of Automatics, Biocybernetics, and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia; ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Sorakugun, Kyoto 619-0288, Japan.
| | - Andrej Gams
- Humanoid and Cognitive Robotics Laboratory, Department of Automatics, Biocybernetics, and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia.
| | - Jun Morimoto
- ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Sorakugun, Kyoto 619-0288, Japan.
| | - Aleš Ude
- Humanoid and Cognitive Robotics Laboratory, Department of Automatics, Biocybernetics, and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia; ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Sorakugun, Kyoto 619-0288, Japan; Faculty of Electrical Engineering, University of Ljubljana, Tržaška cesta 25, 1000 Ljubljana, Slovenia.
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30
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Ichikawa N, Lisi G, Yahata N, Okada G, Takamura M, Hashimoto RI, Yamada T, Yamada M, Suhara T, Moriguchi S, Mimura M, Yoshihara Y, Takahashi H, Kasai K, Kato N, Yamawaki S, Seymour B, Kawato M, Morimoto J, Okamoto Y. Primary functional brain connections associated with melancholic major depressive disorder and modulation by antidepressants. Sci Rep 2020; 10:3542. [PMID: 32103088 PMCID: PMC7044159 DOI: 10.1038/s41598-020-60527-z] [Citation(s) in RCA: 22] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2019] [Accepted: 01/07/2020] [Indexed: 12/16/2022] Open
Abstract
The limited efficacy of available antidepressant therapies may be due to how they affect the underlying brain network. The purpose of this study was to develop a melancholic MDD biomarker to identify critically important functional connections (FCs), and explore their association to treatments. Resting state fMRI data of 130 individuals (65 melancholic major depressive disorder (MDD) patients, 65 healthy controls) were included to build a melancholic MDD classifier, and 10 FCs were selected by our sparse machine learning algorithm. This biomarker generalized to a drug-free independent cohort of melancholic MDD, and did not generalize to other MDD subtypes or other psychiatric disorders. Moreover, we found that antidepressants had a heterogeneous effect on the identified FCs of 25 melancholic MDDs. In particular, it did impact the FC between left dorsolateral prefrontal cortex (DLPFC)/inferior frontal gyrus (IFG) and posterior cingulate cortex (PCC)/precuneus, ranked as the second 'most important' FC based on the biomarker weights, whilst other eight FCs were normalized. Given that left DLPFC has been proposed as an explicit target of depression treatments, this suggest that the limited efficacy of antidepressants might be compensated by combining therapies with targeted treatment as an optimized approach in the future.
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Affiliation(s)
- Naho Ichikawa
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Giuseppe Lisi
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Noriaki Yahata
- Institute for Quantum Life Science, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Go Okada
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Masahiro Takamura
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Ryu-Ichiro Hashimoto
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Takashi Yamada
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Makiko Yamada
- Institute for Quantum Life Science, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan.,Department of Functional Brain Imaging Research, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Tetsuya Suhara
- Institute for Quantum Life Science, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Sho Moriguchi
- Department of Neuropsychiatry, Keio University School of Medicine, Tokyo, Japan
| | - Masaru Mimura
- Department of Neuropsychiatry, Keio University School of Medicine, Tokyo, Japan
| | - Yujiro Yoshihara
- Department of Psychiatry, Kyoto University Graduate School of Medicine, Kyoto, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry, Kyoto University Graduate School of Medicine, Kyoto, Japan.,Graduate School of Medical and Dental Sciences, Tokyo Medical and Dental University, Tokyo, Japan
| | - Kiyoto Kasai
- Department of Youth Mental Health, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
| | - Nobumasa Kato
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Shigeto Yamawaki
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan
| | - Ben Seymour
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan. .,Computational and Biological Learning Lab, Cambridge University, Cambridge, UK.
| | - Mitsuo Kawato
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Jun Morimoto
- ATR Brain Information Communication Research Laboratory Group, Kyoto, Japan
| | - Yasumasa Okamoto
- Department of Psychiatry and Neurosciences, Graduate School of Biomedical Sciences, Hiroshima University, Hiroshima, Japan.
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Hozumi T, Morimoto J, Nishi T, Takemoto K, Fujita S, Wada T, Shimamura K, Kashiawagi M, Shiono Y, Kuroi A, Matsuo Y, Ino Y, Kubo T, Tanaka A, Akasaka T. P1518 Relationship between post-operative asymptomatic status and reverse remodeling of large left atrium in patients with aortic stenosis who underwent aortic valve replacement. Eur Heart J Cardiovasc Imaging 2020. [DOI: 10.1093/ehjci/jez319.942] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Abstract
Introduction
Recently, we have reported that large left atrial volume (minimum left atrial volume index : LAVImin ≥30ml/m²) at end-diastole determined by direct exposure of left ventricular (LV) end-diastolic pressure can predict post-operative symptomatic status after aortic valve replacement (AVR) in aortic stenosis (AS) patients with high sensitivity and modest specificity. Reverse remodeling of large LAVImin after AVR may contribute to false positive for the prediction of post-operative symptomatic status in patients with AS.
Purpose
The purpose of this study was to evaluate relationship between post-operative symptomatic status and reverse remodeling of large LAVImin in patients with AS who underwent AVR.
Methods
The study population consisted of 75 patients with AS who underwent AVR and were followed up for 600 days after AVR, after the exclusion of the followings; atrial fibrillation, significant coronary artery disease, significant mitral valve disease, pacemaker rhythm, and inadequate echocardiographic images. We measured LAVImin by biplane Simpson"s method before and after AVR. Preoperative large LAVImin (≥30ml/m²) according to the previous study was observed in 32 (43%) of 75 patients. We divided these 32 patients into two groups according to the post-operative symptomatic status during the follow-up period.
Results
There was no significant difference in pre-operative LAVImin between patients with and without post-operative symptom (46.5 ± 13.4 vs 40.4 ± 8.6 ml/m²). On the other hand, post-operative LAVImin in patients without post-operative symptom was significantly smaller than that in patients with post-operative symptom (31.5 ± 8.6 vs 54.8 ± 14.0 ml/m², p < 0.01). While significant regression in LAVImin after AVR was observed in patients without post-operative symptom (40.4 ± 8.6 to 31.5 ± 8.6 ml/m², p < 0.05), no regression in LAVImin after AVR was observed in patients with post-operative symptom (46.5 ± 13.4 to 54.8 ± 14.0 ml/m²).
Conclusions
Reverse remodeling of large LAVmin in patients with AS who underwent AVR was observed in post-operative asymptomatic group, but not in symptomatic group. These results suggest that reverse remodeling of large LAVImin after AVR could contribute to the post-operative asymptomatic status in patients with AS who underwent AVR.
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Affiliation(s)
- T Hozumi
- Wakayama Medical University, Wakayama, Japan
| | - J Morimoto
- Wakayama Medical University, Wakayama, Japan
| | - T Nishi
- Wakayama Medical University, Wakayama, Japan
| | - K Takemoto
- Wakayama Medical University, Wakayama, Japan
| | - S Fujita
- Wakayama Medical University, Wakayama, Japan
| | - T Wada
- Wakayama Medical University, Wakayama, Japan
| | - K Shimamura
- Wakayama Medical University, Wakayama, Japan
| | | | - Y Shiono
- Wakayama Medical University, Wakayama, Japan
| | - A Kuroi
- Wakayama Medical University, Wakayama, Japan
| | - Y Matsuo
- Wakayama Medical University, Wakayama, Japan
| | - Y Ino
- Wakayama Medical University, Wakayama, Japan
| | - T Kubo
- Wakayama Medical University, Wakayama, Japan
| | - A Tanaka
- Wakayama Medical University, Wakayama, Japan
| | - T Akasaka
- Wakayama Medical University, Wakayama, Japan
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Yasuhara T, Kawauchi S, Kin K, Morimoto J, Kameda M, Sasaki T, Bonsack B, Kingsbury C, Tajiri N, Borlongan CV, Date I. Cell therapy for central nervous system disorders: Current obstacles to progress. CNS Neurosci Ther 2019; 26:595-602. [PMID: 31622035 PMCID: PMC7248543 DOI: 10.1111/cns.13247] [Citation(s) in RCA: 38] [Impact Index Per Article: 7.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/28/2019] [Revised: 09/24/2019] [Accepted: 09/29/2019] [Indexed: 12/13/2022] Open
Abstract
Cell therapy for disorders of the central nervous system has progressed to a new level of clinical application. Various clinical studies are underway for Parkinson's disease, stroke, traumatic brain injury, and various other neurological diseases. Recent biotechnological developments in cell therapy have taken advantage of the technology of induced pluripotent stem (iPS) cells. The advent of iPS cells has provided a robust stem cell donor source for neurorestoration via transplantation. Additionally, iPS cells have served as a platform for the discovery of therapeutics drugs, allowing breakthroughs in our understanding of the pathology and treatment of neurological diseases. Despite these recent advances in iPS, adult tissue‐derived mesenchymal stem cells remain the widely used donor for cell transplantation. Mesenchymal stem cells are easily isolated and amplified toward the cells' unique trophic factor‐secretion property. In this review article, the milestone achievements of cell therapy for central nervous system disorders, with equal consideration on the present translational obstacles for clinic application, are described.
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Affiliation(s)
- Takao Yasuhara
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Satoshi Kawauchi
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Kyohei Kin
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Jun Morimoto
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Masahiro Kameda
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Tatsuya Sasaki
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Brooke Bonsack
- Department of Neurosurgery and Brain Repair, Center of Excellence for Aging and Brain Repair, University of South Florida, Tampa, FL, USA
| | - Chase Kingsbury
- Department of Neurosurgery and Brain Repair, Center of Excellence for Aging and Brain Repair, University of South Florida, Tampa, FL, USA
| | - Naoki Tajiri
- Department of Neurophysiology and Brain Science, Nagoya City University Graduate School of Medical Sciences and Medical School, Aichi, Japan
| | - Cesario V Borlongan
- Department of Neurosurgery and Brain Repair, Center of Excellence for Aging and Brain Repair, University of South Florida, Tampa, FL, USA
| | - Isao Date
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
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Ochi T, Wada H, Yamamoto T, Morimoto J, Sakairi Y, Suzuki H, Nakajima T, Yoshino I. EP1.15-05 Surgical Outcomes of Pulmonary Metastasectomy for Head and Neck Cancer: A Single Institutional Retrospective Study. J Thorac Oncol 2019. [DOI: 10.1016/j.jtho.2019.08.2340] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/25/2022]
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35
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Hozumi T, Morimoto J, Takemoto K, Wada T, Maniwa N, Kashiwagi M, Shimamura K, Shiono Y, Kuroi A, Matsuo Y, Kitabata H, Ino Y, Kubo T, Tanaka A, Akasaka T. P2453Value of pre-operative left atrial minimum volume as a surrogate for post-operative symptoms in patients with aortic stenosis who underwent aortic valve replacement. Eur Heart J 2019. [DOI: 10.1093/eurheartj/ehz748.0785] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Indexed: 11/14/2022] Open
Abstract
Abstract
Background
Previous reports have shown that symptoms after aortic valve replacement (AVR) are not uncommon depending on severity of myocardial fibrosis in patients with severe aortic stenosis (AS). Pre-operative minimum left atrial volume (LAVmin) at end-diastole determined by direct exposure of left ventricular end-diastolic pressure may be used as a surrogate for post-operative symptoms in patients with severe AS undergoing AVR.
Purpose
The purpose of this study was to examine the value of pre-operative echocardiographic LAVmin index (LAVImin) to predict post-operative symptomatic status after AVR in patients with severe AS.
Methods
The study population consisted of 219 patients with severe AS who underwent AVR and were followed up for 1000 days after AVR. Pre-operative maximum LAV index (LAVImax), LAVImin, LA emptying fraction (LAEF), LV volume indexes, LV ejection fraction (LVEF) by biplane Simpson's method, aortic valve area index (AVAI), mean aortic valve pressure gradient (mAV-PG), E/A, mean E/e' from LV inflow and mitral annular velocity, and pulmonary artery systolic pressure (PASP) were evaluated by Doppler echocardiography.
Results
After exclusion of 136 patients who met the exclusion criteria (atrial fibrillation, significant coronary artery disease, significant mitral valve diseases, pacemaker rhythm, and inadequate echocardiographic images), the final study population consisted of 75 patients (75±7 years old, 46 female). During a follow-up, 19 patients (25%) complained post-operative symptoms. There were no significant differences in pre-operative serum hemoglobin, creatinine, BNP, chronic obstructive pulmonary disease, hypertension, diabetes, LV volume indexes, LVEF, AVA, mAV-PG between patients with and without post-operative symptoms. There were significant differences in pre-operative LAVImax, LAVImin, and LAEF between patients with and without post-operative symptoms. (60±15 vs 47±15 ml/m2, 45±15 vs 28±1 ml/m2, and 29±12 vs 42±11 ml/m2, respectively). E/A, mean E/e', and PASP in patients with symptoms were significantly greater compared with patients without symptoms (1.0±0.3 vs 0.7±0.2, 25±3 vs 18±2, 44±17 vs 32±9 mmHg, respectively). In the multivariate analysis, pre-operative LAVImin was the independent predictor of the post-operative symptomatic status after AVR (odds ratio: 1.11, 95% confidence interval: 1.04 - 1.18). Receiver operating characteristic analysis revealed that area under the curve (AUC) of LAVImin (cutoff: 30ml/m2) for post-operative symptoms was the largest (0.84) among the other echocardiographic parameters, and significantly larger than that of mean E/e' (0.67, *p<0.01) and LVEF (0.53, **p<0.05) (figure).
Figure 1. ROC analysis
Conclusions
The present results suggest that pre-operative echocardiographic LAVImin may be used as a surrogate for post-operative symptomatic status after AVR in patients with severe AS.
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Affiliation(s)
- T Hozumi
- Wakayama Medical University, Wakayama, Japan
| | - J Morimoto
- Wakayama Medical University, Wakayama, Japan
| | - K Takemoto
- Wakayama Medical University, Wakayama, Japan
| | - T Wada
- Wakayama Medical University, Wakayama, Japan
| | - N Maniwa
- Wakayama Medical University, Wakayama, Japan
| | - M Kashiwagi
- Wakayama Medical University, Wakayama, Japan
| | - K Shimamura
- Wakayama Medical University, Wakayama, Japan
| | - Y Shiono
- Wakayama Medical University, Wakayama, Japan
| | - A Kuroi
- Wakayama Medical University, Wakayama, Japan
| | - Y Matsuo
- Wakayama Medical University, Wakayama, Japan
| | - H Kitabata
- Wakayama Medical University, Wakayama, Japan
| | - Y Ino
- Wakayama Medical University, Wakayama, Japan
| | - T Kubo
- Wakayama Medical University, Wakayama, Japan
| | - A Tanaka
- Wakayama Medical University, Wakayama, Japan
| | - T Akasaka
- Wakayama Medical University, Wakayama, Japan
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Abstract
Although passive movement therapy has been widely adopted to recover lost motor functions of impaired body parts, the underlying neural mechanisms are still unclear. In this context, fully understanding how the proprioceptive input modulates the brain activity may provide valuable insights. Specifically, it has not been investigated how the speed of motions, passively guided by a haptic device, affects the sensorimotor rhythms (SMR). On the grounds that faster passive motions elicit larger quantity of afferent input, we hypothesize a proportional relationship between localized SMR features and passive movement speed. To address this hypothesis, we conducted an experiment where healthy subjects received passive forearm oscillations at different speed levels while their electroencephalogram was recorded. The mu and beta event related desynchronization (ERD) and beta rebound of both left and right sensorimotor areas are analyzed by linear mixed-effects models. Results indicate that passive movement speed is correlated with the contralateral beta rebound and ipsilateral mu ERD. The former has been previously linked with the processing of proprioceptive afferent input quantity, while the latter with speed-dependent inhibitory processes. This suggests the existence of functionally-distinct frequency-specific neuronal populations associated with passive movements. In future, our findings may guide the design of novel rehabilitation paradigms.
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Kin K, Yasuhara T, Kawauchi S, Kameda M, Hosomoto K, Tomita Y, Umakoshi M, Kuwahara K, Kin I, Kidani N, Morimoto J, Sasaki T, Date I. Lithium counteracts depressive behavior and augments the treatment effect of selective serotonin reuptake inhibitor in treatment-resistant depressed rats. Brain Res 2019; 1717:52-59. [DOI: 10.1016/j.brainres.2019.04.001] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/16/2019] [Revised: 03/24/2019] [Accepted: 04/02/2019] [Indexed: 12/28/2022]
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38
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Hamaya M, Matsubara T, Teramae T, Noda T, Morimoto J. Design of physical user–robot interactions for model identification of soft actuators on exoskeleton robots. Int J Rob Res 2019. [DOI: 10.1177/0278364919853618] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Recent breakthroughs in wearable robots, such as exoskeleton robots with soft actuators and soft exosuits, have enabled the use of safe and comfortable movement assistance. However, modeling and identification methods for soft actuators used in wearable robots have yet to be sufficiently explored. In this study, we propose a novel approach for obtaining accurate soft actuator models through the design of physical user–robot interactions for wearable robots, in which the user applies external forces to the robot. To obtain an accurate soft actuator model from the limited amount of data acquired through an interaction, we leverage an active learning framework based on Gaussian process regression. We conducted experiments using a two-degree-of-freedom upper-limb exoskeleton robot with four pneumatic artificial muscles (PAMs). Experimental results showed that physical interactions between the exoskeleton robot and the user were successfully designed to allow PAM models to be identified. Furthermore, we found that data acquired through an interaction could result in more accurate soft actuator models for the exoskeleton robots than data acquired without a physical interaction between the exoskeleton robot and the user.
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Affiliation(s)
- Masashi Hamaya
- The Department of Brain Robot Interface, ATR-CNS, Kyoto, Japan
- The Graduate School of Frontier Bioscience, Osaka University, Osaka, Japan
| | - Takamitsu Matsubara
- The Department of Brain Robot Interface, ATR-CNS, Kyoto, Japan
- The Graduate School of Science and Technology, Nara Institute of Science and Technology, Nara, Japan
| | - Tatsuya Teramae
- The Department of Brain Robot Interface, ATR-CNS, Kyoto, Japan
| | - Tomoyuki Noda
- The Department of Brain Robot Interface, ATR-CNS, Kyoto, Japan
| | - Jun Morimoto
- The Department of Brain Robot Interface, ATR-CNS, Kyoto, Japan
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Petrič T, Peternel L, Morimoto J, Babič J. Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability. Front Neurorobot 2019; 13:30. [PMID: 31191289 PMCID: PMC6548979 DOI: 10.3389/fnbot.2019.00030] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/30/2019] [Accepted: 05/08/2019] [Indexed: 11/13/2022] Open
Abstract
This paper introduces a novel control framework for an arm exoskeleton that takes into account force of the human arm. In contrast to the conventional exoskeleton controllers where the assistance is provided without considering the human arm biomechanical force manipulability properties, we propose a control approach based on the arm muscular manipulability. The proposed control framework essentially reshapes the anisotropic force manipulability into the endpoint force manipulability that is invariant with respect to the direction in the entire workspace of the arm. This allows users of the exoskeleton to perform tasks effectively in the whole range of the workspace, even in areas that are normally unsuitable due to the low force manipulability of the human arm. We evaluated the proposed control framework with real robot experiments where subjects wearing an arm exoskeleton were asked to move a weight between several locations. The results show that the proposed control framework does not affect the normal movement behavior of the users while effectively reduces user effort in the area of low manipulability. Particularly, the proposed approach augments the human arm force manipulability to execute tasks equally well in the entire workspace of the arm.
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Affiliation(s)
- Tadej Petrič
- Laboratory for Neuromechanics and Biorobotics, Department for Automatics, Biocybernetics and Robotics, Jožef Stean Institute, Ljubljana, Slovenia
| | - Luka Peternel
- Department of Cognitive Robotics, Delft University of Technology, Delft, Netherlands
| | - Jun Morimoto
- Department of Brain-Robot Interface, ATR Computational Neuroscience Labs, Kyoto, Japan
| | - Jan Babič
- Laboratory for Neuromechanics and Biorobotics, Department for Automatics, Biocybernetics and Robotics, Jožef Stean Institute, Ljubljana, Slovenia
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Yamashita A, Yahata N, Itahashi T, Lisi G, Yamada T, Ichikawa N, Takamura M, Yoshihara Y, Kunimatsu A, Okada N, Yamagata H, Matsuo K, Hashimoto R, Okada G, Sakai Y, Morimoto J, Narumoto J, Shimada Y, Kasai K, Kato N, Takahashi H, Okamoto Y, Tanaka SC, Kawato M, Yamashita O, Imamizu H. Harmonization of resting-state functional MRI data across multiple imaging sites via the separation of site differences into sampling bias and measurement bias. PLoS Biol 2019; 17:e3000042. [PMID: 30998673 PMCID: PMC6472734 DOI: 10.1371/journal.pbio.3000042] [Citation(s) in RCA: 83] [Impact Index Per Article: 16.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/08/2018] [Accepted: 03/14/2019] [Indexed: 01/07/2023] Open
Abstract
When collecting large amounts of neuroimaging data associated with psychiatric disorders, images must be acquired from multiple sites because of the limited capacity of a single site. However, site differences represent a barrier when acquiring multisite neuroimaging data. We utilized a traveling-subject dataset in conjunction with a multisite, multidisorder dataset to demonstrate that site differences are composed of biological sampling bias and engineering measurement bias. The effects on resting-state functional MRI connectivity based on pairwise correlations because of both bias types were greater than or equal to psychiatric disorder differences. Furthermore, our findings indicated that each site can sample only from a subpopulation of participants. This result suggests that it is essential to collect large amounts of neuroimaging data from as many sites as possible to appropriately estimate the distribution of the grand population. Finally, we developed a novel harmonization method that removed only the measurement bias by using a traveling-subject dataset and achieved the reduction of the measurement bias by 29% and improvement of the signal-to-noise ratios by 40%. Our results provide fundamental knowledge regarding site effects, which is important for future research using multisite, multidisorder resting-state functional MRI data.
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Affiliation(s)
- Ayumu Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- * E-mail: (HI); (OY); or (AY)
| | - Noriaki Yahata
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Department of Neuropsychiatry, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
- Department of Molecular Imaging and Theranostics, National Institute of Radiological Sciences, National Institutes for Quantum and Radiological Science and Technology, Chiba, Japan
| | - Takashi Itahashi
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Giuseppe Lisi
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
| | - Takashi Yamada
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Naho Ichikawa
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Masahiro Takamura
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Yujiro Yoshihara
- Department of Psychiatry, Kyoto University Graduate School of Medicine, Kyoto, Japan
| | - Akira Kunimatsu
- Department of Radiology, IMSUT Hospital, Institute of Medical Science, The University of Tokyo, Tokyo, Japan
- Department of Radiology, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
| | - Naohiro Okada
- Department of Neuropsychiatry, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
- The International Research Center for Neurointelligence (WPI-IRCN) at the University of Tokyo Institutes for Advanced Study (UTIAS), Tokyo, Japan
| | - Hirotaka Yamagata
- Division of Neuropsychiatry, Department of Neuroscience, Yamaguchi University Graduate School of Medicine, Yamaguchi, Japan
| | - Koji Matsuo
- Division of Neuropsychiatry, Department of Neuroscience, Yamaguchi University Graduate School of Medicine, Yamaguchi, Japan
- Department of Psychiatry, Faculty of Medicine, Saitama Medical University, Saitama, Japan
| | - Ryuichiro Hashimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
- Department of Language Sciences, Tokyo Metropolitan University, Tokyo, Japan
| | - Go Okada
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Yuki Sakai
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Department of Psychiatry, Graduate School of Medical Science, Kyoto Prefectural University of Medicine, Kyoto, Japan
| | - Jun Morimoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
| | - Jin Narumoto
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Department of Psychiatry, Graduate School of Medical Science, Kyoto Prefectural University of Medicine, Kyoto, Japan
| | - Yasuhiro Shimada
- Brain Activity Imaging Center, ATR-Promotions Inc., Kyoto, Japan
| | - Kiyoto Kasai
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Department of Neuropsychiatry, Graduate School of Medicine, The University of Tokyo, Tokyo, Japan
- The International Research Center for Neurointelligence (WPI-IRCN) at the University of Tokyo Institutes for Advanced Study (UTIAS), Tokyo, Japan
| | - Nobumasa Kato
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Medical Institute of Developmental Disabilities Research, Showa University, Tokyo, Japan
| | - Hidehiko Takahashi
- Department of Psychiatry, Kyoto University Graduate School of Medicine, Kyoto, Japan
| | - Yasumasa Okamoto
- Department of Psychiatry and Neurosciences, Hiroshima University, Hiroshima, Japan
| | - Saori C. Tanaka
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
| | - Mitsuo Kawato
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Center for Advanced Intelligence Project, RIKEN, Tokyo, Japan
| | - Okito Yamashita
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Center for Advanced Intelligence Project, RIKEN, Tokyo, Japan
- * E-mail: (HI); (OY); or (AY)
| | - Hiroshi Imamizu
- Brain Information Communication Research Laboratory Group, Advanced Telecommunications Research Institutes International, Kyoto, Japan
- Department of Psychology, Graduate School of Humanities and Sociology, The University of Tokyo, Tokyo, Japan
- * E-mail: (HI); (OY); or (AY)
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Shiina Y, Suzuki H, Kaiho T, Hata A, Yamamoto T, Morimoto J, Sakairi Y, Wada H, Nakajima T, Yoshino I. Development of Novel Murine Antibody Mediated Rejection Model after Orthotopic Lung Transplant. J Heart Lung Transplant 2019. [DOI: 10.1016/j.healun.2019.01.371] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022] Open
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Kin K, Yasuhara T, Tomita Y, Umakoshi M, Morimoto J, Date I. SF-36 scores predict postoperative delirium after surgery for cervical spondylotic myelopathy. J Neurosurg Spine 2019; 30:1-6. [PMID: 30835706 DOI: 10.3171/2018.11.spine181031] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/23/2018] [Accepted: 11/28/2018] [Indexed: 11/06/2022]
Abstract
OBJECTIVECervical spondylotic myelopathy (CSM) is one of the most common causes of spinal cord dysfunction. Surgery for CSM is generally effective, but postoperative delirium is a potential complication. Although there have been some studies that investigated postoperative delirium after spine surgery, no useful tool for identifying high-risk patients has been established, and it is unknown if 36-Item Short Form Health Survey (SF-36) scores can predict postoperative delirium. The objective of this study was to evaluate the correlation between preoperative SF-36 scores and postoperative delirium after surgery for CSM.METHODSSixty-seven patients who underwent surgery for CSM at the authors' institution were enrolled in this study. Medical records of these patients were retrospectively reviewed. Patient background, preoperative laboratory data, preoperative SF-36 scores, the preoperative Japanese Orthopaedic Association (JOA) score for the evaluation of cervical myelopathy, and perioperative factors were selected as potential risk factors for postoperative delirium. These factors were evaluated using univariable and multivariable logistic regression analysis.RESULTSTen patients were diagnosed with postoperative delirium. Univariable analysis revealed that the physical functioning score (p = 0.01), general health perception score (p < 0.01), and vitality score (p < 0.01) of the SF-36 were significantly lower in patients with postoperative delirium than in those without. The total number of medications was significantly higher in the delirium group compared with the no-delirium group (p = 0.02). In contrast, there were no significant differences between the delirium group and the no-delirium group in cervical JOA scores (p = 0.20). Multivariable analysis revealed that a low general health perception score was an independent risk factor for postoperative delirium (p = 0.02; odds ratio 0.810, 95% confidence interval 0.684-0.960).CONCLUSIONSSome of the SF-36 scores were significantly lower in patients with postoperative delirium than in those without. In particular, the general health perception score was independently correlated with postoperative delirium. SF-36 scores could help identify patients at high risk for postoperative delirium and aid in the development of prevention strategies.
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Okazaki M, Sasaki T, Yasuhara T, Kameda M, Agari T, Kin I, Kuwahara K, Morimoto J, Kin K, Umakoshi M, Tomita Y, Borlongan CV, Date I. Characteristics and prognostic factors of Parkinson's disease patients with abnormal postures subjected to subthalamic nucleus deep brain stimulation. Parkinsonism Relat Disord 2018; 57:44-49. [DOI: 10.1016/j.parkreldis.2018.07.014] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 03/04/2018] [Revised: 07/22/2018] [Accepted: 07/23/2018] [Indexed: 10/28/2022]
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Teramae T, Ishihara K, Babič J, Morimoto J, Oztop E. Human-In-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots. Front Neurorobot 2018; 12:71. [PMID: 30459589 PMCID: PMC6232299 DOI: 10.3389/fnbot.2018.00071] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/21/2018] [Accepted: 10/16/2018] [Indexed: 12/02/2022] Open
Abstract
Pneumatically actuated muscles (PAMs) provide a low cost, lightweight, and high power-to-weight ratio solution for many robotic applications. In addition, the antagonist pair configuration for robotic arms make it open to biologically inspired control approaches. In spite of these advantages, they have not been widely adopted in human-in-the-loop control and learning applications. In this study, we propose a biologically inspired multimodal human-in-the-loop control system for driving a one degree-of-freedom robot, and realize the task of hammering a nail into a wood block under human control. We analyze the human sensorimotor learning in this system through a set of experiments, and show that effective autonomous hammering skill can be readily obtained through the developed human-robot interface. The results indicate that a human-in-the-loop learning setup with anthropomorphically valid multi-modal human-robot interface leads to fast learning, thus can be used to effectively derive autonomous robot skills for ballistic motor tasks that require modulation of impedance.
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Affiliation(s)
| | - Koji Ishihara
- Department of Brain Robot Interface, ATR, CNS, Kyoto, Japan
| | - Jan Babič
- Laboratory for Neuromechanics and Biorobotics, Department for Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana, Slovenia
| | - Jun Morimoto
- Department of Brain Robot Interface, ATR, CNS, Kyoto, Japan
| | - Erhan Oztop
- Department of Brain Robot Interface, ATR, CNS, Kyoto, Japan.,Computer Science Department, Ozyegin University, Istanbul, Turkey
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Wada H, Toyoda T, Kaiho T, Ohashi K, Shina Y, Sata Y, Hata A, Yamamoto T, Morimoto J, Sakairi Y, Suzuki H, Nakajima T, Yoshino I. P2.16-44 Long-Term Outcome of Pulmonary Segmentectomy for c-IA Non-Small Cell Lung Cancer. J Thorac Oncol 2018. [DOI: 10.1016/j.jtho.2018.08.1519] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
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Kaiho T, Suzuki H, Ohashi K, Shiina Y, Sata Y, Toyoda T, Hata A, Yamamoto T, Morimoto J, Sakairi Y, Wada H, Nakajima T, Yoshino I. P1.16-36 Real-Time Ct Guided Video Assisted Thoracoscopic Partial Resection of Peripheral Small-Sized Lung Tumors. J Thorac Oncol 2018. [DOI: 10.1016/j.jtho.2018.08.1005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
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47
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Shiina Y, Nakajima T, Kaiho T, Ohashi K, Sata Y, Hata A, Toyoda T, Yamamoto T, Morimoto J, Sakairi Y, Wada H, Suziki H, Yoshino I. P3.16-09 High Preoperative D-Dimer Level Predicts Early Recurrence After Surgery for Non-Small Cell Lung Cancer. J Thorac Oncol 2018. [DOI: 10.1016/j.jtho.2018.08.1916] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
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Hamdan S, Oztop E, Furukawa JI, Morimoto J, Ugurlu B. Shoulder Glenohumeral Elevation Estimation based on Upper Arm Orientation. Annu Int Conf IEEE Eng Med Biol Soc 2018; 2018:1481-1484. [PMID: 30440673 DOI: 10.1109/embc.2018.8512564] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
In this paper, the shoulder glenohumeral displacement during the movement of the upper arm is studied. Four modeling approaches were examined and compared to estimate the humeral head elevation (vertical displacement) and translation (horizontal displacement). A biomechanics-inspired method was used firstly to model the glenohumeral displacement in which a least squares method was implemented for parameter identification. Then, three Gaussian process regression models were used in which the following variable sets were employed: i) shoulder adduction/abduction angle, ii) combination of shoulder adduction/abduction and flexion/extension angles, iii) overall upper arm orientation in the form of quaternions. In order to test the respective performances of these four models, we collected motion capture data and compared the models' representative capabilities. As a result, Gaussian process regression that considered the overall upper arm orientation outperformed the other modeling approaches; however, it should be noted that the other methods also provided accuracy levels that may be sufficient depending on task requirements.
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Takahashi Y, Kawakami M, Noda T, Okada K, Tsujimoto K, Nakamura T, Okuyama K, Ogura M, Haruyama K, Teramae T, Morimoto J, Liu M. The effect of an exoskeleton robot on genu recurvatum during gait in patients with chronic stroke: A feasibility study. Ann Phys Rehabil Med 2018. [DOI: 10.1016/j.rehab.2018.05.1147] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/28/2022]
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Morimoto J, Yasuhara T, Kameda M, Umakoshi M, Kin I, Kuwahara K, Kin K, Okazaki M, Takeuchi H, Sasaki T, Toyoshima A, Tajiri N, Agari T, Borlongan CV, Date I. Electrical Stimulation Enhances Migratory Ability of Transplanted Bone Marrow Stromal Cells in a Rodent Ischemic Stroke Model. Cell Physiol Biochem 2018; 46:57-68. [PMID: 29587284 DOI: 10.1159/000488409] [Citation(s) in RCA: 24] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/22/2017] [Accepted: 12/12/2017] [Indexed: 11/19/2022] Open
Abstract
BACKGROUND/AIMS Bone marrow stromal cells (BMSCs) transplantation is an important strategy for the treatment of ischemic stroke. Currently, there are no effective methods to guide BMSCs toward the targeted site. In this study, we investigated the effect of electrical stimulation on BMSCs migration in an ischemic model of rats. METHODS Adult male Wistar rats weighing 200 to 250 g received right middle cerebral artery occlusion (MCAO) for 90 minutes. BMSCs (2.5×105 cells/ 4 µl PBS) were stereotaxically injected into the left corpus callosum at 1 day after MCAO. After BMSCs injection, a plate electrode with a diameter of 3 mm connected to an implantable electrical stimulator was placed on the right frontal epidural space and a counter electrode was placed in the extra-cranial space. Electrical stimulation at preset current (100 µA) and frequency (100 Hz) was performed for two weeks. Behavioral tests were performed at 1, 4, 8, and 15 days after MCAO using the modified Neurological Severity Score (mNSS) and cylinder test. Rats were euthanized at 15 days after MCAO for evaluation of infarction area and the migration distance and area of BMSCs found in the brain tissue. After evaluating cell migration, we proceeded to explore the mechanisms guiding these observations. MCAO rats without BMSCs transplantation were stimulated with same current and frequency. At 1 and 2 weeks after MCAO, rats were euthanized to evaluate stromal cell-derived factor 1 alpha (SDF-1α) level of brain tissues in the bilateral cortex and striatum. RESULTS Behavioral tests at 4, 8, and 15 days after MCAO revealed that stimulation group displayed significant amelioration in mNSS and cylinder test compared to control group (p<0.05). Similarly, the infarction areas of stroke rats in stimulation group were significantly decreased compared to control group (p<0.05). Migration distance and area of transplanted BMSCs were significantly longer and wider respectively in stimulation group. An increased concentration gradient of SDF-1α in stimulation group accompanied this enhanced migration of transplanted cells. CONCLUSIONS These results suggest that electrical stimulation enhances migratory ability of transplanted BMSCs in ischemic stroke model of rats. If we can direct the implanted BMSCs to the site of interest, it may lead to a greater therapeutic effect.
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Affiliation(s)
- Jun Morimoto
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Takao Yasuhara
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Masahiro Kameda
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Michiari Umakoshi
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Ittetsu Kin
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Ken Kuwahara
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Kyohei Kin
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Mihoko Okazaki
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Hayato Takeuchi
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Tatsuya Sasaki
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Atsuhiko Toyoshima
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Naoki Tajiri
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan.,Department of Psychology, Graduate School of Psychology, Kibi International University 8 Iga-machi, Takahashi-city, Okayama, Japan
| | - Takashi Agari
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
| | - Cesario V Borlongan
- Department of Neurosurgery, University of South Florida Morsani College of Medicine, Tampa, Florida, USA
| | - Isao Date
- Department of Neurological Surgery, Okayama University Graduate School of Medicine, Okayama, Japan
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