{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T14:15:41Z","timestamp":1753884941803,"version":"3.41.2"},"reference-count":40,"publisher":"World Scientific Pub Co Pte Ltd","issue":"06","funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["21K17832"],"award-info":[{"award-number":["21K17832"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2024,12]]},"abstract":"<jats:p> Humans can perform stable motion with a sense of stability that involves identifying their center of gravity point with plantar sensory system. By contrast, the stability of a humanoid robot is inferior to that of a human. If the sense of stability of a humanoid robot is presented to a human who operates the robot in real time, the operator can control the robot more stably. However, studies wherein humans recognize the projected center of gravity point with a plantar haptic display are lacking. In this study, we investigated the possibility of estimating the projected center of gravity point of a small humanoid robot from only the foot force information. We propose a plantar haptic display to reproduce the foot reaction force on four points of a single sole as large as the force during human running. We conducted an experiment to verify the estimated center of gravity point using the foot reaction forces of a small robot with and without scaling by a weight ratio between an operator and the robot. The results indicated that it is difficult to estimate the projected center of gravity point without scaling; however, it is possible to estimate the movement of the projected center of gravity point with a maximum error of [Formula: see text] [Formula: see text]mm with scaling. <\/jats:p>","DOI":"10.1142\/s0219843624500063","type":"journal-article","created":{"date-parts":[[2024,4,25]],"date-time":"2024-04-25T07:37:13Z","timestamp":1714030633000},"source":"Crossref","is-referenced-by-count":1,"title":["Plantar Haptic Display to Estimate the Position of the Projected Center of Gravity of a Humanoid"],"prefix":"10.1142","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5514-6037","authenticated-orcid":false,"given":"Takuya","family":"Otani","sequence":"first","affiliation":[{"name":"College of Systems Engineering and Science, Shibaura Institute of Technology, Saitama 3378570 Japan"},{"name":"Waseda Research Institute for Science and Engineering, Waseda University, Tokyo 1620041, Japan"}]},{"given":"Yuji","family":"Kuroiwa","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering, Waseda University, Tokyo 1620041, Japan"}]},{"given":"Atsuo","family":"Takanishi","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering, Waseda University, Tokyo 1620041, Japan"}]}],"member":"219","published-online":{"date-parts":[[2024,5,22]]},"reference":[{"key":"S0219843624500063BIB001","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1248880"},{"key":"S0219843624500063BIB002","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000058"},{"key":"S0219843624500063BIB003","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843615500395"},{"key":"S0219843624500063BIB004","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843616500079"},{"key":"S0219843624500063BIB005","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843620500140"},{"key":"S0219843624500063BIB006","doi-asserted-by":"publisher","DOI":"10.2176\/nmc.20.619"},{"key":"S0219843624500063BIB007","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843619500361"},{"key":"S0219843624500063BIB008","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-0713-0_14"},{"issue":"4","key":"S0219843624500063BIB009","first-page":"241","volume":"49","author":"Smith K. U.","year":"1970","journal-title":"Am. J. Phys. Med."},{"key":"S0219843624500063BIB010","first-page":"1","volume":"14","author":"Gurfinkel V. S.","year":"1973","journal-title":"Agressologie"},{"key":"S0219843624500063BIB011","first-page":"79","volume":"14","author":"Walsh E. G.","year":"1973","journal-title":"Agressologie"},{"key":"S0219843624500063BIB012","doi-asserted-by":"publisher","DOI":"10.1016\/S0079-6123(08)60753-0"},{"issue":"1","key":"S0219843624500063BIB013","first-page":"126","volume":"45","author":"Diener H. C.","year":"1982","journal-title":"Exp. Brain Res."},{"volume-title":"Motor Control: Theory & Practical Applications","year":"2017","author":"Shumway-Cook A.","key":"S0219843624500063BIB014"},{"key":"S0219843624500063BIB015","doi-asserted-by":"publisher","DOI":"10.1093\/cercor\/bhq209"},{"key":"S0219843624500063BIB016","doi-asserted-by":"publisher","DOI":"10.3389\/fneur.2019.00236"},{"issue":"11","key":"S0219843624500063BIB017","first-page":"1752","volume":"9","author":"Ghai S.","year":"2022","journal-title":"Children (Basel)"},{"key":"S0219843624500063BIB018","doi-asserted-by":"publisher","DOI":"10.3390\/s23146601"},{"key":"S0219843624500063BIB019","first-page":"250","volume":"29","author":"Takeuchi Y.","year":"2002","journal-title":"Jpn. Phys. Ther. Assoc."},{"key":"S0219843624500063BIB020","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.104880"},{"key":"S0219843624500063BIB021","doi-asserted-by":"publisher","DOI":"10.1056\/NEJM198812293192604"},{"key":"S0219843624500063BIB022","first-page":"309","volume-title":"Gait Disorders of Aging Falls and Therapeutic Strategies","author":"Rubenstein J. Z.","year":"1997"},{"issue":"1","key":"S0219843624500063BIB023","first-page":"19","volume":"18","author":"Asai H.","year":"1991","journal-title":"J. Jpn. Phys. Ther. Assoc."},{"key":"S0219843624500063BIB024","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830387"},{"key":"S0219843624500063BIB025","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2017.08.001"},{"first-page":"541","volume-title":"2012 IEEE\/SICE Int. Symp. System Integration (SII)","author":"Masuda Y.","key":"S0219843624500063BIB026"},{"key":"S0219843624500063BIB027","series-title":"Lecture Notes in Electrical Engineering","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1007\/978-981-10-4157-0_18","volume-title":"Int. AsiaHaptics Conf.","volume":"432","author":"Kato G.","year":"2016"},{"key":"S0219843624500063BIB028","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.07.005"},{"key":"S0219843624500063BIB029","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2017.2656978"},{"key":"S0219843624500063BIB030","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2022.3150492"},{"issue":"3","key":"S0219843624500063BIB031","first-page":"83","volume":"3","author":"Kume Y.","year":"1998","journal-title":"Trans. Virtual Real. Soc. Jpn."},{"key":"S0219843624500063BIB032","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0017697"},{"key":"S0219843624500063BIB033","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2012.51"},{"key":"S0219843624500063BIB034","series-title":"ASIAGRAPH","volume-title":"Proc. ASIAGRAPH2016","author":"Okano T.","year":"2016"},{"key":"S0219843624500063BIB035","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.2001.013087"},{"volume-title":"Human Dimension Database","year":"2005","author":"Kouchi M.","key":"S0219843624500063BIB036"},{"first-page":"38","volume-title":"Proc. IEEE Int. Conf. Robotics and Automation","author":"Kaneko K.","key":"S0219843624500063BIB037"},{"key":"S0219843624500063BIB038","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041641"},{"key":"S0219843624500063BIB039","doi-asserted-by":"publisher","DOI":"10.18178\/ijmerr.7.6.599-603"},{"volume-title":"Human Locomotion and Body Form: A Study of Gravity and Man","year":"1952","author":"Morton D. J.","key":"S0219843624500063BIB040"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843624500063","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,20]],"date-time":"2025-01-20T08:17:28Z","timestamp":1737361048000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/10.1142\/S0219843624500063"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,22]]},"references-count":40,"journal-issue":{"issue":"06","published-print":{"date-parts":[[2024,12]]}},"alternative-id":["10.1142\/S0219843624500063"],"URL":"https:\/\/doi.org\/10.1142\/s0219843624500063","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"type":"print","value":"0219-8436"},{"type":"electronic","value":"1793-6942"}],"subject":[],"published":{"date-parts":[[2024,5,22]]},"article-number":"2450006"}}