"Ryohei Morita,Ming Jiang,Andrea Botta,Yusuke Sugahara,Giuseppe Quaglia,Marco Ceccarelli,Yukio Takeda","Design and Preliminary Testing of WELiBot: A Wearable End-Effector Type Upper Limb Assistive Robot","The Fifth International Conference of IFToMM ITALYThe Fifth International Conference of IFToMM ITALY","Mechanisms and Machine Science",,,,"pp. 67-75",2024,July
"塩谷崚太,武田行生","ワイヤ駆動型連続体ロボットの実測値に基づく安定性評価手法",,"日本機械学会論文集","日本機械学会",,,,2024,June
"藍野稜大,岡本康太,宮田佳奈,浅香拓,森田瞭平,菅原雄介,武田行生","網状の索道を自走するロボットの研究（耐候性の向上のための防水化）","日本機械学会ロボティクス・メカトロニクス講演会2024（ROBOMECH2024）","日本機械学会ロボティクス・メカトロニクス講演会2024（ROBOMECH2024）",,,,"  2P1-N04",2024,May
"岡本康太,袴田遼典,斎藤天丸,藍野稜大,宮田佳奈,菅原雄介,干場功太郎,武田行生","網状の索道を自走するロボットの研究（加速度に基づく分岐点到達検出手法）","日本機械学会ロボティクス・メカトロニクス講演会2024（ROBOMECH2024）","日本機械学会ロボティクス・メカトロニクス講演会2024（ROBOMECH2024）",,,,"  2P1-N05",2024,May
"村松興大郎,Zheng Jian,斎藤天丸,Jiang Ming,菅原雄介,南後淳,武田行生","冗長ハイブリッドアクチュエータを適用したAssist-As-Needed立ち上がり支援装置の開発（試作機の基本構成と立ち上がり動作模擬装置による支援効果の基礎的検討）","第23回日本機械学会機素潤滑設計部門講演会（MDT2024）","第23回日本機械学会機素潤滑設計部門講演会（MDT2024）",,,,"  2C2-6",2024,Apr.
"長谷部巧馬,河野友也,斎藤天丸,Jiang Ming,菅原雄介,武田行生","動作支援装置におけるAssist-As-Needed駆動のための冗長ハイブリッドアクチュエータの開発（足首装着型歩行支援装置を対象としたアクチュエータ特性の基礎検討）","第23回日本機械学会機素潤滑設計部門講演会（MDT2024）","第23回日本機械学会機素潤滑設計部門講演会（MDT2024）",,,,"  2C2-5",2024,Apr.
"Ming JIANG,Jian ZHENG,Andrea BOTTA,Yusuke SUGAHARA,Yukio TAKEDA","Estimation of Sit-to-Stand Intentions via Plantar Force Reaction Induced by External Stimulus on Toe","第29回ロボティクスシンポジア","第29回ロボティクスシンポジア",,,,"  6B3",2024,Mar.
"浅香拓,菅原雄介,武田行生,松本壮史,中澤大輔","エレベータ据付作業におけるシャフト内検査のためのロボットの移動機構の開発","第29回ロボティクスシンポジア","第29回ロボティクスシンポジア",,,,"  3D4",2024,Mar.
"栃木渉,菅原雄介,武田行生,水谷亮,柳田克己,片村立太","パラレルワイヤ式壁面検査ロボットのためのタイル画像に基づくビジュアルフィードバック制御系の開発","第29回ロボティクスシンポジア","第29回ロボティクスシンポジア",,,,"  4A2",2024,Mar.
"J. Nie,M. Jiang,A. Botta,Y. Sugahara,Y. Takeda","Adaptive Ground Clearance Control for Preparation for Fall in a Wearable Assistive Device","2024 IEEE 18th International Conference on Advanced Motion Control (AMC)","Proceedings of 2024 IEEE 18th International Conference on Advanced Motion Control (AMC)",,,,,2024,Feb.
"Yuhang Lei,Ming Jiang,Yusuke Sugahara,Yukio Takeda","Three-Actuated-DOF Parallel Continuum Robot with High Twisting Performance: Cosserat Rod-Based Kineto-Static Modeling and Simulation","The 16th IFToMM World Congress (WC2023)","Advances in Mechanism and Machine Science","Springer Nature Switzerland",,,,2023,Nov.
"Christian Mirz,Mathias Huesing,Yukio Takeda,Burkhard Corves","Active Dynamic Balancing of Delta Robots in Pick and Place Tasks","IFToMM WC 2023","Advances in Mechanism and Machine Science. IFToMM WC 2023",,"Vol. 147",,,2023,Nov.
"Andrea Botta,Giuseppe Quaglia,Yukio Takeda","Wearable Passive Cable-Driven Wrist Rehabilitation Robot: Design and Preliminary Experiments","IFToMM WC 2023","Advances in Mechanism and Machine Science. IFToMM WC 2023",,"Vol. 147",,,2023,Nov.
"Ryohei Morita,Ming Jiang,Andrea Botta,Yusuke Sugahara,Giuseppe Quaglia,Marco Ceccarelli,Yukio Takeda","Kinematic Design and Analysis of a Wearable End-Effector Type Upper Limb Assistive Robot","The 16th IFToMM World Congress (WC2023)","Advances in Mechanism and Machine Science","Springer Nature Switzerland",,,"pp. 702-712",2023,Nov.
"Takamaru Saito,Ming Jiang,Yusuke Sugahara,Marco Ceccarelli,Yukio Takeda","Experimental Investigation of an Assistive Device for Ankle Motion Using Dummy Robot","The 16th IFToMM World Congress (WC2023)","Advances in Mechanism and Machine Science",,,,"pp. 764-774",2023,Nov.
"Jiancheng Nie,Ming Jiang,Andrea Botta,YUKIO TAKEDA","An adaptive gait event detection method based on stance point for walking assistive devices",,"Sensors and Actuators A: Physical",,"Volume 364",,,2023,Nov.
"Zheng Jian,Jiang Ming,Botta Andrea,菅原 雄介,武田 行生","つま先への刺激に対する足底反力変化による立ち上がり意図の検出手法","LIFE2023","LIFE2023 講演論文集",,,,"  3A1E3",2023,Sept.
"馬場星明,袴田遼典,藍野稜大,菅原雄介,遠藤央,石井裕之,武田行生","網状の索道を自走するロボットの研究 ―索道分岐点の自動認識手法の開発―","第41回 日本ロボット学会学術講演会","第41回日本ロボット学会学術講演会予稿集",,,,"  3D4-04",2023,Sept.
"森田瞭平,Jiang Ming,Andrea Botta,菅原雄介,Giuseppe Quaglia,Marco Ceccarelli,武田行生","ウェアラブルエンドエフェクタ型上肢アシストロボット―機構の提案と運動学・静力学解析―","LIFE2023","LIFE2023 講演論文集",,,,"  3A1E2",2023,Sept.
"蔵田真鈴,Ming Jiang,干場功太郎,菅原雄介,上原隆浩,川端眞人,原田健,武田行生","介助者と協働する移乗支援装置についての実験的検討","LIFE2023","LIFE2023 講演論文集",,,,"  3A1E4",2023,Sept.
"夏目 龍之介,安東 零司,吉田 周平,田岡 祐樹,齋藤 滋規,Jiang Ming,菅原 雄介,武田 行生","薄膜状物体の曲面貼付への応用を目的としたRCM機構","第41回日本ロボット学会学術講演会",,,,,"  3C1-05",2023,Sept.
"河野 友也,斎藤 天丸,崔 佑赫,Jiang Ming,菅原 雄介,武田 行生","Assist As Needed制御に向けたRedundant Hybrid Actuator","第41回日本ロボット学会学術講演会",,,,,"  3C2-01",2023,Sept.
"一條 敦弘,菅原 雄介,馬場 星明,遠藤 央,武田 行生","網状の索道を自走するロボットの研究（ケーブル変形とロボットの走行性能を考慮した網状索道架設計画法の開発）","第41回日本ロボット学会学術講演会","第41回日本ロボット学会学術講演会予稿集",,,,"  1D2-01",2023,Sept.
"Mari Kurata,Ming Jiang,Kotaro Hoshiba,Yusuke Sugahara,Takahiro Uehara,Masato Kawabata,Ken Harada,Yukio Takeda","Lifting Assist Device for Transfer in Cooperation with Caregivers","International Workshop IFToMM for Sustainable Development Goals (I4SDG)","Proceedings of the International Workshop IFToMM for Sustainable Development Goals (I4SDG)",,,,,2023,June
"Quaglia, G.,Botta, A.,Colucci, G.,Takeda, Y.","RehaWrist.q - Development of a 3 DoF Cable-Driven End-Effector Wearable Robot for Rehabilitation of the Wrist Joint","International Workshop IFToMM for Sustainable Development Goals (I4SDG)","Proceedings of the International Workshop IFToMM for Sustainable Development Goals (I4SDG)",,,,,2023,June
"Kazuki Hayashi,Yusuke Sugahara,Yukio Takeda","Experimental Study on Thrustered Cable-Suspended Parallel Robot for Collaborative Task","International Conference on Cable-Driven Parallel Robots (CableCon2023)","Proceeding of the 6th International Conference on Cable-Driven Parallel Robots (CableCon2023)",,,,"pp. 419-429",2023,June
"Alampay, M.J.P.,Jiang, M.,Sugahara, Y.,Takeda, Y.","Design and Prototyping of a Semi-wearable Robotic Leg for Sit-to-Stand Motion Assistance of Hemiplegic Patients","International Workshop IFToMM for Sustainable Development Goals (I4SDG)","Proceedings of the International Workshop IFToMM for Sustainable Development Goals (I4SDG)",,,,,2023,June
"Takamaru Saito,Ming Jiang,Yusuke Sugahara,Yukio Takeda,Marco Ceccarelli","Aa Assistive Device for Ankle Motion","6th Jc-IFToMM International Symposium","Proceedings of 6th Jc-IFToMM International Symposium",,,,,2023,May
"Andrea Botta,Giuseppe Quaglia,Yukio Takeda","Multiobjective Optimization of a Cable-Driven Robot for Wrist Rehabilitation Using a Genetic Algorithm","6th Jc-IFToMM International Symposium","Proceedings of 6th Jc-IFToMM International Symposium",,,,,2023,May
"M.J.P. Alampay,M. Jiang,Y. Sugahara,Y. Takeda","A semi-wearable robotic leg for assistance in the sit-to-stand motion of hemiplegic patients","28th Robotics Symposia","Proceedings of 28th Robotics Symposia",,,,"pp. 85-90",2023,Mar.
"一條 敦弘,馬場 星明,袴田 遼典,菅原雄介,遠藤央,石井裕之,干場功太郎,武田行生","網状の索道を自走するロボットの研究（ケーブル変形を考慮した網状索道架設計画法の開発）","第23回計測自動制御学会システムインテグレーション部門講演会（SI2022）","第23回計測自動制御学会システムインテグレーション部門講演会 予稿集","公益社団法人 計測自動制御学会",,,"pp. 532-537",2022,Dec.
"斎藤天丸,Huang ShaoQing,Jiang Ming,干場功太郎,菅原雄介,武田行生","下腿部に装着する独立アーム型Assist As Needed歩行支援装置（基本構成の提案）","第21回日本機械学会機素潤滑設計部門講演会",,,,,"  1A33",2022,Dec.
"Jiancheng Nie,Yusuke Sugahara,Yukio Takeda","Design of Wearable Robotic Support Limbs for Walking Assistance Based on Configurable Support Polygon","2022 IEEE 3rd International Conference on Human-Machine Systems (ICHMS)",,,,,,2022,Nov.
"塩谷 崚太,松浦 大輔,菅原 雄介,武田 行生","広い作業領域を有するワイヤ駆動型連続体ロボットの開発（姿勢角の作業領域に着目した1セグメント連続体ロボットの機構設計）",,"日本機械学会論文集",,"Vol. 88","No. 915","p. 22-00205",2022,Oct.
"内呑優希,塚本航平,菅原雄介,遠藤央,岡本淳,武田行生","人力ロボティクスの研究（第12報，人力感応式アシストパワー遮断装置の提案と原理検証）","第40回日本ロボット学会学術講演会","第40回日本ロボット学会学術講演会予稿集","一般社団法人日本ロボット学会",,,"  2C1-08",2022,Sept.
"劉 穎奇,武田行生","安全性と快適さを考慮した手首・前腕用装着型リハビリロボットの設計，試作，実験","第4回日本再生医療とリハビリテーション学会学術大会","第4回日本再生医療とリハビリテーション学会学術大会 講演概要集",,,,,2022,Sept.
"小松崎和泉,干場功太郎,武田行生,菅原雄介","ヒストグラム情報を用いた時刻変化の著しい雑音に対する耐性の高い音源定位手法の提案","第40回日本ロボット学会学術講演会","第40回日本ロボット学会学術講演会予稿集",,,,"  4J3-06",2022,Sept.
"Lei Cao,Yukio Takeda,Yusuke Sugahara,Vincenzo parenti Castelli","Design and analysis of arc motion based hand exoskeleton for finger rehabilitation","第40回日本ロボット学会学術講演会","第40回日本ロボット学会学術講演会予稿集",,,,"  3J1-06",2022,Sept.
"Takamaru Saito,Kotaro Hoshiba,Yusuke Sugahara,Yukio Takeda","Light Weight Geared Actuator Utilizing the Drive Redundancy","The 4th International Conference of IFToMM ITALY","Proceedings of the 4th International Conference of IFToMM ITALY",,,,"pp. 246-254",2022,Sept.
"西脇佑理,呂超,陳志韜,小野敬済,武田行生,菅原雄介,二瓶美里","協調学習操作系を用いたハンズフリーモビリティにおける事前学習の有効性評価","LIFE2022","LIFE2022講演論文集","LIFE",,,"  2A2-B2",2022,Aug.
"Daisuke Matsuura,Yusuke Honjyo,Tsune Kobayashi,Yukio Takeda","Determination of Tooth Profile Curve of Helical Pinion and Rack Gears to Achieve Non-Constant Transmission Ratio","The International Conference of IFToMM ITALY","Mechanisms and Machine Science",,"Vol. 122",,"pp. 237-245",2022,Aug.
"蔵田真鈴,干場功太郎,菅原雄介,上原隆浩,川端眞人,原田健,武田行生","被介助者上半身の姿勢制御可能な介助者と協働する移乗支援装置の開発- コンセプト提案と縮小モデルでの検討 -","LIFE2022","LIFE2022講演論文集","LIFE",,,"  2A2-B4",2022,Aug.
"菅原雄介,八木達也,武田行生,二瓶美里","高齢者向けモビリティのためのペダリング運動負荷システム- 楕円軌道ペダルを用いた介入実験 -","LIFE2022","LIFE2022講演論文集","LIFE",,,"  2A2-B3",2022,Aug.
"Ryousuke Hakamata,Mitsuru Endo,Yusuke Sugahara,Yukio Takeda,Hiroyuki Ishii","Dynamic modeling and parameter identification of an elastic rod for analyzing fly-fishing","5th Jc-IFToMM International Symposium","Proceedings of the 5th Jc-IFToMM International Symposium","IFToMM -International Federation for the Promotion of Mechanism and Machine Science -",,,"pp. 44-51",2022,July
"夏目龍之介,干場功太郎,菅原雄介,武田行生","折り紙に着想を得た転倒防止装置の可搬性と伸展特性に基づく設計","5th Jc-IFToMM International Symposium","Proceedings of the 5th Jc-IFToMM International Symposium",,,,,2022,July
"GIOVANNI COLUCCI,ANDREA BOTTA,MATTIA VERUTTI,CARMEN VISCONTE,GIUSEPPE QUAGLIA,YING-CHI LIU,YUKIO TAKEDA","A PRELIMINARY SYNTHESIS OF A LIGHT AND COMPACT WEARABLE CABLE-DRIVEN PARALLEL ROBOT FOR WRIST JOINT REHABILITATION","5th Jc-IFToMM International Symposium","Proceedings of the 5th Jc-IFToMM International Symposium","IFToMM -International Federation for the Promotion of Mechanism and Machine Science -",,,"pp. 44-51",2022,July
"斎藤天丸,菅原雄介,武田行生","減速機付きアクチュエータの駆動冗長性による軽量化","日本機械学会ロボティクス・メカトロニクス講演会2022","日本機械学会ロボティクス・メカトロニクス講演会2022予稿集","一般社団法人 日本機械学会",,,"  2P1-L11",2022,June
"Mirz, C.,H?sing, M.,Takeda, Y.,Corves, B.","Low Cost Delta Robot for the Experimental Validation of Frame Vibration Reduction Methods","ROMANSY 24 - Robot Design, Dynamics and Control","ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022","Springer, Cham",,,"pp. 332?339",2022,June
"Vuocolo, A.,Cao, L.,Petinari, A.,Sancisi, N.,Takeda, Y.,Parenti-Castelli, V.","New Hand Exoskeletons for Four Long Finger Rehabilitation","ROMANSY 24 - Robot Design, Dynamics and Control","ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022","Springer, Cham",,,"pp. 91-98",2022,June
"Liu, Y.C.,Botta, A.,Quaglia, G.,Takeda, Y.","Preliminary Mechanical Design of a Wearable Parallel-Serial Hybrid Robot for Wrist and Forearm Rehabilitation with Consideration of Joint Misalignment Compensation","ROMANSY 24 - Robot Design, Dynamics and Control","ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022","Springer, Cham",,,"pp. 53-61",2022,June
"Lei, Y.,Sugahara, Y.,Takeda, Y.","Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion","Advances in Robot Kinematics 2022. ARK 2022","Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics","Springer",,,,2022,June
"塩谷崚太,干場功太郎,武田行生","平面ワイヤ駆動型連続体ロボットの安定性解析","日本機械学会 ロボティクス・メカトロニクス講演会2022","日本機械学会 ロボティクス・メカトロニクス講演会2022講演論文集",,,,,2022,June
"菅原雄介,熱海七都,栃木渉,干場功太郎,武田行生,柳田克己,水谷亮,三谷哲史,片村立太","フィン状連鎖を有する水撃音響式壁面検査のための平面パラレルワイヤ駆動機構（平均張力のフィードバックによる内力制御）","日本機械学会ロボティクス・メカトロニクス講演会2022","日本機械学会ロボティクス・メカトロニクス講演会2022予稿集","一般社団法人 日本機械学会",,,"  2P1-K09",2022,June
"Yusuke Sugahara,Taishu Ueki,Daisuke Matsuura,Yukio Takeda,Minoru Yoshida","Offline Reference Trajectory Shaping for a Cable-Driven Earthquake Simulator Based on a Viscoelastic Cable Model","2022 IEEE International Conference on Robotics and Automation","IEEE Robotics and Automation Letters","IEEE","Vol. 7","No. 2","pp. 2415-2422",2022,Apr.
"本荘佑介,松浦大輔,小林 恒,武田行生","不等速ラックアンドピニオンのかみあい歯面形状の決定","2022年度精密工学会春季大会学術講演会","2022年度精密工学会春季大会学術講演会講演論文集",,,,"pp. 292-293",2022,Mar.
"Daisuke Matsuura,Ryota Shioya,H. Harry Asada,Yukio Takeda","An Extendable Continuum Robot Arm Using a Flexible Screw as a Backbone to Propel Inside a Confined Space with Discontinuous Contact Area",,"Proc IMechE Part C: J Mechanical Engineering Science","SAGE Publishing",,,,2022,Mar.
"大野 真澄,武田行生","球対偶を有するパラレルロボットの対偶すきまを考慮した動力学解析",,"日本機械学会論文集",,"Vol. 88","No. 906","p. 21-00188",2022,Feb.
"加藤 弘一,伏信 一慶,武田 行生","産学連携の技術循環2020モデルによるシーズ技術の社会実装への展開",,"日本機械学会論文集",,"Vol. 88","No. 909",,2022,
"馬場星明,菅原雄介,遠藤央,石井裕之,武田行生","複数のテザーの投擲・巻取りとこれらへの懸垂により移動するロボットの開発 第１報，コンセプトの提案と基本機能の実験的検討","第22回計測自動制御学会システムインテグレーション部門講演会（SI2021）","第22回計測自動制御学会システムインテグレーション部門講演会 予稿集","公益社団法人 計測自動制御学会",,,"pp. 607-612",2021,Dec.
"熱海七都,菅原雄介,栃木渉,武田行生,柳田克己,水谷亮,三谷哲史,片村立太","フィン状連鎖を有する水撃音響式壁面検査のための平面パラレルワイヤ駆動機構（剛性行列に基づく解析と実験による剛性向上効果の評価）","第20回日本機械学会機素潤滑設計部門講演会","機素潤滑設計部門講演会講演論文集","一般社団法人日本機械学会",,,"  1207",2021,Dec.
"Andres Osorio Salazar,Yusuke Sugahara,Yukio Takeda","A Differential Mechanism to Enhance the Scalability of a SMA-Wire-Bundle Linear Actuator","The 6th IFToMM Asian Mechanisms and Machine Science Conference (AsianMMS2021)","Advances in Asian Mechanism and Machine Science",,,,,2021,Dec.
"Ying-Chi Liu,Kosuke Irube,Yukio Takeda","Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb",,"Machines","MDPI","Vol. 9","No. 12","pp. 323",2021,Nov.
"八木達也,菅原雄介,武田行生,呂超,二瓶美里","高齢者向けモビリティのためのペダリング運動負荷システム（楕円軌道ペダル軌道の制御法と性能評価）","第42回バイオメカニズム学術講演会","第42回バイオメカニズム学術講演会講演予稿集","バイオメカニズム学会",,,"  B3-2",2021,Nov.
"加納弘嗣,菅原雄介,遠藤央,石井裕之,武田行生","空間に構造的に架設された網状の索道を自走するロボットの研究（ダブルアーム型の運動学，動作計画と機構の最適化について）",,"日本ロボット学会誌",,"Vol. 39","No. 8","pp. 767-770",2021,Oct.
"Masumi Ohno,Yukio Takeda","Model Based Estimation of Passive Joint Clearance in Parallel Robot and Its Application to Failure Detection","I4SDG Workshop 2021","Proceedings of I4SDG Workshop 2021. I4SDG 2021. Mechanisms and Machine Science","Springer","Vol. 108",,"pp. 362-371",2021,Oct.
"武田行生","パラレルロボットの機構特性と応用","日本機械学会2021年度年次大会","日本機械学会2021年度年次大会 講演論文集",,,,,2021,Sept.
"安東零司,齊藤滋規,田岡祐樹,菅原雄介,武田行生","薄膜状対象物の曲面貼付を目的とした形状適応機構の開発","日本機械学会 2021年度年次大会","日本機械学会 2021年度年次大会 予稿集","一般社団法人 日本機械学会",,,"  S114-05",2021,Sept.
"Yusuke Honjo,Daisuke Matsuura,Tsune Kobayashi,Yukio Takeda","Determination of Tooth Profile Curves of Variable Rack and Pinion Gears","TMM 2020","Advances in Mechanism Design III. TMM 2020. Mechanisms and Machine Science","Springer",,,"pp. 33-43",2021,Aug.
"袴田遼典,遠藤央,菅原雄介,石井裕之,武田行生","フライフィッシングの原理を応用した小型低出力マニピュレータによる投擲の研究―第1報：ロッドからの繰り出しを考慮したラインのモデリング―","日本機械学会ロボティクスメカトロニクス講演会2021","日本機械学会ロボティクスメカトロニクス講演会2021 講演論文集","一般社団法人 日本機械学会",,,,2021,June
"Daisuke Matsuura,Ryota Shioya,H. Harry Asada,Yukio Takeda","An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area","MEDER 2021: 5th IFToMM Symposium on Mechanism Design for Robotics","Mechanism Design for Robotics, MEDER 2021","Springer",,,"pp. 265-273",2021,May
"F. Russell,Y. Takeda,P. Kormushev,R. Vaidyanathan,P. Ellison","Stiffness Modulation in a Humanoid Robotic Leg and Knee",,"IEEE Robotics and Automation Letters",,"Vol. 6","No. 2","pp. 2563-2570",2021,Mar.
"Hiroshi MATSUO,Daisuke YAMAGUCHI,Yukio TAKEDA,Masahiko OTAKE,Haruhiko KUSAKA","Actuation Strategy of Origami-inspired Extendable Mechanism to Achieve Rapid Extension and High Load Capacity","The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)","Proceedings of The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)",,,,"pp. 57-64",2021,Mar.
"Ying-Chi LIU,YUKIO TAKEDA","Analysis of a 3-DOF Parallel Robot for Wrist Rehabilitation with Consideration of Effect of Human Limb","The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)","Proceedings of The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)",,,,"pp. 49-56",2021,Mar.
"Woo-hyeok Choi,Yukio Takeda","Geometric Design and Prototyping of a (2-RRU)-URR Parallel Mechanism for Thumb Rehabilitation Therapy",,"Machines","MDPI","Vol. 9","no. 3",,2021,Feb.
"Mirz, C.,H?sing, M.,Takeda, Y.,Corves, B.","Modellbasierte Anforderungsanalyse f?r den Massenausgleich bei Delta-Robotern","Siebte IFToMM D-A-CH Konferenz 2021",,,,,,2021,Feb.
"Andres Osorio Salazar,Yusuke Sugahara,Daisuke Matsuura,Yukio  Takeda","Scalable Output Linear Actuators, a Novel Design Concept Using Shape  Memory Alloy Wires Driven by Fluid Temperature",,"Machines","MDPI","Vol. 9","Issue 1","  14",2021,Jan.
"Masumi Ohno,Yukio Takeda","Design of target trajectories for the detection of joint clearances in parallel robot based on the actuation torque measurement",,"Mechanism and Machine Theory",,"Vol. 155","No. C",,2021,Jan.
"Santosh Maurya,C?line Mougenot,Yukio Takeda","Impact of mixed reality implementation on early-stage interactive product design process",,"Journal of Engineering Design","Taylor & Francis","Vol. 32","issue 1","Page 1-27",2020,Dec.
"Quang Huan Luong,Jeremy Jong,Yusuke Sugahara,Daisuke Matsuura,Yukio Takeda","A Study on the Relationship between the Design of Aerotrain and Its Stability Based on a Three-Dimensional Dynamic Model",,"Robotics",,"Vol. 9","Issue 4","  96",2020,Nov.
"八木達也,菅原雄介,松浦大輔,武田行生,二瓶美里,西畑智道,鎌田実,遠藤央","高齢者向けモビリティのためのペダリング運動負荷システム（筋骨格シミュレーションに基づく楕円軌道ペダル機構と負荷パターンの設計）","第38回日本ロボット学会学術講演会","第38回 日本ロボット学会学術講演会講演予稿集","一般社団法人日本ロボット学会","  2H1-03",,,2020,Oct.
"Ying-Chi Liu,Yukio Takeda","Development of a Human-Robot Dynamic Model of a Wearable Robot for Wrist Rehabilitation","The 38th Annual Conference of the Robotics Society of Japan","第38回 日本ロボット学会学術講演会講演概要集","一般社団法人日本ロボット学会, 1I2-01",,,,2020,Oct.
"加納弘嗣,菅原雄介,遠藤央,石井裕之,武田行生","空間に構造的に架設された網状の索道を自走するロボットの研究-ダブルアーム型の運動学，動作計画と機構の最適化について-","第38回日本ロボット学会学術講演会","第38回 日本ロボット学会学術講演会講演予稿集","一般社団法人日本ロボット学会","  3C1-04",,,2020,Oct.
"Soichiro Matsuda,Yukio Takeda","Strategy for Application of Support Object for Fall Prevention in the Elderly Based on Balance Recovery Characteristics",,"MDPI Journal of Machines",,"Vol. 8","No. 4","p. 60",2020,Oct.
"Yusuke Sugahara,Guangcan Chen,Nanato Atsumi,Daisuke Matsuura,Yukio Takeda,Ryo Mizutani,Ryuta Katamura","A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation","The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020)","ROMANSY 23 - Robot Design, Dynamics and Control","Springer, Cham","Vol. 601",,"pp. 109-117",2020,Sept.
"Andres Osorio Salazar,Yusuke Sugahara,Daisuke Matsuura,Yukio Takeda","A Novel, Scalable Shape Memory Alloy Actuator Controlled by Fluid Temperature","The 3rd International Conference of IFToMM ITALY","Niola V., Gasparetto A. (eds) Advances in Italian Mechanism Science. Mechanisms and Machine Science",,"Vol. 91",,,2020,Sept.
"石井 貴大,菅原 雄介,松浦 大輔,武田 行生,松本 壮史,中澤 大輔","レールを把持しこの上を自走する鉛直移動機構の開発",,"日本機械学会論文集","日本機械学会","Vol. 86","No. 890","p. 20-00141",2020,Sept.
"Reiji Ando,Hiroshi Matsuo,Daisuke Matsuura,Yusuke Sugahara,Yukio Takeda","Static Analysis and Design of Extendable Mechanism Inspired by Origami Structure Based on Non-Overconstrained Kinematically Equivalent Mechanism","The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020)","In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures)","Springer, Cham","Vol. 601",,"pp. 521-529",2020,Sept.
"NGUYEN DUC SANG,YUKIO TAKEDA","Design of High-Speed Lower-Mobility Parallel Robot By Kinematic Index Based On Power Efficiency","The 4th INTERNATIONAL WORKSHOP ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES","Proceedings of The 4th INTERNATIONAL WORKSHOP ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES",,,,,2020,Sept.
"Ying-Chi Liu,Yukio Takeda","Kineto-static Analysis of a Compact Wrist Rehabilitation Robot Including the Effect of Human Soft Tissue to Compensate for Joint Misalignment","The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020)","In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures)","Springer, Cham","Vol. 601",,"pp. 321-329",2020,Sept.
"Christian Mirz,Olaf Uzsynski,Jorge Angeles,Yukio Takeda,Burkhard Corves","Stiffness Optimization of Delta Robots","The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020)","In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures)","Springer, Cham","Vol. 601",,"pp. 396-404",2020,Sept.
"Chanatip Thongsookmark,Agnes Beckermann,Mathias Huesing,Yukio Takeda","Kinematic Design of an Adjustable Foot Motion Generator for Gait Rehabilitation","The 23rd CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2020)","In: Venture G., Solis J., Takeda Y., Konno A. (eds) ROMANSY 23 - Robot Design, Dynamics and Control. ROMANSY 2020. CISM International Centre for Mechanical Sciences (Courses and Lectures)","Springer, Cham","Vol. 601",,,2020,Sept.
"Xinghai LIANG,Kosuke IRUBE,Yukio TAKEDA","Kinematic Design of a 3-RPS Parallel Mechanism for Wrist Rehabilitation","The 4th INTERNATIONAL WORKSHOP ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES","Proceedings of The 4th INTERNATIONAL WORKSHOP ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES",,,,,2020,Sept.
"Andrea Petinari,Yukio Takeda,Vincenzo Parenti-Castelli","A New Rehabilitation Device for Finger Extension Movement","The 3rd IFToMM ITALY Conference","Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science",,"Vol. 91",,"  644-651",2020,Aug.
"Hiroshi Matsuo,Yukio Takeda,Erik Macho,Victor Petuya,Oscar Altuzarra,Alfonso Hern?ndez","Quasi-Static Analysis of a Tapered Extendable Arm Inspired by an Origami with Modified Folding Diagram","The 3rd IFToMM ITALY Conference","Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science",,"Vol. 91",,"  652-658",2020,Aug.
"Woo-hyeok Choi,Yukio Takeda","Static Analysis and Actuator Selection of (2-RRU)?URR Parallel Mechanism for Thumb Rehabilitation","The 3rd IFToMM ITALY Conference","Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science",,"Vol. 91",,"pp. 608-616",2020,Aug.
"Woo-hyeok Choi,Yukio Takeda","Displacement Analysis and Design of a (2?RRU)?URR Parallel Mechanism Performing 2R1T Output Motion for Thumb Rehabilitation",,"MDPI Journal of Robotics",,"Vol. 9","No. 3","pp. 67",2020,Aug.
"Tomohiro Oka,Jorge Solis,Ann-Louise Lindborg,Daisuke Matsuura,Yusuke Sugahara,Yukio Takeda","Kineto-Elasto-Static Design of Underactuated Chopstick-Type Gripper Mechanism for Meal-Assistance Robot",,"Robotics",,"Vol. 9","No. 3",,2020,June
"Ying-Chi Liu,Yukio Takeda","Kineto-Static Analysis of a Wrist Rehabilitation Robot with Compliance and Passive Joints for Joint Misalignment Compensation",,"MDPI Journal of Machines",,"Volume 8",,"Page 23",2020,May
"服部智也,西畑智道,二瓶美里,鎌田実,菅原雄介,松浦大輔,武田行生,遠藤央,金天海","移動支援機器の協調学習操作系における人の学習習熟を評価する手法の提案","日本機械学会ロボティクスメカトロニクス講演会2020","日本機械学会ロボティクスメカトロニクス講演会2020講演論文集","一般社団法人 日本機械学会",,,,2020,May
"松田 聡一郎,武田 行生","ダイナミックペアを適用したモデルに基づく高齢者の歩行時の転倒防止に着目した前方杖先位置の評価法の提案",,"日本機械学会論文集",,"Vol. 86","No. 995",,2020,May
"王 森,松浦 大輔,菅原 雄介,武田 行生","車椅子使用者と介助者のコミュニケーション促進のための自動併進形ロボット車椅子","一般社団法人 日本機械学会 ロボティクス・メカトロニクス 講演会2020","ロボティクス・メカトロニクス講演会講演概要集",,,,,2020,May
"Hiroshi Matsuo,H. Harry Asada,YUKIO TAKEDA","Design of a Novel Multiple-DOF Extendable Arm With Rigid Components Inspired by a Deployable Origami Structure",,"IEEE Robotics and Automation Letters","IEEE","Vol. 5","No. 2","pp. 2730-2737",2020,Apr.
"Qizhi Meng,Fugui Xie,Xin-Jun Liu,Yukio Takeda","Screw Theory-Based Motion/ Force Transmissibility Analysis of High-Speed Parallel Robots With Articulated Platforms",,"Journal of Mechanisms and Robotics",,"Vol. 12","No. 4",,2020,Mar.
"石井貴大,菅原雄介,松浦大輔,武田行生,松本壮史,中澤大輔","自己倍力効果を利用したレール把持・鉛直移動機構の開発","第25回ロボティクスシンポジア","第25回ロボティクスシンポジア予稿集",,,,"pp. 194-197",2020,Mar.
"Qizhi Meng,Fugui Xie,Xin-Jun Liu,Yukio Takeda","An evaluation approach for motion-force interaction performance of parallel manipulators with closed-loop passive limbs",,"Mechanism and Machine Theory",,"Vol. 149",,,2020,Mar.
"西畑智道,二瓶美里,鎌田実,菅原雄介,松浦大輔,武田行生,金天海,遠藤央","力学系学習木を用いたノンホロノミック車両のための人―機械協調学習操作系の開発―人の運動学習段階や学習能力に適応したシステムの提案―","第20回計測自動制御学会システムインテグレーション部門講演会（SI2019）","計測自動制御学会システムインテグレーション部門講演会予稿集","公益社団法人計測自動制御学会",,,"pp. 2212-2215",2019,Dec.
"西畑智道,二瓶美里,鎌田実,菅原雄介,松浦大輔,武田行生,金天海,遠藤央","力学系学習木を用いたノンホロノミック車両のための人ー機械協調学習操作系の開発","第20回計測自動制御学会システムインテグレーション部門講演会",,,,,,2019,Dec.
"Xinghai Liang,Yukio Takeda","An iterative method for the inverse kinematics of lower-mobility parallel mechanism with three RS or SR chains based on kinematically equivalent mechanism",,"Mechanism and Machine Theory",,"Volume 141",,"Page 40-51",2019,Nov.
"Yusuke Sugahara,Kohei Tsukamoto,Mitsuru Endo,Jun Okamoto,Daisuke Matsuura,Yukio Takeda","A Multi-DOF Human-Powered Robot Using Regenerative Clutches and Constant-Force Springs","IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019)","Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019)",,,,"pp. 4593-4599",2019,Nov.
"松田聡一郎,武田行生","ダイナミックペアを適用したモデルを使用した高齢者の杖歩行の動力学解析","The 25th Jc-IFToMM Symposium 2019 (2nd International Jc-IFToMM Symposium)","Proceedings of The Second International Jc-IFToMM Symposium",,,,"pp. 63-70",2019,Oct.
"Woo-hyeok Choi,Yukio Takeda","Kinematic Analysis of (2-RRU)-URR Parallel Mechanism Performing 2R1T Output Motion","ISRM2019 International Symposium on Robotics and Mechatronics","Mechanisms and Machine Science","Springer","vol. 78",,"pp. 114?124",2019,Oct.
"Ying-Chi Liu,Yukio Takeda","Kineto-static Analysis of a Wrist Rehabilitation Robot with Compliant Elements and Supplementary Passive Joints to Compensate the Joint Misalignment","The 2nd International Jc-IFToMM Symposium",,,,,,2019,Oct.
"Hiroshi Matsuo,YUKIO TAKEDA","Improvement of an Origami Based Extendable Mechanism with a Modification of Folding Diagram","The 2nd International Jc-IFToMM symposium","Proceedings of the 2nd International Jc-IFToMM symposium",,,,,2019,Oct.
"Quang Huan Luong,Jeremy Jong,Yusuke Sugahara,Daisuke Matsuura,Yukio Takeda","A 3-Dimensional Dynamic Model of the Aerotrain and the Horizontal Tail Effect on the Longitudinal Stability","ISRM2019 International Symposium on Robotics and Mechatronics","Mechanisms and Machine Science","Springer","vol. 78",,"pp. 189-202",2019,Oct.
"Christian Mirz,Danimir Doncevic,Mathias Huesing,Burkhard Corves,Yukio Takeda","Design Optimization of an Energy-Efficient Five-Bar Linkage Manipulator","13. Kolloquium Getriebetechnik","13. Kolloquium Getriebetechnik","Logos Verlag Berlin",,,"pp. 269-278",2019,Sept.
"Daisuke Matsuura,Yuuta Chounan,Masaki Omata,Yusuke Sugahara,Yukio Takeda","Gait analysis and regeneration by means of principal component analysis and its application to kinematic design of wearable walking assist device for hemiplegics",,"Design and Operation of Human Locomotion Systems","Elsevier Inc.",,,"pp. 33-49",2019,Sept.
"南雲周,有尾知朗,松浦大輔,菅原雄介,武田行生","非接触磁気駆動されるマイクロ弾性グリッパの解析，設計と製作","2019年度精密工学会秋季大会学術講演会","2019年度精密工学会秋季大会学術講演会講演論文集",,,,,2019,Sept.
"Ying-Chi Liu,Yukio Takeda","Static Analysis of a Wrist Rehabilitation Robot with Consideration to the Compliance and Joint Misalignment Between the Robot and Human Hand","The 37th Annual Conference of the Robotics Society of Japan","第37回 日本ロボット学会学術講演会講演概要集, 一般社団法人日本ロボット学会, 1F3-05",,,,,2019,Sept.
"Yukio TAKEDA","Introduction of research activity in Mechanical Systems Design Laboratory in Tokyo Institute of Technology: Kinematic design of assistive devices and parallel robots","13. Kolloquium Getriebetechnik","13. Kolloquium Getriebetechnik","Logos Verlag Berlin",,,"pp. 279-286",2019,Sept.
"武田 行生,菅原 雄介,松浦 大輔,松田 聡一郎,鈴木 智行,北川 雅隆,LIU Ying-Chi","ダイナミックペアに基づく装着形動作支援装置のモデル化と運動力学解析","日本機械学会2019年度年次大会","日本機械学会2019年度年次大会講演論文集",,,,,2019,Sept.
"菅原雄介,島悠貴,松浦大輔,武田行生,二瓶美里,佐久間菜月,西畑智道,鎌田実,遠藤央","高齢者向けハンズフリーモビリティのためのペダリング運動負荷システム","LIFE2019","LIFE2019","一般社団法人日本機械学会","  OS10-2-4",,,2019,Sept.
"塚本航平,菅原雄介,松浦大輔,武田行生,遠藤央,岡本淳","人力ロボティクスの研究（第11報，回生クラッチと定荷重ばねを用いた2自由度人力ロボット）","第37回日本ロボット学会学術講演会","第37回 日本ロボット学会学術講演会講演概要集","一般社団法人日本ロボット学会","  1E2-03",,,2019,Sept.
"Andres OSORIO,Asitha KULASEKERA,Yusuke SUGAHARA,Daisuke MATSUURA,Yukio TAKEDA","A novel scalable SMA actuator using thermally conductive fluid: Its concept and basic characterization","第37回日本ロボット学会学術講演会","第37回 日本ロボット学会学術講演会講演概要集","The Robotics Society of Japan","  2F1-06",,,2019,Sept.
"松尾博史,安東零司,松浦大輔,菅原雄介,勅使河原誠一,H. Harry Asada,武田行生","Origami Spring を応用した大曲率形状を出力可能な伸縮アームの開発","第37回日本ロボット学会学術講演会","第37回 日本ロボット学会学術講演会講演概要集","一般社団法人日本ロボット学会","  3E3-03",,,2019,Sept.
"岡朋宏,Jorge Solis,Ann-Louise Lindborg,松浦大輔,菅原雄介,武田行生","把持対象物の弾性を考慮した劣駆動箸型グリッパの力学解析と把持計画","第37回日本ロボット学会学術講演会","第37回 日本ロボット学会学術講演会講演概要集","一般社団法人日本ロボット学会","  2M2-05",,,2019,Sept.
"Xinghai Liang,Yukio Takeda","Transmission Index of a Class of Parallel Manipulators with 3-RS(SR) Primary Structures Based on Pressure Angle and Equivalent Mechanism with 2-SS Chains Replacing RS Chain",,"Mechanism and Machine Theory",,"Volume 139",,"Page 359-378",2019,Sept.
"Santosh Maurya,Daisuke Matsuura,Takahiro Uehara,Masato Kawabata,Yukio Takeda","Addressing communication issue among caregivers and wheelchair users: identifying design metrics and defining needs","AAATE 2019 - Global Challenges in Assistive Technology: Research, Policy & Practice",,,,,,2019,Aug.
"Brinker J.,Corves B.,Takeda Y.","Kinematic and Dynamic Dimensional Synthesis of Extended Delta Parallel Robots",,"Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics & Mechatronics (ISRM 2017). Mechanisms and Machine Science, vol 72","Springer, Cham",,,"pp. 131-143",2019,July
"Rasheed Kittinanthapanya,Yusuke Sugahara,Daisuke Matsuura,Yukio Takeda","Modeling and Characterization of the Double Helical Compliant Joint","the Fifth IFToMM International Symposium on Robotics and Mechatronics (ISRM2017)","Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics and Mechatronics (ISRM2017). Mechanisms and Machine Science, vol 72","Springer, Cham",,,"pp. 209-224",2019,July
"Santosh Maurya,YUKIO TAKEDA,Celine Mougenot","Enabling Designers to Generate Concepts of Interactive Product Behaviours: A Mixed Reality Design Approach","International Conference on Engineering Design","Proceedings of the Design Society: International Conference on Engineering Design",,,,,2019,July
"Matteo Russo,Ceccarelli M.,Takeda Y.","Comparison of Motion/Force Transmissibility in a 3-SPR Parallel Manipulator and a 6-SPS Equivalent Mechanism",,"Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics & Mechatronics (ISRM 2017). Mechanisms and Machine Science, vol 72","Springer, Cham",,,"pp. 119-129",2019,July
"Randy Raharja Sudiono,Yusuke Sugahara,Mitsuru Endo,Daisuke Matsuura,Yukio Takeda","Cable Traversing Robots on Spatially Structured Cableway for Reconfigurable Parallel Cable System","The Robotics and Mechatronics Conference 2019","日本機械学会ロボティクス・メカトロニクス講演会2019予稿集","Japan Society of Mechanical Engineers",,,"  1A1-S02",2019,June
"Matsuura D.,Ueki T.,Sugahara Y.,Yoshida M.,Takeda Y.","Reproduction of Long-Period Ground Motion by Cable Driven Earthquake Simulator Based on Computed Torque Method","Fourth International Conference on Cable-Driven Parallel Robots (CableCon 2019)","Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74","Springer, Cham",,,"pp. 415-424",2019,June
"Matsuo H.,Matsuura D.,Sugahara Y.,Takeda Y.","Modeling and Displacement Analysis of Origami Spring Considering Collision and Deformation of Components","The 15th IFToMM World Congress","Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73","Springer, Cham",,,"pp. 329-336",2019,June
"Kuo CH.,Matsuura D.,Takeda Y.","A 7R Spatial Linkage for Ankle Rehabilitation with an Arbitrary Ankle Rotation Axis","The 15th IFToMM World Congress","Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73","Springer, Cham",,,"pp. 1491-1498",2019,June
"Mohanta J.K.,Mohan S.,Takeda Y.,Corves B.","Adaptive Backstepping Motion Control of a New Sitting-type Lower Limb Rehabilitation Robot","The 15th IFToMM World Congress","Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73","Springer, Cham",,,"pp. 2761-2768",2019,June
"Masumi Ohno,YUKIO TAKEDA","Trajectory Design Based on Joint Impact Index for Detecting Joint Clearance in Parallel Robot","The 15th IFToMM World Congress","Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science","Springer, Cham","Vol. 73",,,2019,June
"武田行生","リンク機構の基本，設計のポイント",,"油空圧技術",,"Vol. 58","No. 5","pp. 26-31",2019,May
"松尾 博史,松浦 大輔,菅原 雄介,武田 行生","部材の干渉と変形を考慮したOrigami Springの実挙動の機構学的考察",,"日本機械学会論文集",,"Vol. 85","No. 873",,2019,Apr.
"大野真澄,武田行生","駆動トルク測定に基づくパラレルロボットにおける過大な対偶すき間の検出のための軌道設計","第24回ロボティクスシンポジア","第24回ロボティクスシンポジア講演論文集","一般社団法人 日本ロボット学会",,,,2019,Mar.
"Rasheed Kittinanthapanya,Yusuke Sugahara,Daisuke Matsuura,Yukio Takeda","Development of a Novel SMA-Driven Compliant Rotary Actuator Based on a Double Helical Structure",,"Robotics",,"Vol. 8","No. 1","  12",2019,Feb.
"C. Zhang,T. Ohashi,M. Saijo,J. Solis,Y. Takeda,A.-L. Lindborg,R. Takeda,Y. Tanaka","A Monte Carlo based Computation Offloading Algorithm for Feeding Robot IoT System","The 3rd International Conference on Smart Computing and Communication (SmartCom)","Qiu M. (eds) Smart Computing and Communication. SmartCom 2018. Lecture Notes in Computer Science, vol 11344","Springer, Cham",,,"pp. 163-171",2018,Dec.
"Matteo Russo,Marco Ceccarelli,Yukio Takeda","Force transmission and constraint analysis of a 3-SPR parallel manipulator",,"Proc. IMechE Part C: Journal of Mechanical Engineering Science",,"Vol. 232","No. 23","pp. 4399-4409",2018,Dec.
"Ryota Shioya,Eigo Kitamura,Daisuke Matsuura,Yusuke Sugahara,Yukio Takeda","Development of an Extensible Continuum Robot Arm for Assembly Tasks","Taiwan-Japan Workshop on Mechanical and Aerospace Engineering 2018","Proceedings of the Taiwan-Japan Workshop on Mechanical and Aerospace Engineering 2018",,,,"pp. 40-41",2018,Oct.
"Daisuke MATSUURA,Yuta CHOUNAN,Yusuke SUGAHARA,Yukio TAKEDA","Wearable Working Assist Mechanism for Hemiplegics Capable of Changing Step Length and Walking Direction","MESROB 2018","New Trends in Medical and Service Robotics: Mechanisms and Machine Science, Vol. 65","Springer, Cham",,,"pp. 126-133",2018,Sept.
"C.Zhang,T.Ohashi,M.Saijo,J.Solis,Y.Takeda,A.-L.Lindborg,R.Takeda,Y.Tanaka","Design of IoT System for Robotic Assistive Device with Multi-grip Tools and Vision System","2018 IEICE Communications Society Conference",,,,"No. BS-7-18","pp. S-62-S-63",2018,Sept.
"西畑智道,佐久間菜月,二瓶美里,鎌田実,菅原雄介,島悠貴,松浦大輔,武田行生,金天海","ハンズフリーモビリティの提案?個人のメンタルモデルに合わせた人・機械相互学習型操作系?","LIFE2018","LIFE2018 講演論文集","LIFE",,,,2018,Sept.
"上木泰修,松浦大輔,菅原雄介,吉田稔,武田行生","パラレルワイヤ式地震動シミュレータの計算トルク法による制御と長周期地震動の再現","第36回日本ロボット学会学術講演会","第36回日本ロボット学会学術講演会予稿集","一般社団法人 日本ロボット学会",,,,2018,Sept.
"T. Oka,D. Matsuura,Y. Sugahara,J. Solis,A. L. Lindborg,Y. Takeda","Chopstick-type Gripper Mechanism for Meal-Assistance Robot Capable of Adapting to Size and Elasticity of Foods","4th IFToMM Symposium on Mechanism Design for Robotics (MEDER2018)","Mechanism Design for Robotics : Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics","Springer",,,"pp. 284-292",2018,Sept.
"Rasheed Kittinanthapanya,Yusuke Sugahara,Daisuke Matsuura,Yukio Takeda","A Novel SMA Driven Compliant Rotary Actuator Based on Double Helical Structure","4th IFToMM Symposium on Mechanism Design for Robotics (MEDER2018)","Mechanism Design for Robotics : Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics","Springer",,,"pp. 166-173",2018,Sept.
"Qizhi Meng,Fugui Xie,Xin-Jun Liu,Yukio Takeda","EXTENSION OF MOTION/FORCE TRANSMISSION INDEX TO PARALLEL MANIPULATORS WITH DOUBLE PLATFORMS -CASE STUDY ON THE PAR4 MANIPULATOR","ASME 2018 International Design Engineering, Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018","Proceedings of the ASME 2018 International Design Engineering, Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018",,,,,2018,Aug.
"大野 真澄,武田 行生","対偶すき間を有するパラレルロボットにおける対偶作用力モデルに基づく運動誤差の高速計算法",,"日本機械学会論文集",,"Vol. 84","No. 864","p. 18-00057",2018,Aug.
"J. Brinker,B. Corves,Y. Takeda","Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices",,"Mechanism and Machine Theory","Elsevier","Vol. 125",,"pp. 111-125",2018,July
"Xinghai Liang,Yukio Takeda","Iterative Method for the Inverse Kinematics of a 3-Limb Parallel Mechanism with 3-DOF Using a 6-Limb Mechanism with 6-DOF","ARK2018: Advances in Robot Kinematics 2018","Proceedings of ARK2018: Advances in Robot Kinematics 2018","Springer",,,"pp. 108-115",2018,July
"二瓶美里,佐久間菜月,西畑智道,鎌田実,菅原雄介,島悠貴,松浦大輔,武田行生","高齢者向けハンズフリー下肢操作式モビリティの提案（開発コンセプト）","日本機械学会ロボティクス・メカトロニクス講演会2018",,,,,"  2A2-K07",2018,June
"宮坂篤史,松浦大輔,菅原雄介,武田行生","自律形マルチロボットシステムによる協調搬送動作生成","日本機械学会ロボティクス・メカトロニクス講演会2018",,,,,"  1P2-F17",2018,June
"Jan Brinker,Dominic Ring,Marco Luebbecke,Yukio Takeda,Burkhard Corves","Optimization of the Reconfiguration Planning of Cyber-Physical Production Systems with Delta-Like Architecture","ReMAR 2018 - International Conference on Reconfigurable Mechanisms & Robots","Proceedings of ReMAR 2018 - International Conference on Reconfigurable Mechanisms & Robots",,,,,2018,June
"Burkhard Corves,Christian Mirz,Jan Brinker,Daisuke Matsuura,Yukio Takeda","Stiffness Analysis of Delta Parallel Robots Combining the Virtual Joint Method with an FEA Stiffness Model","ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium","ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium","Springer",,,"pp. 347-354",2018,June
"Jan Brinker,Maximilian Schmitz,Yukio Takeda,Burkhard Corves","Dynamic Modeling of Functionally Extended Delta-Like Parallel Robots with Virtual Tree Structures","ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium","ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium","Springer",,,"pp. 171-179",2018,June
"Matteo Russo,Marco Ceccarelli,Daniele Cafolla,Daisuke Matsuura,Yukio Takeda","An Experimental Characterization of a Parallel Mechanism for Robotic Legs","ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium","ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium","Springer",,,"pp. 18-25",2018,June
"Xinghai LIANG,Yukio TAKEDA","A General Iterative Method for Inverse Kinematics of 3-Limb Parallel Mechanism with 3 DOF Based on Kinematically Equivalent Mechanism","22nd JC-IFToMM Symposium","Proceedings of the 22nd JC-IFToMM Symposium (2018)",,,,,2018,June
"松尾博史,松浦大輔,菅原雄介,武田行生","折り紙に基づく伸縮機構の安定性を考慮した挙動解析","第24回日本IFToMM会議シンポジウム","第24回日本IFToMM会議シンポジウム前刷集",,,,"pp. 24-31",2018,June
"菅原雄介,シャフィク・ムハマド,島悠貴,松浦大輔,武田行生,遠藤央,岡本淳","人力ロボティクスの研究（第10報，CVTとパワーアシストを用いた人力関節駆動機構の操作負荷低減）","日本機械学会ロボティクス・メカトロニクス講演会2018","ロボティクス・メカトロニクス講演会講演概要集","一般社団法人 日本機械学会",,,"  2A2-J10",2018,June
"菅原雄介,松浦大輔,武田行生","高精度パラレルメカニズムの開発","近畿大学大学院総合理工学研究科学際研究",,,,,,2018,Apr.
"島悠貴,佐久間菜月,菅原雄介,松浦大輔,武田行生,西畑智道,二瓶美里,鎌田実","高齢者向け下肢操作式モビリティにおける歩行機能改善に有効な運動負荷を与えるペダル機構の設計","第18回日本機械学会機素潤滑設計部門講演会","機素潤滑設計部門講演会講演論文集","一般社団法人 日本機械学会","  2018.18巻",,"pp. 133-134",2018,Apr.
"岡朋宏,松浦大輔,菅原雄介,Jorge Solis,Ann-Louise Lindberg,武田行生","食べ物への馴染み機能を有する箸型グリッパの開発","第18回日本機械学会機素潤滑設計部門講演会",,,,,"pp. 147-150",2018,Apr.
"大野真澄,武田行生","5A1 対偶すき間を有するパラレルロボットにおける対偶作用力モデルに基づく運動誤差の高速計算法","第23回ロボティクスシンポジア","第23回ロボティクスシンポジア講演論文集","一般社団法人 日本機械学会",,,,2018,Mar.
"Masumi Ohno,YUKIO TAKEDA","Identification of Joint Clearances in Parallel Robots by Using Embedded Sensors","IFToMM D-A-CH Conference 2018",,,,,,2018,Feb.
"Chu ZHANG,Bluest LAN,Daisuke MATSUURA,Celine MOUGENOT,Yusuke SUGAHARA,Yukio TAKEDA","Kinematic design of a footplate drive mechanism using a 3-DOF parallel mechanism for walking rehabilitation device",,"Journal of Advanced Mechanical Design, Systems, and Manufacturing",,"Vol. 12","No. 1","Page JAMDSM0017",2018,Feb.
"Yusuke Sugahara,Kensuke Kikui,Mitsuru Endo,Jun Okamoto,Daisuke Matsuura,Yukio Takeda","A Human-Powered Joint Drive Mechanism Using Regenerative Clutches","2017 IEEE/RSJ International Conference on Intelligent Robots and Systems","Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems","IEEE",,,"pp. 6337-6342",2017,Dec.
"佐久間菜月,二瓶美里,西畑智道,菅原雄介,松浦大輔,島悠貴,武田行生,鎌田実","高齢者向け上肢フリー移動体のための下肢動作を活用した操作手法の開発","第18回計測自動制御学会システムインテグレーション部門講演会（SI2017）",,,,,"pp. 695-698",2017,Dec.
"J. Brinker,B. Corves,Y. Takeda","Kinematic and Dynamic Dimensional Synthesis of Extended Delta Parallel Robots","5th International Symposium on Robotics and Mechatronics (ISRM2017)","Proceedings of 5th International Symposium on Robotics and Mechatronics (ISRM2017)",,,,,2017,Nov.
"M.Russo,M. Ceccarelli,Y. Takeda","Comparison of motion/force transmissibility in a 3-SPR parallel manipulator and a 6-SPS equivalent mechanism","5th International Symposium on Robotics and Mechatronics (ISRM2017)","Proceedings of 5th International Symposium on Robotics and Mechatronics (ISRM2017)",,,,,2017,Nov.
"菅原雄介,松浦大輔,武田行生","高精度パラレルメカニズムの開発","第７回可視赤外線観測装置技術ワークショップ2017",,,,,,2017,Nov.
"松田 聡一郎,松浦 大輔,菅原 雄介,武田 行生","高齢者の安定歩行支援のための住環境評価を目的としたバランス復帰特性に基づく単一支持物の評価指標の提案","日本機械学会・シンポジウム：スポーツ工学・ヒューマンダイナミクス2017","日本機械学会・シンポジウム：スポーツ工学・ヒューマンダイナミクス2017講演論文集","一般社団法人日本機械学会",,,,2017,Nov.
"松田 聡一郎,松浦 大輔,菅原 雄介,武田 行生","バランス復帰特性に基づく高齢者の安定歩行支援のための住環境評価法（単一の支持物が存在する環境下における安定性評価）",,"日本機械学会論文集.",,"Vol. 83","No. 854",,2017,Oct.
"Jorge Solis,Ann-Louise Lindborg,Miki Saijo,Yukio Takeda,Cheng Zhang,Ryuta Takeda","Japan-Sweden Academia-Industry International Collaboration: Challenges in developing a robotic assistive eating device for frail elderly’s independent life","IEEE RO-MAN 2017. Workshop on The Barriers of Social Robotics take-up by Society","Proceedings of IEEE RO-MAN 2017. Workshop on The Barriers of Social Robotics take-up by Society",,,,"pp. 61-65",2017,Aug.
"Jan Brinker,Marco L?bbecke,Yukio Takeda,Burkhard Corves","Optimization of the Reconfiguration Planning of Handling Systems based on Parallel Manipulators with Delta-Like Architecture","2017 13th IEEE Conference on Automation Science and Engineering (CASE)","Proceedings of 2017 13th IEEE Conference on Automation Science and Engineering (CASE)",,,,"pp. 1286-1292",2017,Aug.
"Jan Brinker,Marco L¨ubbecke,Yukio Takeda,Burkhard Corves","Optimization of the Reconfiguration Planning of Handling Systems Based on Parallel Manipulators With Delta-Like Architecture",,"IEEE ROBOTICS AND AUTOMATION LETTERS",,"Vol. 2","No. 3","pp. 1802-1808",2017,Aug.
"Yukio Takeda,Xinghai Liang","TRANSMISSION INDEX OF LOWER-MOBILITY PARALLEL MECHANISM - CASE STUDY ON 3-PRS MECHANISM -","ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017","Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017",,,,,2017,Aug.
"MATTEO RUSSO,YUKIO TAKEDA,MARCO CECCARELLI","JACOBIAN ANALYSIS OF A 3-UPR PARALLEL MANIPULATOR FOR A ROBOTIC LEG APPLICATION","23rd JC-IFToMM Symposium","Proceedings of the 23rd JC-IFToMM Symposium (2017)",,,,"pp. 104-111",2017,June
"大野真澄,武田行生","ダランベールの原理に基づく対偶すき間を有するパラレル機構の加減速時における出力誤差解析","第23回日本IFToMM会儀シンポジウム","日本IFToMM会儀シンポジウム前刷集（第23回）",,,,"pp. 85-90",2017,June
"XINGHAI LIANG,YUKIO TAKEDA","TRANSMISSIBILITY AND SINGULARITY ANALYSIS OF 3-PRS PARALLEL MECHANISM BASED ON PRESSURE ANGLE","23rd JC-IFToMM Symposium","Proceedings of the 23rd JC-IFToMM Symposium (2017)",,,,"pp. 118-124",2017,June
"JAN BRINKER,BURKHARD CORVES,MATHIAS H?SING,YUKIO TAKEDA","A SURVEY ON FULLY-PARALLEL DELTA-LIKE ROBOTS WITH ARTICULATED AND UNARTICULATED PLATFORMS","23rd JC-IFToMM Symposium","Proceedings of the 23rd JC-IFToMM Symposium (2017)",,,,"pp. 112-116",2017,June
"ALEXANDER SZIGETI,DAISUKE MATSUURA,YUKIO TAKEDA","DESIGN AND ANALYSIS OF AN IMPROVED JANSEN LEG MECHANISM CAPABLE OF PASSIVELY ADAPTING TO OBSTACLES","23rd JC-IFToMM Symposium","Proceedings of the 23rd JC-IFToMM Symposium (2017)",,,,"pp. 96-103",2017,June
"Ann-Louise Lindborg,Jorge Solis,Miki Saijo,Yukio Takeda,Cheng Zhang,Ryuta Takeda","Design approach of a robotic assistive eating device with a multi-grip and camera for frail elderly’s independent life","ICRA2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots","Proc. ICRA2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots",,,,"pp. 21-22",2017,May
"Brinker J.,Corves B.,Takeda Y.","On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots","7th International Workshop on Computational Kinematics","Zeghloul S., Romdhane L., Laribi M. (eds) Computational Kinematics","Springer",,,"pp. 340-348",2017,May
"J. Brinker,N. Funk,P. Ingenlath,Y. Takeda,B. Corves","Comparative Study of Serial-Parallel Delta Robots with Full Orientation Capabilities",,"IEEE Robotics and Automation Letters",,"Vol. 2","No. 2",,2017,May
"島悠貴,菅原雄介,松浦大輔,武田行生,遠藤央,岡本淳","人力ロボティクスの研究（第9報，人力関節駆動機構における回生エネルギを用いた駆動アシスト）","日本機械学会ロボティクス・メカトロニクス講演会２０１７","日本機械学会ロボティクス・メカトロニクス講演会２０１７講演論文集",,,,"  2A2-L04",2017,May
"松浦大輔,青木仁志,菅原雄介,武田行生","生細胞試験用３次元磁気テザーの設計・試作と発生力制御","日本機械学会ロボティクス・メカトロニクス講演会２０１７","日本機械学会ロボティクス・メカトロニクス講演会２０１７講演論文集",,,,"  2P2-O03",2017,May
"松浦大輔,南雲周,菅原雄介,武田行生","災害対応用マニピュレータの接触センシングに基づく障害物の易動性評価と動作計画","日本機械学会ロボティクス・メカトロニクス講演会２０１７","日本機械学会ロボティクス・メカトロニクス講演会２０１７講演論文集",,,,"  2A2-I09",2017,May
"Daisuke Matsuura,Toshihiro Ichinoseki,Tasuke Ogawa,Yuji Ichikawa,Tomokazu Takakura,Susumu Tachikawa,Koji Yoshihara,Hiroshi Ujiie,Yukio Takeda","Development of Ankle Rehabilitation Device which can Mechanically Avoid Undesirable Load","ICRA2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots","Proc. ICRA2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots",,,,"pp. 35-37",2017,May
"Masahiro Takesue,Yusuke Sugahara,Daisuke Matsuura,Yukio Takeda","Determination of Anchor Points of Cable-driven Parallel Robot for Water Bottom Operation","The 7th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2017)","Proceedings of The 7th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2017)",,,,"pp. 52",2017,Apr.
"Woo hyeok Choi,Daisuke Matsuura,Yusuke Sugahara,Yukio Takeda","An exoskeletal mechanism for rehabilitation of the CMC joint","The 7th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2017)","Proceedings of The 7th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2017)",,,,"pp. 146",2017,Apr.
"Chu ZHANG,Bluest LAN,Daisuke MATSUURA,C?line MOUGENOT,Yusuke SUGAHARA,Yukio TAKEDA","KINEMATIC DESIGN OF A FOOTPLATE DRIVE MECHANISM USING A 3-DOF PARALLEL MECHANISM FOR WALKING REHABILITATION DEVICE","JSME International Conference on Motion and Power Transmissions","Proceedings of the JSME International Conference on Motion and Power Transmissions",,,,"pp. 649-645",2017,Feb.
"Alexander. Szigeti,Yukio Takeda,Daisuke Matsuura","Portable Design and Range of Motion Control for an Ankle Rehabilitation Mechanism Capable of Adjusting to Changes in Joint Axis",,"International Journal of Mechanisms and Robotic Systems",,"Vol. 3","No. 2-3","pp. 222-236",2016,Dec.
"Hiroshi Matsuo,Daisuke Matsuura,Yusuke Sugahara,Yukio Takeda","Kinematic Characterization of the Origami Spring Based on Spherical 6R Linkage, New Advances in Mechanisms","New Advances in Mechanisms, Mechanical Transmissions and Robotics","New Advances in Mechanisms, Mechanical Transmissions and Robotics, Volume 46 of the series Mechanisms and Machine Science","Springer",,,"pp. 187-196",2016,Oct.
"林翔太,松浦大輔,菅原雄介,武田行生","複雑3次元形状をもつ福祉機器の製作に用いるパラレルメカニズム形パイプ曲げ加工機の運動生成手法の開発","日本機械学会2016年度年次大会",,,,,"  S1120103",2016,Sept.
"菅原雄介,遠藤央,岡本淳,松浦大輔,武田行生","人力ロボティクスの提案","日本機械学会2016年度年次大会 機素潤滑設計部門企画先端技術フォーラム「常識にとらわれない機構の応用」",,,,,"  F112003",2016,Sept.
"長南悠太,松浦大輔,菅原雄介,武田行生","歩幅と進行方向を変更可能とする片側装着形歩行支援機械の運動創成法","LIFE2016",,,,,"pp. 725-728",2016,Sept.
"長南悠太,松浦大輔,菅原雄介,武田行生","歩幅と進行方向の能動的支援を目的とした片側装着形歩行運動創成機構の開発","日本機械学会2016年度年次大会",,,,,"  S1120106",2016,Sept.
"松尾博史,松浦大輔,菅原雄介,武田行生","空間6R機構によるORIGAMI SPRINGの挙動解析―運動領域解析―","日本IFToMM会議第22回シンポジウム","日本IFToMM会議第22回シンポジウム前刷集",,,,"pp. 1-8",2016,July
"Daisuke Matsuura,Shota Ishida,Muhamad Akramin,Emek Bar?? K???ktabak,Yusuke Sugahara,Yukio Takeda","Conceptual Design of a Cable Driven Parallel Mechanism forPlanar Earthquake Simulation","日本IFToMM会議第22回シンポジウム","日本IFToMM会議第22回シンポジウム前刷集",,,,"pp. 9-16",2016,July
"大野 真澄,松浦 大輔,菅原 雄介,武田 行生","球対偶の摩擦を考慮したパラレルロボットの動力学解析","ロボティクス・メカトロニクス講演会2016（Robomech2016）","ロボティクス・メカトロニクス講演会2016 CD-ROM講演概要集[2P2-13b5]",,,,"pp. 1-2",2016,June
"菊井 健介,菅原 雄介,松浦 大輔,武田 行生,遠藤 央,岡本 淳","人力ロボティクスの研究 -第８報 回生クラッチを用いた人力関節駆動機構の試作-","ロボティクス・メカトロニクス講演会2016（Robomech2016）","ロボティクス・メカトロニクス講演会2016 CD-ROM講演概要集[2A2-14b1]",,,,"pp. 1-4",2016,June
"Sergio Jainandunsing,Just L. Herder,Yukio Takeda,Daisuke Matsuura","Design of a compliant environmentally interactive snake-like manipulator","RoManSy21- Robot Design, Dynamics and Control, the 21st CISM-IFToMM Symposium","RoManSy21- Robot Design, Dynamics and Control",,,,"pp. 233-240",2016,June
"Daisuke Matsuura,Shota Ishida,Muhamad Akramin,Emek Bar?? K???ktabak,Yusuke Sugahara,Shinji Tanaka,Nobuo Fukuwa,Minoru Yoshida,Yukio Takeda","Conceptual Design of a Cable Driven Parallel Mechanism for Planar Earthquake Simulation","The 21st CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2016)","ROMANSY21 - Robot Design, Dynamics and Control - Proceedings of the 21st CISM-IFToMM Symposium","Springer",,,"pp. 403-411",2016,June
"Daisuke Matsuura,Hitoshi Aoki,Yukio Takeda","Development of a 3D-Magnetic Tweezer System Having Magnetic Pole Positioning Mechanism","2016 IEEE International Conference on Robotics and Automation (ICRA2016)","Proceedings of 2016 IEEE International Conference on Robotics and Automation (ICRA2016)",,,,"pp. 1745-1750",2016,May
"武田行生","工学としてのキネマティクス",,"日本ロボット学会誌",,"Vol. 34","No. 3","pp. 162-166",2016,Apr.
"松尾博史,松浦大輔,菅原雄介,武田行生","空間6R機構によるOrigami Springの挙動解析","第16回日本機械学会機素潤滑設計部門講演会",,,,,"pp. 47-50",2016,Apr.
"菅原雄介,遠藤央,岡本淳,松浦大輔,武田行生","人力ロボティクスの研究（第7報，回生サーボクラッチの動作実験）","第21回ロボティクスシンポジア","第21回ロボティクスシンポジア予稿集",,,,"pp. 439-444",2016,Mar.
"武居雅央,菅原雄介,松浦大輔,武田行生","パラレルワイヤ駆動式水底作業ロボットの提案","日本機械学会関東学生会第55回学生員卒業研究発表講演会","日本機械学会関東学生会第55回学生員卒業研究発表講演会講演論文集",,,,,2016,Mar.
"宮坂篤史,松浦大輔,武田行生","災害対応用可変剛性マニピュレータによる接触センシングのための運動計画法","日本機械学会関東支部第22期総会講演会","日本機械学会関東支部第22期総会講演会講演論文集",,,,,2016,Mar.
"Daisuke Matsuura,Yukio Takeda","3D-Magnetic Tweezer for Live Cell Experiment","The First International Engineering Forum 2016","Proceedings of the First International Engineering Forum 2016",,,,,2016,Feb.
"松浦大輔,青木仁志,武田行生","生細胞試験用3次元磁気テザーの発生力推定","第28回バイオエンジニアリング講演会",,,,,,2016,Jan.
"Daisuke Matsuura,Pavel Adodin,Yukio Takeda","Development of a Variable Stiffness Manipulator to Perform Tactile Sensing","the 6th International Conference on Advanced Mechatronics (ICAM2015)","Proc. of the 6th International Conference on Advanced Mechatronics (ICAM2015)",,,"No. 15-210","pp. 167-168",2015,Dec.
"武田行生","東工大と大田区の協創による革新的ものつくり","第16回システムインテグレーション部門講演会（SI2015）","第16回システムインテグレーション部門講演会（SI2015）講演論文集",,,,,2015,Dec.
"Daisuke Matsuura,Ryutaro Inose,Yukio Takeda","Motion Control Algorithm of Walking Assist Machine Using Crutches to Achieve Variable Gait Style and Step Length",,"Mechanisms and Machine Science",,"Vol. 38",,"pp. 23-31",2015,Nov.
"武田行生","機構制御技術",,"機械力学ハンドブック","朝倉書店",,,"pp. 442-463",2015,Nov.
"Daan L. Bakker,Daisuke Matsuura,Yukio Takeda,Just Herder","Design of an Environmentally Interactive Continuum Manipulator","14th IFToMM World Congress","Proceedings of the 14th IFToMM World Congress",,,,,2015,Oct.
"武田行生,飯島淳一","東京工業大学「チーム志向越境型アントレプレナー育成（CBEC）プログラム」","日本機械学会2015年度年次大会講演会","日本機械学会2015年度年次大会講演会 講演論文集（",,,,,2015,Sept.
"アドディン パヴェル,松浦 大輔,武田 行生","可変剛性肩関節機構を有する災害対応マニピュレータの接触センシング","第33回 日本ロボット学会学術講演会","第33回 日本ロボット学会学術講演会予稿集",,,,"pp. 1-4",2015,Sept.
"Shinji Tanaka,Takahiro Matsuo,Yukio Takeda,Daisuke Matsuura","Measurement of Refrigerant Concentration Distribution in Lubricating Film Using Confocal Microscopy and Laser Induced Fluorescence Method","International Tribology Conference, Tokyo 2015","Proceedings of the International Tribology Conference, Tokyo 2015","Japanese Society of Tribologists",,,"p. 1110-1111",2015,Sept.
"青木仁志,松浦大輔,武田行生","磁極位置決め機構を有する３次元磁気テザーシステムの設計・試作と発生力の測定","第21回 日本IFToMM会議シンポジウム","第21回日本IFToMM会議シンポジウム前刷集",,,,"pp. 16-23",2015,July
"Alexander. Szigeti,Yukio Takeda,Daisuke Matsuura","Portable Design and Range of Motion Control for an Ankle Rehabilitation Mechanism Capable of Adjusting to Changes in Joint Axis","the 3rd IFToMM Symposium on Mechanism Design for Robotics","Recent Advances in Mechanism Design for Robotics, Mechanism and Machine Science 33","Springer",,,"pp. 123-132",2015,June
"寺本 昌倫,武田 行生,松浦 大輔","回転/並進運動完全分離型空間5自由度パラレル機構の駆動・拘束特性を考慮した最適設計","日本機械学会 ロボティクス・メカトロニクス講演会2015","日本機械学会 ロボティクス・メカトロニクス講演会2015講演論文集CD-ROM [2A2-B04]",,,,,2015,May
"松尾高広,田中真二,武田行生,松浦大輔","共焦点顕微鏡とレーザ誘起蛍光法を用いた潤滑膜内の冷媒溶解濃度分布の測定","トライボロジー会議 2015春 姫路","トライボロジー会議 2015春 姫路 予稿集","日本トライボロジー学会",,,"p. 402-403",2015,May
"青木 仁志,松浦 大輔,武田 行生","磁極調整機構を有する3次元磁気テザーシステムの開発","日本機械学会 ロボティクス・メカトロニクス講演会2015","日本機械学会 ロボティクス・メカトロニクス講演会2015講演論文集CD-ROM [1A1-X05]",,,,,2015,May
"鈴木 智行,松浦 大輔,武田 行生","ばねとカムを用いた省アクチュエータ脚駆動機構の開発","日本機械学会 ロボティクス・メカトロニクス講演会2015","日本機械学会 ロボティクス・メカトロニクス講演会2015講演論文集CD-ROM [2A2-K10]",,,,,2015,May
"Yukio TAKEDA,Masanori TERAMOTO,Daisuke MATSUURA","Kinematic Design of a Spherical Parallel Mechanism with Variable Target Point Having a Large Practical Workspace","The 6th International Conference on Manufacturing, Machine Design and Tribology","Proceedings of the 6th International Conference on Manufacturing, Machine Design and Tribology",,,,"pp. 456-457",2015,Apr.
"高田一,有川敬輔,石綿良三,神谷恵輔,井上卓見,木村弘之,高原弘樹,木村康治,武田行生","JSMEテキストシリーズ 演習 機械工学のための力学",,,"日本機械学会",,,,2015,Mar.
"高田一,有川敬輔,石綿良三,神谷恵輔,井上卓見,木村浩之,高原弘樹,木村康治,武田行生","演習 機械工学のための力学",,,"社団法人 日本機械学会",,,,2015,Mar.
"Basalp, E.,Kensuke Hara,Yamaura, H.,Daisuke Matsuura,YUKIO TAKEDA","Improvement in modeling of Walking Assist Machine Using Crutches for dynamic analysis",,"Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015",,,,"pp. 440-445",2015,
"川澄 翔平,武田 行生,松浦 大輔","パイプのスプリングバックとダイスにおけるすきまを考慮したパラレルメカニズムによる高精度パイプ曲げ",,"日本機械学会論文集",,"Vol. 80","No. 820",,2014,Dec.
"Daisuke Matsuura,Ryuhei Funato,Makoto Ogata,Masaru Higuchi,Yukio Takeda","Efficiency Improvement of Walking Assist Machine Using Crutches Based on Gait-Feasible Region Analysis",,"Mechanism and Machine Theory",,"Vol. 84",,"pp. 126-133",2014,Dec.
"Ruriko MORIYA,Daisuke MATSUURA,Yukio TAKEDA","Development of Spatial 1-DOF Torque Transmission Mechanism for Characteristics Evaluation of Flexure Revolute Joints","The 6th International Conference on Positioning Technology","Proceedings of the 6th International Conference on Positioning Technology",,,,,2014,Nov.
"武田行生","下肢障碍者の移動支援機械の機構・制御および製造技術開発","日本機械学会2014年度年次大会","日本機械学会2014年度年次大会講演論文集","日本機械学会",,,,2014,Sept.
"松浦大輔,猪瀬龍太郎,武田行生","松葉杖形歩行機械の歩行形式の選択と歩幅の可変化","日本機械学会2014年度年次大会","日本機械学会2014年度年次大会講演論文集","日本機械学会",,,,2014,Sept.
"今泉彰太,武田行生,松浦大輔,田中真二,高橋秀智","タッチパネルと視聴覚情報を用いた材質感提示システムの開発 第1 報：システムの構築と基本特性評価","第19 回日本バーチャルリアリティ学会大会","第19 回日本バーチャルリアリティ学会大会論文集",,,,"pp. 171-174",2014,Sept.
"野家太郎,武田行生,松浦大輔,田中真二,高橋秀智","拡張現実を用いた技能習得支援システムの研究 第1 報 基本システムの構成","第19 回日本バーチャルリアリティ学会大会","第19 回日本バーチャルリアリティ学会大会論文集","日本バーチャルリアリティ学会",,,"pp. 284-287",2014,Sept.
"Daisuke Matsuura,Pavel Adodin,YUKIO TAKEDA","Development of Variable Stiffness Manipulator for Tactile Sensing for Mobility and Deformability Measurement","15th International Conference on Precision Engineering",,,,,,2014,July
"Shohei Kawasumi,YUKIO TAKEDA,Daisuke Matsuura","Precise Pipe-Bending by 3-RPSR Parallel Mechanism Considering the Effect of Springback and Dies Clearances","2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators","Proceedings of 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators",,,,,2014,July
"Daisuke Matsuura,Ryutarou Inose,YUKIO TAKEDA","Motion Control Algorithm of Walking Assist Machine Using Crutches to Achieve Variable Gait Style and Step Lengt","International Workshop and Summer School on Medical and Service Robotics (MESROB2014)","Proceedings of the International Workshop and Summer School on Medical and Service Robotics (MESROB2014)",,,,,2014,July
"Yukio Takeda,Daisuke Matsuura,Masaru Higuchi,Shuta Sato,Tatsuro Iwaya,Makoto Ogata,Ryuhei Funato","Mechanism Design and Control of a Simple and Low-Cost Walking Assist Machine","The 14th Mechatronics Forum International Conference (Mechatronics2014)","Proc. of the 14th Mechatronics Forum International Conference (Mechatronics2014)",,,,"pp. 555-562",2014,June
"Mario Marcia-Mullio,YUKIO TAKEDA,Daisuke Matsuura,Shohei Kawasumi","Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine","ARK2014: Advances in Robot Kinematics 2014","Advances in Robot Kinematics","Springer",,,"pp. 307-316.",2014,June
"Daisuke Matsuura,Ryuhei Funato,Yuuta Chounan,Kunat Tharasrisuthi,Yukio Takeda","Synthesis and Analysis of the Mechanism for Walking Assist Machine for Persons with Hemiplegia","The 14th Mechatronics Forum International Conference (Mechatronics2014)","Proc. of the 14th Mechatronics Forum International Conference (Mechatronics2014)",,,,,2014,June
"Daisuke Matsuura,Shota Ishida,Tatsuya Koga,YUKIO TAKEDA","Design of Ankle Rehabilitation Mechanism Using a Quantitative Measure of Load Reduction","ROMANSY 2014, XXth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators","Advances on Theory and Practice of Robots and Manipulators: Proceedings of ROMANSY 2014 XX, CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators","Springer",,,"pp. 27-36",2014,June
"守屋瑠璃子,松浦大輔,武田行生","大変位幅弾性ジョイントの剛性と精度の評価装置の開発","日本機械学会・ロボティクス・メカトロニクス講演会2014","日本機械学会・ロボティクス・メカトロニクス講演会2014講演論文集",,,,,2014,May
"長南悠太,松浦大輔,武田行生","片脚装着形歩行支援機械の開発（脚運動創成ユニットの運動軌道計画法）","日本機械学会・ロボティクス・メカトロニクス講演会2014","日本機械学会・ロボティクス・メカトロニクス講演会2014講演論文集",,,,,2014,May
"川澄翔平,武田行生,松浦大輔","スプリングバックとダイス間隙を考慮したパラレルメカニズムによる高精度パイプ曲げ","第20回日本IFToMM会議シンポジウム","日本IFToMM会議シンポジウム前刷集（第20回）",,,,"pp. 50-57",2014,May