Takahiro Kagawa
Papers
12
Total Citations
131
H-Index
6
About
Takahiro Kagawa is a leading researcher in wearable robotics and humanoid motion planning, whose work bridges the gap between assistive technology and human motor control. His primary research areas include gait assistance for paraplegics, whole-body motion synthesis, and human-robot coordination. Kagawa’s most impactful contribution is his optimization-based motion planning method for wearable robots, which plans trajectories in joint space rather than workspace—a novel approach that avoids ill-posed inverse kinematics problems and has garnered over 50 citations. He also developed the Interlimb Parallel-Link Powered Orthosis (IPPO), a compact wearable robot with lateral weight-bearing mechanisms for balance, addressing a critical gap in frontal-plane stability. His work on stride control interfaces and fall prevention systems has advanced practical applications for paraplegic mobility. With over 125 total citations across his top papers, Kagawa’s research is widely recognized for its practical impact on rehabilitation robotics. His notable achievements include pioneering via-point representation for humanoid kicking motions and proposing the Uncontrolled Manifold (UCM) reference feedback control model, which predicts human joint coordination at a behavioral level.
Research Focus
Key Achievements
Top Papers
- 1
- 2A human interface for stride control on a wearable robot27 citations · 2009
- 3Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points15 citations · 2013
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- 8A Method Preventing Backward Falling while Walking with a Wearable Robot3 citations · 2011
- 9Efficient Planning of Humanoid Motions by Modifying Constraints2 citations · 2013
- 10Synthesis of humanoid whole-body motion with smooth transition2 citations · 2015