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Hiroki Murakami

Possible papers associated with this exact author name in Arrow. This page groups case-insensitive exact name matches and is not a full identity disambiguation profile.

4 papers
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4

YNICL Journal 2017 Journal Article

Impaired prefrontal activity to regulate the intrinsic motivation-action link in schizophrenia

  • Kazuyoshi Takeda
  • Madoka Matsumoto
  • Yousuke Ogata
  • Keiko Maida
  • Hiroki Murakami
  • Kou Murayama
  • Keigo Shimoji
  • Takashi Hanakawa

A core feature of schizophrenia (SCZ) is impairment in intrinsic motivation. Although intrinsic motivation plays an important role in enhancing improvement of the social functioning, its neural mechanisms of impairment have yet to be clarified. We hypothesized that abnormal function of the frontostriatal loop consisting of the striatum and lateral prefrontal cortex (LPFC) may be related to impaired intrinsic motivation in SCZ. We tested this by comparing the brain activity measured by functional magnetic resonance imaging and behavioral parameters associated with movement, motivation, and cognitive control between 18 stable SCZ patients and 17 healthy control (HC) participants during a task that elicits intrinsic motivation. We also compared the functional connectivity during resting-state and the fractional anisotropy using diffusion tensor imaging analysis between the two groups. We adopted an enjoyable timing task to stop a stopwatch at an exact time, which in our previous study has demonstrated to elicit intrinsic motivation. Although the performance level in general was not different between groups, the SCZ group performed worse than the HC group in trials following "overshoot" errors (i.e., the response was too late). SCZ participants showed lower intrinsic motivation to the task than the HC group in an inventory report. The striatal activity during the prediction at the task cue period was consistently lower in SCZ participants than in HC. The LPFC activity at the task cue period positively correlated with intrinsic motivation and also with the rate of success following overshoot errors in the HC group, but not in the SCZ group. The LPFC activity at the task cue period was also positively correlated with the striatal activity in both groups. The striatal activity during the feedback period was not significantly different between groups. These results suggest that, unlike HC, the neural activity in the LPFC fails to mediate between prediction of hedonic events and cognitive control of action plans in SCZ, whereas the hedonic response is retained.

ICRA Conference 1996 Conference Paper

Force control of parallel link manipulator with hydraulic actuators

  • Kazuhiro Kosuge
  • Koji Takeo
  • Toshio Fukuda
  • H. Kitayama
  • N. Takeuchi
  • Hiroki Murakami

This paper proposes a force control algorithm for Stewart platform type of parallel link manipulators with velocity controlled hydraulic actuators. First, we design a control scheme for one degree-of-freedom, hydraulic actuator then we extend the control scheme to the parallel link manipulator. The hybrid force/position control scheme for parallel link manipulator is also proposed. The control scheme is designed based on velocity based force control algorithm, so that we can apply it to the parallel link manipulators with velocity controlled hydraulic actuators. The proposed algorithm is applied to the experimental system with six degrees of freedom and the experimental results illustrate the validity of the system.

ICRA Conference 1994 Conference Paper

Dynamic Trajectory Tracking Control of Flexible Manipulator by Macro-Micro Manipulator System

  • Tsuneo Yoshikawa
  • Koh Hosoda
  • Toshitsugu Doi
  • Hiroki Murakami

A macro-micro manipulator system has been proposed with the purpose of overcoming the difficulty to realize a trajectory tracking control of a flexible manipulator. In this paper, a trajectory tracking controller of macro-micro manipulator system is proposed which takes the dynamics of the system into consideration. This control law consists of a simple PD feedback law for the macro flexible manipulator and a dynamic trajectory tracking control law for the micro rigid manipulator. Experimental results show the effectiveness of the proposed scheme. >

ICRA Conference 1994 Conference Paper

Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System

  • Tsuneo Yoshikawa
  • Koh Hosoda
  • Kensuke Harada
  • Atsushi Matsumoto
  • Hiroki Murakami

In this paper, to realize the hybrid position/force control of a flexible manipulator, the macro-micro manipulator system is used. The macro manipulator can move widely, but can not realize fast and precise motion because of its flexibility. To compensate the position and force errors, a micro manipulator is attached at the tip of the macro manipulator. The kinematic equations of the macro-micro manipulator system are introduced. By utilizing the redundancy and flexibility of the system, the trajectory planning is discussed. A quasi-static hybrid position/force control algorithm and a dynamic hybrid position/force control algorithm are proposed. Lastly, experimental results are shown to verify the effectiveness of the proposed control algorithms. >

v2026.09.13