@book{CTT100807170,
  author = {Daisuke Matsuura and Yuuta Chounan and Masaki Omata and Yusuke Sugahara and Yukio Takeda},
  title = {Gait analysis and regeneration by means of principal component analysis and its application to kinematic design of wearable walking assist device for hemiplegics},
  publisher = {Elsevier Inc.},
  year = 2019,
}

@book{CTT100725404,
  author = {武田行生},
  title = {機構制御技術},
  publisher = {朝倉書店},
  year = 2015,
}

@book{CTT100841443,
  author = {高田一 and 有川敬輔 and 石綿良三 and 神谷恵輔 and 井上卓見 and 木村弘之 and 高原弘樹 and 木村康治 and 武田行生},
  title = {JSMEテキストシリーズ 演習 機械工学のための力学},
  publisher = {日本機械学会},
  year = 2015,
}

@book{CTT100715028,
  author = {高田一 and 有川敬輔 and 石綿良三 and 神谷恵輔 and 井上卓見 and 木村浩之 and 高原弘樹 and 木村康治 and 武田行生},
  title = {演習 機械工学のための力学},
  publisher = {社団法人 日本機械学会},
  year = 2015,
}

@book{CTT100673176,
  author = {高田一 and 有川敬輔 and 石綿良三 and 神谷恵輔 and 井上卓見 and 梶原逸朗 and 高原弘樹 and 吉田和哉 and 木村弘之 and 小池関也 and 木村康治 and 武田行生},
  title = {機械工学のための力学},
  publisher = {社団法人 日本機械学会},
  year = 2014,
}

@book{CTT100630514,
  author = {武田行生},
  title = {パラレルメカニズム},
  publisher = {オーム社（日本ロボット学会編）},
  year = 2011,
}

@book{CTT100561626,
  author = {吉川昌範 and 太田稔 and 大竹尚登 and 武田行生 and 野澤龍介},
  title = {最新 機械機器要素技術},
  publisher = {（有）エヌジーティー},
  year = 2008,
}

@book{CTT100561625,
  author = {武田行生},
  title = {最新 機械機器要素技術},
  publisher = {（有）エヌジーティー},
  year = 2008,
}

@book{CTT100552004,
  author = {Toshio Miyauchi and Yukio Takeda},
  title = {Theoretical and Applied Mechanics Japan},
  publisher = {National Committee for IUTAM, Science Council of Japan},
  year = 2008,
}

@book{CTT100547403,
  author = {武田行生 and 渡辺克巳 and 森田信義 and 大岩孝彰 and 西岡雅夫 and 杉本浩一},
  title = {機構学（機械の仕組みと運動）},
  publisher = {社団法人 日本機械学会},
  year = 2007,
}

@book{CTT100554283,
  author = {杉本浩一 and 武田行生 and 大河誠司 and 高橋秀智 and 萩原一郎 and 足立忠晴 and 伏信一慶 and 梶原逸朗 and 中島求},
  title = {機械工学のための数学I －基礎数学－},
  publisher = {朝倉書店},
  year = 2007,
}

@book{CTT100465913,
  author = {Gang Shen and Yukio Takeda and Hiroaki Funabashi},
  title = {A Kinematic Calibration of In-Parallel Actuated Mechanisms Using Fourier Series (Evaluation Index for Determination of the Set of Measurement Paths)},
  publisher = {Advances in Robot Kinematics, Kluwer Academic Publishers},
  year = 2002,
}

@book{CTT100465084,
  author = {Yukio Takeda and Hiroaki Funabashi and Masaru Higuchi},
  title = {Walking Chair as a Welfare Robot},
  publisher = {JSME News},
  year = 2001,
}

@article{CTT100916682,
  author = {塩谷崚太 and 武田行生},
  title = {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},
  journal = {日本機械学会論文集},
  year = 2024,
}

@article{CTT100907030,
  author = {Jiancheng Nie and Ming Jiang and Andrea Botta and YUKIO TAKEDA},
  title = {An adaptive gait event detection method based on stance point for walking assistive devices},
  journal = {Sensors and Actuators A: Physical},
  year = 2023,
}

@article{CTT100884576,
  author = {塩谷 崚太 and 松浦 大輔 and 菅原 雄介 and 武田 行生},
  title = {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）},
  journal = {日本機械学会論文集},
  year = 2022,
}

@article{CTT100865469,
  author = {Yusuke Sugahara and Taishu Ueki and Daisuke Matsuura and Yukio Takeda and Minoru Yoshida},
  title = {Offline Reference Trajectory Shaping for a Cable-Driven Earthquake Simulator Based on a Viscoelastic Cable Model},
  journal = {IEEE Robotics and Automation Letters},
  year = 2022,
}

@article{CTT100878667,
  author = {Daisuke Matsuura and Ryota Shioya and H. Harry Asada and Yukio Takeda},
  title = {An Extendable Continuum Robot Arm Using a Flexible Screw as a Backbone to Propel Inside a Confined Space with Discontinuous Contact Area},
  journal = {Proc IMechE Part C: J Mechanical Engineering Science},
  year = 2022,
}

@article{CTT100878669,
  author = {大野 真澄 and 武田行生},
  title = {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},
  journal = {日本機械学会論文集},
  year = 2022,
}

@article{CTT100875371,
  author = {加藤 弘一 and 伏信 一慶 and 武田 行生},
  title = {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},
  journal = {日本機械学会論文集},
  year = 2022,
}

@article{CTT100863735,
  author = {Ying-Chi Liu and Kosuke Irube and Yukio Takeda},
  title = {Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb},
  journal = {Machines},
  year = 2021,
}

@article{CTT100862845,
  author = {加納弘嗣 and 菅原雄介 and 遠藤央 and 石井裕之 and 武田行生},
  title = {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）},
  journal = {日本ロボット学会誌},
  year = 2021,
}

@article{CTT100845505,
  author = {F. Russell and Y. Takeda and P. Kormushev and R. Vaidyanathan and P. Ellison},
  title = {Stiffness Modulation in a Humanoid Robotic Leg and Knee},
  journal = {IEEE Robotics and Automation Letters},
  year = 2021,
}

@article{CTT100845057,
  author = {Woo-hyeok Choi and Yukio Takeda},
  title = {Geometric Design and Prototyping of a (2-RRU)-URR Parallel Mechanism for Thumb Rehabilitation Therapy},
  journal = {Machines},
  year = 2021,
}

@article{CTT100831164,
  author = {Masumi Ohno and Yukio Takeda},
  title = {Design of target trajectories for the detection of joint clearances in parallel robot based on the actuation torque measurement},
  journal = {Mechanism and Machine Theory},
  year = 2021,
}

@article{CTT100842289,
  author = {Andres Osorio Salazar and Yusuke Sugahara and Daisuke Matsuura and Yukio  Takeda},
  title = {Scalable Output Linear Actuators, a Novel Design Concept Using Shape  Memory Alloy Wires Driven by Fluid Temperature},
  journal = {Machines},
  year = 2021,
}

@article{CTT100845055,
  author = {Santosh Maurya and Céline Mougenot and Yukio Takeda},
  title = {Impact of mixed reality implementation on early-stage interactive product design process},
  journal = {Journal of Engineering Design},
  year = 2020,
}

@article{CTT100837257,
  author = {Quang Huan Luong and Jeremy Jong and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda},
  title = {A Study on the Relationship between the Design of Aerotrain and Its Stability Based on a Three-Dimensional Dynamic Model},
  journal = {Robotics},
  year = 2020,
}

@article{CTT100832550,
  author = {Soichiro Matsuda and Yukio Takeda},
  title = {Strategy for Application of Support Object for Fall Prevention in the Elderly Based on Balance Recovery Characteristics},
  journal = {MDPI Journal of Machines},
  year = 2020,
}

@article{CTT100852874,
  author = {石井 貴大 and 菅原 雄介 and 松浦 大輔 and 武田 行生 and 松本 壮史 and 中澤 大輔},
  title = {レールを把持しこの上を自走する鉛直移動機構の開発},
  journal = {日本機械学会論文集},
  year = 2020,
}

@article{CTT100832059,
  author = {Woo-hyeok Choi and Yukio Takeda},
  title = {Displacement Analysis and Design of a (2–RRU)–URR Parallel Mechanism Performing 2R1T Output Motion for Thumb Rehabilitation},
  journal = {MDPI Journal of Robotics},
  year = 2020,
}

@article{CTT100827540,
  author = {Tomohiro Oka and Jorge Solis and Ann-Louise Lindborg and Daisuke Matsuura and Yusuke Sugahara and Yukio Takeda},
  title = {Kineto-Elasto-Static Design of Underactuated Chopstick-Type Gripper Mechanism for Meal-Assistance Robot},
  journal = {Robotics},
  year = 2020,
}

@article{CTT100822883,
  author = {Ying-Chi Liu and Yukio Takeda},
  title = {Kineto-Static Analysis of a Wrist Rehabilitation Robot with Compliance and Passive Joints for Joint Misalignment Compensation},
  journal = {MDPI Journal of Machines},
  year = 2020,
}

@article{CTT100832058,
  author = {松田 聡一郎 and 武田 行生},
  title = {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},
  journal = {日本機械学会論文集},
  year = 2020,
}

@article{CTT100822881,
  author = {Hiroshi Matsuo and H. Harry Asada and YUKIO TAKEDA},
  title = {Design of a Novel Multiple-DOF Extendable Arm With Rigid Components Inspired by a Deployable Origami Structure},
  journal = {IEEE Robotics and Automation Letters},
  year = 2020,
}

@article{CTT100832057,
  author = {Qizhi Meng and Fugui Xie and Xin-Jun Liu and Yukio Takeda},
  title = {An evaluation approach for motion-force interaction performance of parallel manipulators with closed-loop passive limbs},
  journal = {Mechanism and Machine Theory},
  year = 2020,
}

@article{CTT100832056,
  author = {Qizhi Meng and Fugui Xie and Xin-Jun Liu and Yukio Takeda},
  title = {Screw Theory-Based Motion/ Force Transmissibility Analysis of High-Speed Parallel Robots With Articulated Platforms},
  journal = {Journal of Mechanisms and Robotics},
  year = 2020,
}

@article{CTT100800307,
  author = {Xinghai Liang and Yukio Takeda},
  title = {An iterative method for the inverse kinematics of lower-mobility parallel mechanism with three RS or SR chains based on kinematically equivalent mechanism},
  journal = {Mechanism and Machine Theory},
  year = 2019,
}

@article{CTT100800145,
  author = {Xinghai Liang and Yukio Takeda},
  title = {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},
  journal = {Mechanism and Machine Theory},
  year = 2019,
}

@article{CTT100794065,
  author = {松尾 博史 and 松浦 大輔 and 菅原 雄介 and 武田 行生},
  title = {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},
  journal = {日本機械学会論文集},
  year = 2019,
}

@article{CTT100788338,
  author = {Rasheed Kittinanthapanya and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda},
  title = {Development of a Novel SMA-Driven Compliant Rotary Actuator Based on a Double Helical Structure},
  journal = {Robotics},
  year = 2019,
}

@article{CTT100770392,
  author = {Matteo Russo and Marco Ceccarelli and Yukio Takeda},
  title = {Force transmission and constraint analysis of a 3-SPR parallel manipulator},
  journal = {Proc. IMechE Part C: Journal of Mechanical Engineering Science},
  year = 2018,
}

@article{CTT100790391,
  author = {大野 真澄 and 武田 行生},
  title = {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},
  journal = {日本機械学会論文集},
  year = 2018,
}

@article{CTT100770396,
  author = {J. Brinker and B. Corves and Y. Takeda},
  title = {Kinematic performance evaluation of high-speed Delta parallel robots based on motion/force transmission indices},
  journal = {Mechanism and Machine Theory},
  year = 2018,
}

@article{CTT100770395,
  author = {Chu ZHANG and Bluest LAN and Daisuke MATSUURA and Celine MOUGENOT and Yusuke SUGAHARA and Yukio TAKEDA},
  title = {Kinematic design of a footplate drive mechanism using a 3-DOF parallel mechanism for walking rehabilitation device},
  journal = {Journal of Advanced Mechanical Design, Systems, and Manufacturing},
  year = 2018,
}

@article{CTT100755117,
  author = {松田 聡一郎 and 松浦 大輔 and 菅原 雄介 and 武田 行生},
  title = {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）},
  journal = {日本機械学会論文集.},
  year = 2017,
}

@article{CTT100750582,
  author = {Jan Brinker and Marco L¨ubbecke and Yukio Takeda and Burkhard Corves},
  title = {Optimization of the Reconfiguration Planning of Handling Systems Based on Parallel Manipulators With Delta-Like Architecture},
  journal = {IEEE ROBOTICS AND AUTOMATION LETTERS},
  year = 2017,
}

@article{CTT100750579,
  author = {J. Brinker and N. Funk and P. Ingenlath and Y. Takeda and B. Corves},
  title = {Comparative Study of Serial-Parallel Delta Robots with Full Orientation Capabilities},
  journal = {IEEE Robotics and Automation Letters},
  year = 2017,
}

@article{CTT100734934,
  author = {Alexander. Szigeti and Yukio Takeda and Daisuke Matsuura},
  title = {Portable Design and Range of Motion Control for an Ankle Rehabilitation Mechanism Capable of Adjusting to Changes in Joint Axis},
  journal = {International Journal of Mechanisms and Robotic Systems},
  year = 2016,
}

@article{CTT100679186,
  author = {Daisuke Matsuura and Ryuhei Funato and Makoto Ogata and Masaru Higuchi and Yukio Takeda},
  title = {Efficiency Improvement of Walking Assist Machine Using Crutches Based on Gait-Feasible Region Analysis},
  journal = {Mechanism and Machine Theory},
  year = 2014,
}

@article{CTT100681756,
  author = {川澄 翔平 and 武田 行生 and 松浦 大輔},
  title = {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},
  journal = {日本機械学会論文集},
  year = 2014,
}

@article{CTT100665561,
  author = {Daisuke Matsuura and Tatsuya Koga and Shota Ishida and Yukio Takeda},
  title = {Kinetostatic Design of Ankle Rehabilitation Mechanism Capable of Adapting to Changes in Joint Axis},
  journal = {Journal of Robotics and Mechatronics},
  year = 2013,
}

@article{CTT100654071,
  author = {Yukio TAKEDA and Satoshi INADA and Shohei KAWASUMI and Daisuke MATSUURA and Kazuya HIROSE and Ken ICHIRYU},
  title = {Kinematic design of 3-RPSR parallel mechanism for movable-die drive mechanism of pipe bender},
  journal = {ROMANIAN JOURNAL OF TECHNICAL SCIENCES APPLIED MECHANIC},
  year = 2013,
}

@article{CTT100639674,
  author = {北 晃治 and 武田行生},
  title = {宇宙服膝部抵抗下での立位姿勢および適応歩行運動決定の支配要因},
  journal = {日本機械学会論文集（C編）},
  year = 2012,
}

@article{CTT100633187,
  author = {Keiji YONEMOTO and Yukio TAKEDA and Zheng TONG and Masaru HIGUCHI},
  title = {A New Flexure Revolute Joint with Leaf springs and Its Application to Large Workspace Parallel Robot},
  journal = {Journal of Advanced Mechanical Design, Systems, and Manufacturing},
  year = 2012,
}

@article{CTT100674713,
  author = {YUKIO TAKEDA},
  title = {Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot},
  journal = {Frontiers of Mechanical Engineering},
  year = 2012,
}

@article{CTT100628738,
  author = {森澤利浩 and 小林裕通 and 武田行生},
  title = {非線形プロセスモデルに基づくCMP-APC（第2報，セリアスラリーによる酸化膜のCMPのRun-to-Run制御）},
  journal = {精密工学会誌},
  year = 2011,
}

@article{CTT100628732,
  author = {岡村潤 and 花ヶ崎秀太 and 武田行生},
  title = {出力の回転中心を直接支持する要素を持たない高精度2自由度回転パラレルメカニズムの総合},
  journal = {日本機械学会論文集C編},
  year = 2011,
}

@article{CTT100617677,
  author = {Syamsul Huda and Yukio Takeda and Shuta Hanagasaki},
  title = {Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace},
  journal = {Meccanica},
  year = 2011,
}

@article{CTT100608081,
  author = {Yukio Takeda and Xiao Xiao and Kazuya Hirose and Yoshiki Yoshida and Ken Ichiryu},
  title = {Kinematic analysis and design of 3-RPSR parallel mechanism with triple revolute joints on the base},
  journal = {International Journal of Automation Technology},
  year = 2010,
}

@article{CTT100601078,
  author = {Yukio TAKEDA and Kazuki ICHIKAWA and Wei GUO},
  title = {A Spatial Six-Dof Parallel Manipulator with Redundant Actuators for Gross and Fine Motions},
  journal = {Journal of Advanced Mechanical Design, Systems, and Manufacturing},
  year = 2010,
}

@article{CTT100603692,
  author = {田邊雅隆 and 武田行生},
  title = {姿勢補償性を有する並進パラレルマニピュレータ},
  journal = {日本機械学会論文集C編},
  year = 2010,
}

@article{CTT100599934,
  author = {Masaru HIGUCHI and Makoto OGATA and Shuta SATO and Yukio TAKEDA},
  title = {Development of a walking assist machine using crutches (Composition and basic experiments)},
  journal = {Journal of Mechanical Science and Technology},
  year = 2010,
}

@article{CTT100593903,
  author = {Masataka Tanabe and Yukio Takeda},
  title = {Kinematic Design of a Translational Parallel Manipulator with Fine Adjustment of Platform Orientation},
  journal = {Advances in Mechanical Engineering},
  year = 2009,
}

@article{CTT100569847,
  author = {井本淳一 and 武田行生 and 斎藤秀伸 and 一柳 健},
  title = {最大位置決め誤差推定に基づくロボットの最適機構キャリブレーション},
  journal = {日本機械学会論文集(C編)},
  year = 2008,
}

@article{CTT100566372,
  author = {Masataka Tanabe and Yukio Takeda and Syamsul Huda},
  title = {Utility workspace of 3-5R translational parallel mechanism},
  journal = {Journal of Advanced Mechanical Design, Systems, and Manufacturing},
  year = 2008,
}

@article{CTT100564903,
  author = {Syamsul HUDA and Yukio TAKEDA},
  title = {Kinematic Design of 3-URU Pure Rotational Parallel Mechanism with Consideration of Uncompensatable Error},
  journal = {Journal of Advanced Mechanical Design, Systems, and Manufacturing},
  year = 2008,
}

@article{CTT100547300,
  author = {E. Castillo-Castaneda and Yukio Takeda},
  title = {Improving path accuracy of a crank-type 6-dof parallel mechanism by stiction compensation},
  journal = {Mechanism and Machine Theory},
  year = 2008,
}

@article{CTT100532785,
  author = {Yunfeng WU and Hitoshi NAKAMURA and Yukio TAKEDA and Masaru HIGUCHI and Koichi SUGIMOTO},
  title = {Development of a Power Assist System of a Walking Chair Based on Human Arm Characteristics},
  journal = {Journal of Advanced Mechanical Design, Systems, and Manufacturing},
  year = 2007,
}

@article{CTT100532840,
  author = {Masaru Higuchi and Tomonori Shinagawa and Hirohiko Ito and Yukio Takeda and Koichi Sugimoto},
  title = {Improvement of Ride Quality of a Wheelchair When it Passes over Small Steps},
  journal = {Journal of Robotics and Mechatronics},
  year = 2007,
}

@article{CTT100532250,
  author = {Syamsul Huda and Yukio Takeda},
  title = {Kinematic Analysis and Synthesis of a 3-URU Pure Rotational Parallel Mechanism with Respect to Singularity and Workspace},
  journal = {Journal of Advanced Mechanical Design, Systems, and Manufacturing},
  year = 2007,
}

@article{CTT100524758,
  author = {樋口勝 and 武田行生 and 舟橋宏明},
  title = {ロボット用ブレーキの開発（第3報，製作・組立誤差と作動力の関係)},
  journal = {日本機械学会論文集C編},
  year = 2006,
}

@article{CTT100409243,
  author = {Yukio Takeda},
  title = {Kinematic Analysis of Parallel Mechanisms at Singular Points Where a Connecting Chain Has Local Mobility},
  journal = {Mechanism and Machine Theory},
  year = 2006,
}

@article{CTT100389840,
  author = {武田行生 and 上山孔司 and 牧由久 and 樋口勝 and 杉本浩一},
  title = {位置と姿勢を分離した６自由度空間パラレルメカニズムの開発},
  journal = {日本機械学会論文集C編},
  year = 2005,
}

@article{CTT100389599,
  author = {Yunfeng Wu and Masaru Higuchi and Yukio Takeda and Koichi Sugimoto},
  title = {Development of a Power Assist System of a Walking Chair (Proposition of the Speed-Torque Combination Power Assist System)},
  journal = {Journal of Robotics and Mechatronics},
  year = 2005,
}

@article{CTT100540263,
  author = {Yukio Takeda and Kouji Kamiyama and Yoshihisa Maki and Masaru Higuchi and Koichi Sugimoto},
  title = {Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom},
  journal = {Journal of Robotics and Mechatronics},
  year = 2005,
}

@article{CTT100497870,
  author = {武田行生},
  title = {パラレルメカニズムの連結連鎖内に局所自由度を有する特異点における運動特性},
  journal = {日本機械学会第4回機素潤滑設計部門講演会講演論文集},
  year = 2004,
}

@article{CTT100498668,
  author = {樋口勝 and 森庸太郎 and 武田行生 and 杉本浩一},
  title = {空圧を利用した水上走行機械の足部駆動系の開発},
  journal = {第22回日本ロボット学会学術講演会予稿集},
  year = 2004,
}

@article{CTT100498664,
  author = {武田行生 and 上山孔司 and 杉本浩一},
  title = {Stewart Platform 形パラレルメカニズムの連結連鎖内に局所自由度を有する特異点における運動解析},
  journal = {2004年度精密工学会秋季大会学術講演会講演論文集},
  year = 2004,
}

@article{CTT100498641,
  author = {樋口勝 and 中村仁 and 武田行生 and 杉本浩一},
  title = {歩行椅子用パワーアシスト駆動系の開発（人間のクランク駆動特性）},
  journal = {日本機械学会2004年度年次大会講演論文集},
  year = 2004,
}

@article{CTT100498640,
  author = {武田行生 and 中村広則 and 樋口勝 and 杉本浩一},
  title = {マイクロパラレルマニピュレータのディジタル駆動系の研究},
  journal = {日本機械学会2004年度年次大会講演論文集},
  year = 2004,
}

@article{CTT100498007,
  author = { Masaru Higuchu and Hideo Tanaka and Shingo Tsutsumi and Yukio Takeda and Hiroaki Funabashi},
  title = {Design of the Leg Mechanism of a Water Surface Runner},
  journal = {Journal of Robotics and Mechatronics},
  year = 2004,
}

@article{CTT100498714,
  author = {Yukio TAKEDA and Gang SHEN and Hiroaki FUNABASHI},
  title = {A DBB Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series},
  journal = {Transactions of the ASME, Journal of Mechanical Design},
  year = 2004,
}

@article{CTT100483832,
  author = {Masaru Higuchi and Hideo Tanaka and Shingo Tsutsumi and Yukio Takeda and Hiroaki Funabashi},
  title = {Design of the Leg Mechanism of a Water Surface Running Machine},
  journal = {Proc. Second International Symposium on Aqua Bio-mechanisms},
  year = 2003,
}

@article{CTT100480576,
  author = {樋口勝 and 武田行生 and 舟橋宏明 and 松下知己},
  title = {遊脚足部の着地時刻の早まり／遅れ情報に基づく歩行機械の対地適応機構の研究（第２報，対地適応機構を有する歩行機械の動特性）},
  journal = {日本機械学会論文集C編},
  year = 2003,
}

@article{CTT100481541,
  author = {樋口勝 and 武田行生 and 舟橋宏明 and 山田貴詩 and 松本貴弘},
  title = {歩行椅子用パワーアシスト駆動系の開発（定常歩行に対するパワーアシスト駆動系の基礎的研究）},
  journal = {日本機械学会論文集C編},
  year = 2003,
}

@article{CTT100481540,
  author = {沈崗 and 武田行生 and 舟橋宏明},
  title = {フーリエ級数を用いたパラレルメカニズムのキャリブレーション（第2報，実験的検討）},
  journal = {日本機械学会論文集C編},
  year = 2003,
}

@article{CTT100468011,
  author = {Masaru HIGUCHI and Hiroaki FUNABASHI and Yukio TAKEDA},
  title = {Development of a Light-weight Brake driven by a PZT actuator for Robotic Application},
  journal = {Proceedings of 6th International Conference on Mechatronics Technology},
  year = 2002,
}

@article{CTT100468009,
  author = {Shinsuke Izumi and Yukio Takeda and Masaru Higuchi and Hiroaki Finabashi },
  title = {Motion Genration of a Casting Manipulator with a Large Working Space},
  journal = {Proc. 2002 Design Engineering Technical Conferences & Computers and Information in Engineering Conference},
  year = 2002,
}

@article{CTT100468008,
  author = {Yukio Takeda and Gang Shen and Hiroaki Finabashi},
  title = {A DBB-Basaed Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series},
  journal = {Proc. 2002 Design Engineering Technical Conferences & Computers and Information in Engineering Conference},
  year = 2002,
}

@article{CTT100469039,
  author = {Yukio Takeda and Kazuki Ichikawa and Hiroaki Funabashi and Kazuya Hirose },
  title = {A Spatial Six-Dof Hybrid In-Parallel Actuated Mechanism for Fine Positioning within a Large Working Space},
  journal = {Proceedings of the 1st Korea-Japan Conference on Positioning Technology},
  year = 2002,
}

@article{CTT100469038,
  author = {YUKIO TAKEDA},
  title = {Kinematic Design and Calibration of Parallel Mechanisms},
  journal = {Proceedings of 3rd Workshop on Parallel Kinematic Machines, Seoul National University},
  year = 2002,
}

@article{CTT100468010,
  author = {Yukio Takeda and Ulrich Spaelter and Hiroaki Funabashi},
  title = {Forward Displacement and Singularity Analysis of a Crank-Type 6-3 In-Parallel Actuated Mechanism},
  journal = {Proc. 2-Day Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators},
  year = 2002,
}

@article{CTT100465862,
  author = {武田行生 and 沈崗 and 舟橋宏明},
  title = {フーリエ級数を用いたパラレルメカニズムのキャリブレーション(第1報，キャリブレーション法および測定運動の選定法の提案)},
  journal = {日本機械学会論文集C編},
  year = 2002,
}

@article{CTT100465861,
  author = {樋口勝 and 舟橋宏明 and 武田行生},
  title = {ロボット用ブレーキの開発（第2報，ソレノイド駆動くさび機構の特性）},
  journal = {日本機械学会論文集C編},
  year = 2002,
}

@article{CTT100465860,
  author = {舟橋宏明 and 樋口勝 and 川渕一郎 and 武田行生},
  title = {ロボット用ブレーキの開発（第1報，圧電アクチュエータとソレノイドを併用したブレーキの提案）},
  journal = {日本機械学会論文集C編},
  year = 2002,
}

@article{CTT100448366,
  author = {YUKIO TAKEDA},
  title = {Design and Control of Robotic Mechanical Systems such as Parallel Robots and Walking Machines},
  journal = {PSU/TIT 2nd International Workshop on Design and Control of Acoustical and Mechanical Systems},
  year = 2001,
}

@article{CTT100463568,
  author = {Yukio Takeda and Gang Shen and Hiroaki Funabashi},
  title = {Kinematic Calibration of In-Parallel Actuated Mechanisms by Means of Fourier Series},
  journal = {Proceedings of the First Taiwan-Japan Workshop on Mechanical and Aerospace Engineering},
  year = 2001,
}

@article{CTT100451333,
  author = {Yukio TAKEDA and Masaru HIGUCHI and Hiroaki FUNABASHI and Yoshinari OKI and Kazunori SHIMIZU},
  title = { Development of a walking chair (Fundamental investigations for realizing a practical walking chair)},
  journal = { Proc. 4th Int. Conf. on Climbing and Walking Robots (CLAWAR2001)},
  year = 2001,
}

@article{CTT100448226,
  author = {Yukio TAKEDA and Hiroaki FUNABASHI},
  title = {A Transmission Index for In-Parallel Wire-Driven Mechanisms},
  journal = {JSME International Journal Series C},
  year = 2001,
}

@article{CTT100450508,
  author = {武田行生 and 舟橋宏明 and 木村正史 and 廣瀬和也},
  title = {転がり球面軸受を用いた6自由度空間パラレルメカニズム形ワークテーブルの開発},
  journal = {日本機械学会論文集C編},
  year = 2001,
}

@article{CTT100450507,
  author = {Hiroaki FUNABASHI and Yukio TAKEDA and Shigenari ITOH and Masaru HIGUCHI},
  title = {Disturbance Compensating Control of a Biped Walking Machine Based on Reflex Motions},
  journal = {JSME International Journal, Series C},
  year = 2001,
}

@article{CTT100449791,
  author = {武田行生 and 舟橋宏明 and 丹羽康之 and 樋口勝},
  title = {空気圧ゴム人工筋によるパラレル駆動機構の運動制御},
  journal = {日本機械学会論文集C編},
  year = 2001,
}

@article{CTT100437379,
  author = {Yukio Takeda and Hiroaki Funabashi and Shen Gang and Kazuki Ichikawa and Kazuya Hirose},
  title = {Stiffness Analysis of a Spatial Six-Degree-of-Freedom In-Parallel Actuated Mechanism with Rolling Spherical Bearings},
  journal = {Proceedings of Year 2000 Parallel Kinematic Machines International Conference},
  year = 2000,
}

@article{CTT100445219,
  author = {Yukio Takeda and Hiroaki Funabashi},
  title = {Kinematic Synthesis of Spatial In-Parallel Wire-Driven Mechanism with Six Degrees of Freedom with High Force Transmissibility},
  journal = {Proceedings of 2000 ASME Design Engineering Technical Conferences & Computers and Information in Engineering Conference},
  year = 2000,
}

@article{CTT100432558,
  author = {Hidetomo TAKAHASHI and Hiroaki FUNABASHI and Yukio TAKEDA},
  title = {An Optimal Kinematic Design of Haptic Devices for Precision Tasks},
  journal = {Proceedings of the International Conference on Machine Automation ICMA2000},
  year = 2000,
}

@article{CTT100445217,
  author = {武田行生},
  title = {参照軌道による倒立振子の倒立維持制御},
  journal = {日本機械学会論文集},
  year = 2000,
}

@article{CTT100445218,
  author = {武田行生},
  title = {精密作業のための力覚提示デバイスの最適機構設計},
  journal = {日本バーチャルリアリティ学会論文誌},
  year = 2000,
}

@article{CTT100420594,
  author = {Yukio Takeda and Hiroaki Funabashi and Masafumi Kimura and Kazuya Hirose},
  title = {Development of a Spatial Six-Degree-of-Freedom In-Parallel Actuated Worktable with Rolling Spherical Bearings},
  journal = {Proceedings of the Ninth International Conference on Advanced Robotics ('99 ICAR )},
  year = 1999,
}

@article{CTT100420595,
  author = {Hiroaki Funabashi and Yukio Takeda and Shigenari Itoh and Masaru Higuchi},
  title = {Disturbance Detection and Compensation of a Biped Walking Machine Based on Reflex Motions},
  journal = {Proceedings of the 2nd International Conference on Climbing and Walking Robots (CLAWAR 99)},
  year = 1999,
}

@article{CTT100420579,
  author = {Hiroaki Funabashi and Yukio Takeda and Ichiro Kawabuchi and Masaru Higuchi},
  title = {Development of a Walking Chair with a Self-Attitude-Adjusting Leg Mechanism for Stable Walking on Uneven Terrain},
  journal = {Proceedings of the Tenth World Congress on the Theory of Machines and Mechanisms},
  year = 1999,
}

@article{CTT100421453,
  author = {武田行生 and 舟橋宏明},
  title = {パラレルメカニズムの出力の大域的等方性を考慮した機構総合},
  journal = {日本機械学会論文集C編},
  year = 1999,
}

@article{CTT100421449,
  author = {舟橋宏明 and 武田行生 and 伊藤茂成 and 樋口勝},
  title = {反射動による２足歩行機械の外乱補償},
  journal = {日本機械学会論文集C編},
  year = 1999,
}

@article{CTT100421450,
  author = {武田行生 and 舟橋宏明},
  title = {パラレルワイヤ駆動機構における運動伝達性の評価},
  journal = {日本機械学会論文集C編},
  year = 1999,
}

@article{CTT100421451,
  author = {川渕一郎 and 武田行生 and 舟橋宏明},
  title = {遊脚足部の着地時刻の早まり／遅れ情報に基づく歩行機械の対地適応機構の研究（第１報，適応アルゴリズムの提案と脚機構の構成）},
  journal = {日本機械学会論文集C編},
  year = 1999,
}

@article{CTT100421452,
  author = {武田行生 and 舟橋宏明 and 中嶋一貴},
  title = {運動伝達性に優れた６自由度空間パラレルマニピュレータの開発（第３報，アクチュエータ容量に基づく位置決め運動の高速性評価）},
  journal = {日本機械学会論文集C編},
  year = 1999,
}

@article{CTT100432557,
  author = {Yukio Takeda and Hiroaki Funabashi},
  title = {Kinematic Synthesis of In-Parallel Actuated Mechanisms Based on the Global Isotropy Index},
  journal = {Journal of Robotics and Mechatronics},
  year = 1999,
}

@article{CTT100421454,
  author = {Yukio Takeda and Hiroaki Funabashi},
  title = {Kinematic Synthesis of In-Parallel Actuated Mechanisms Based on the Global Isotropy Index},
  journal = {Proceedings of the 3rd International Conference on Advanced Mechatronics},
  year = 1998,
}

@article{CTT100423604,
  author = {Tatsuo Arai and Hiroaki Funabashi and Yoshihiko Nakamura and Yukio Takeda and Yoshihiko Koseki},
  title = {High Speed and High Precision Parallel Mechanism},
  journal = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS97)},
  year = 1997,
}

@article{CTT100420593,
  author = {Yukio Takeda and Hiroaki Funabashi and Hironobu Ichimaru},
  title = {Development of Spatial In-Parallel Actuated Manipulators with Six Degrees of Freedom with High Motion Transmissibility},
  journal = {JSME International Journal, Series C},
  year = 1997,
}

@article{CTT100420590,
  author = {武田行生 and 舟橋宏明 and 村松伸行},
  title = {任意の出力節姿勢角がとれる実用作業領域に優れた3自由度平面パラレルメカニズム(機構の総合)},
  journal = {日本機械学会論文集(C編)},
  year = 1996,
}

@article{CTT100420591,
  author = {舟橋宏明 and 川渕一郎 and 武田行生},
  title = {対偶すきまと摩擦を考慮した平面リンク機構の運動解析(回転対偶および直進対偶における対偶素接触状態の把握)},
  journal = {日本機械学会論文集(C編)},
  year = 1996,
}

@article{CTT100420592,
  author = {Yukio Takeda and Hiroaki Funabashi and Yasutaka Sasaki},
  title = {Development of a Spherical In-Parallel Actuated Mechanism with Three Degrees of Freedom with Large Working Space and High Motion Transmissibility(Evaluation of Motion Transmissibility and Analysis of Working Space)},
  journal = {JSME International Journal, Series C},
  year = 1996,
}

@article{CTT100420585,
  author = {Yukio Takeda and Hiroaki Funabashi},
  title = {Kinematic and Static Characteristics of In-parallel Actuated Manipulators at Singular Points and in their Neighborhoods},
  journal = {JSME International Journal,Series C},
  year = 1996,
}

@article{CTT100420589,
  author = {舟橋宏明 and 武田行生 and 川渕一郎},
  title = {対偶すきまを有する平面リンク機構の変位解析(対偶素接触位置の反復修正による組織的変位解析)},
  journal = {日本機械学会論文集(C編)},
  year = 1996,
}

@article{CTT100423605,
  author = {Hiroaki Funabashi and Yukio Takeda},
  title = {Determination of Singular Points and Their Vicinity in Parallel Manipulators Based on the Transmission Index},
  journal = {Proceedings of the Ninth World Congress on the Theory of Machines and Mechanisms},
  year = 1995,
}

@article{CTT100420588,
  author = {武田行生 and 舟橋宏明 and 市丸寛展},
  title = {運動伝達性に優れた6自由度空間パラレルマニピュレータの開発(第2報、試作マニピュレータの位置繰返し精度)},
  journal = {日本機械学会論文集(C編)},
  year = 1995,
}

@article{CTT100420584,
  author = {Yukio Takeda and Hiroaki Funabashi},
  title = {Motion Transmissibility of In-parallel Actuated Manipulators},
  journal = {JSME International Journal,Series C},
  year = 1995,
}

@article{CTT100420586,
  author = {武田行生 and 舟橋宏明},
  title = {ロボット機構の出力の空間的等方性の評価},
  journal = {日本機械学会論文集(C編)},
  year = 1995,
}

@article{CTT100420587,
  author = {武田行生 and 舟橋宏明},
  title = {運動伝達性に優れた6自由度空間パラレルマニピュレータの開発(第1報、モンテカルロ法に基づく機構定数領域の抽出)},
  journal = {日本機械学会論文集(C編)},
  year = 1995,
}

@article{CTT100420583,
  author = {武田行生 and 舟橋宏明 and 佐々木康貴},
  title = {作業領域と運動伝達性に優れた3自由度球面パラレルメカニズムの開発(第1報,運動伝達性の評価と作業領域の解析)},
  journal = {日本機械学会論文集(C編)},
  year = 1994,
}

@article{CTT100420582,
  author = {武田行生 and 舟橋宏明},
  title = {パラレルマニピュレータの特異点とその近傍における運動特性および静力学特性},
  journal = {日本機械学会論文集(C編)},
  year = 1994,
}

@article{CTT100423607,
  author = {Yukio Takeda and Hiroaki Funabashi and Yasutaka Sasaki},
  title = {Analysis of Working Space and Motion Transmissibility of a Spherical In-Parallel Actuated Mechanism},
  journal = {Proceedings of '93 International Conference on Advanced Robotics},
  year = 1993,
}

@article{CTT100420581,
  author = {武田行生 and 舟橋宏明 and 岡田徹},
  title = {外部構造の実験的同定に基づく機械運動系の制御(第2報,同定精度の向上および制御精度の推定)},
  journal = {日本機械学会論文集(C編)},
  year = 1993,
}

@article{CTT100420580,
  author = {武田行生 and 舟橋宏明},
  title = {パラレルマニピュレータにおける運動伝達性},
  journal = {日本機械学会論文集(C編)},
  year = 1993,
}

@article{CTT100420576,
  author = {舟橋宏明 and 武田行生 and 立元慎也 and 堀江三喜男},
  title = {外部構造の実験的同定に基づく機械運動系の制御(第1報,制御手法の提案)},
  journal = {日本機械学会論文集(C編)},
  year = 1992,
}

@article{CTT100420578,
  author = {Hiroaki Funabashi and Yukio Takeda and Takahiro Yoshino and Mikio Horie},
  title = {Networking and Information Distribution in Robots Composed of Identical Units},
  journal = {JSME International Journal Series III},
  year = 1992,
}

@article{CTT100420575,
  author = {舟橋宏明 and 武田行生 and 吉野太容 and 堀江三喜男},
  title = {ユニット構成のロボットにおける制御系構成と情報管理},
  journal = {日本機械学会論文集(C編)},
  year = 1991,
}

@article{CTT100420577,
  author = {Hiroaki Funabashi and Mikio Horie and Tetsuya Kubota and Yukio Takeda},
  title = {Development of Spatial Parallel Manipulators with Six Degrees of Freedom},
  journal = {JSME International Journal Series III},
  year = 1991,
}

@article{CTT100420574,
  author = {舟橋宏明 and 岩附信行 and 武田行生},
  title = {消費エネルギーを考慮したDCモータおよび減速機の選定},
  journal = {日本機械学会論文集(C編)},
  year = 1989,
}

@article{CTT100420573,
  author = {舟橋宏明 and 堀江三喜男 and 久保田哲也 and 武田行生},
  title = {6自由度空間パラレルマニプレータの開発},
  journal = {日本機械学会論文集(C編)},
  year = 1989,
}

@inproceedings{CTT100922106,
  author = {Ryohei Morita and Ming Jiang and Andrea Botta and Yusuke Sugahara and Giuseppe Quaglia and Marco Ceccarelli and Yukio Takeda},
  title = {Design and Preliminary Testing of WELiBot: A Wearable End-Effector Type Upper Limb Assistive Robot},
  booktitle = {Mechanisms and Machine Science},
  year = 2024,
}

@inproceedings{CTT100914996,
  author = {藍野稜大 and 岡本康太 and 宮田佳奈 and 浅香拓 and 森田瞭平 and 菅原雄介 and 武田行生},
  title = {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）},
  booktitle = {日本機械学会ロボティクス・メカトロニクス講演会2024（ROBOMECH2024）},
  year = 2024,
}

@inproceedings{CTT100914995,
  author = {岡本康太 and 袴田遼典 and 斎藤天丸 and 藍野稜大 and 宮田佳奈 and 菅原雄介 and 干場功太郎 and 武田行生},
  title = {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）},
  booktitle = {日本機械学会ロボティクス・メカトロニクス講演会2024（ROBOMECH2024）},
  year = 2024,
}

@inproceedings{CTT100914998,
  author = {長谷部巧馬 and 河野友也 and 斎藤天丸 and Jiang Ming and 菅原雄介 and 武田行生},
  title = {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）},
  booktitle = {第23回日本機械学会機素潤滑設計部門講演会（MDT2024）},
  year = 2024,
}

@inproceedings{CTT100914997,
  author = {村松興大郎 and Zheng Jian and 斎藤天丸 and Jiang Ming and 菅原雄介 and 南後淳 and 武田行生},
  title = {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）},
  booktitle = {第23回日本機械学会機素潤滑設計部門講演会（MDT2024）},
  year = 2024,
}

@inproceedings{CTT100915000,
  author = {浅香拓 and 菅原雄介 and 武田行生 and 松本壮史 and 中澤大輔},
  title = {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},
  booktitle = {第29回ロボティクスシンポジア},
  year = 2024,
}

@inproceedings{CTT100914999,
  author = {栃木渉 and 菅原雄介 and 武田行生 and 水谷亮 and 柳田克己 and 片村立太},
  title = {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},
  booktitle = {第29回ロボティクスシンポジア},
  year = 2024,
}

@inproceedings{CTT100915001,
  author = {Ming JIANG and Jian ZHENG and Andrea BOTTA and Yusuke SUGAHARA and Yukio TAKEDA},
  title = {Estimation of Sit-to-Stand Intentions via Plantar Force Reaction Induced by External Stimulus on Toe},
  booktitle = {第29回ロボティクスシンポジア},
  year = 2024,
}

@inproceedings{CTT100915002,
  author = {J. Nie and M. Jiang and A. Botta and Y. Sugahara and Y. Takeda},
  title = {Adaptive Ground Clearance Control for Preparation for Fall in a Wearable Assistive Device},
  booktitle = {Proceedings of 2024 IEEE 18th International Conference on Advanced Motion Control (AMC)},
  year = 2024,
}

@inproceedings{CTT100907033,
  author = {Ryohei Morita and Ming Jiang and Andrea Botta and Yusuke Sugahara and Giuseppe Quaglia and Marco Ceccarelli and Yukio Takeda},
  title = {Kinematic Design and Analysis of a Wearable End-Effector Type Upper Limb Assistive Robot},
  booktitle = {Advances in Mechanism and Machine Science},
  year = 2023,
}

@inproceedings{CTT100907031,
  author = {Yuhang Lei and Ming Jiang and Yusuke Sugahara and Yukio Takeda},
  title = {Three-Actuated-DOF Parallel Continuum Robot with High Twisting Performance: Cosserat Rod-Based Kineto-Static Modeling and Simulation},
  booktitle = {Advances in Mechanism and Machine Science},
  year = 2023,
}

@inproceedings{CTT100916681,
  author = {Christian Mirz and Mathias Huesing and Yukio Takeda and Burkhard Corves},
  title = {Active Dynamic Balancing of Delta Robots in Pick and Place Tasks},
  booktitle = {Advances in Mechanism and Machine Science. IFToMM WC 2023},
  year = 2023,
}

@inproceedings{CTT100916680,
  author = {Andrea Botta and Giuseppe Quaglia and Yukio Takeda},
  title = {Wearable Passive Cable-Driven Wrist Rehabilitation Robot: Design and Preliminary Experiments},
  booktitle = {Advances in Mechanism and Machine Science. IFToMM WC 2023},
  year = 2023,
}

@inproceedings{CTT100907032,
  author = {Takamaru Saito and Ming Jiang and Yusuke Sugahara and Marco Ceccarelli and Yukio Takeda},
  title = {Experimental Investigation of an Assistive Device for Ankle Motion Using Dummy Robot},
  booktitle = {Advances in Mechanism and Machine Science},
  year = 2023,
}

@inproceedings{CTT100903176,
  author = {河野 友也 and 斎藤 天丸 and 崔 佑赫 and Jiang Ming and 菅原 雄介 and 武田 行生},
  title = {Assist As Needed制御に向けたRedundant Hybrid Actuator},
  booktitle = {},
  year = 2023,
}

@inproceedings{CTT100903944,
  author = {馬場星明 and 袴田遼典 and 藍野稜大 and 菅原雄介 and 遠藤央 and 石井裕之 and 武田行生},
  title = {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―},
  booktitle = {第41回日本ロボット学会学術講演会予稿集},
  year = 2023,
}

@inproceedings{CTT100903392,
  author = {Zheng Jian and Jiang Ming and Botta Andrea and 菅原 雄介 and 武田 行生},
  title = {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},
  booktitle = {LIFE2023 講演論文集},
  year = 2023,
}

@inproceedings{CTT100903391,
  author = {森田瞭平 and Jiang Ming and Andrea Botta and 菅原雄介 and Giuseppe Quaglia and Marco Ceccarelli and 武田行生},
  title = {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―},
  booktitle = {LIFE2023 講演論文集},
  year = 2023,
}

@inproceedings{CTT100903389,
  author = {蔵田真鈴 and Ming Jiang and 干場功太郎 and 菅原雄介 and 上原隆浩 and 川端眞人 and 原田健 and 武田行生},
  title = {介助者と協働する移乗支援装置についての実験的検討},
  booktitle = {LIFE2023 講演論文集},
  year = 2023,
}

@inproceedings{CTT100903177,
  author = {夏目 龍之介 and 安東 零司 and 吉田 周平 and 田岡 祐樹 and 齋藤 滋規 and Jiang Ming and 菅原 雄介 and 武田 行生},
  title = {薄膜状物体の曲面貼付への応用を目的としたRCM機構},
  booktitle = {},
  year = 2023,
}

@inproceedings{CTT100903174,
  author = {一條 敦弘 and 菅原 雄介 and 馬場 星明 and 遠藤 央 and 武田 行生},
  title = {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）},
  booktitle = {第41回日本ロボット学会学術講演会予稿集},
  year = 2023,
}

@inproceedings{CTT100894792,
  author = {Alampay, M.J.P. and Jiang, M. and Sugahara, Y. and Takeda, Y.},
  title = {Design and Prototyping of a Semi-wearable Robotic Leg for Sit-to-Stand Motion Assistance of Hemiplegic Patients},
  booktitle = {Proceedings of the International Workshop IFToMM for Sustainable Development Goals (I4SDG)},
  year = 2023,
}

@inproceedings{CTT100894791,
  author = {Mari Kurata and Ming Jiang and Kotaro Hoshiba and Yusuke Sugahara and Takahiro Uehara and Masato Kawabata and Ken Harada and Yukio Takeda},
  title = {Lifting Assist Device for Transfer in Cooperation with Caregivers},
  booktitle = {Proceedings of the International Workshop IFToMM for Sustainable Development Goals (I4SDG)},
  year = 2023,
}

@inproceedings{CTT100894969,
  author = {Kazuki Hayashi and Yusuke Sugahara and Yukio Takeda},
  title = {Experimental Study on Thrustered Cable-Suspended Parallel Robot for Collaborative Task},
  booktitle = {Proceeding of the 6th International Conference on Cable-Driven Parallel Robots (CableCon2023)},
  year = 2023,
}

@inproceedings{CTT100895501,
  author = {Quaglia, G. and Botta, A. and Colucci, G. and Takeda, Y.},
  title = {RehaWrist.q - Development of a 3 DoF Cable-Driven End-Effector Wearable Robot for Rehabilitation of the Wrist Joint},
  booktitle = {Proceedings of the International Workshop IFToMM for Sustainable Development Goals (I4SDG)},
  year = 2023,
}

@inproceedings{CTT100895497,
  author = {Andrea Botta and Giuseppe Quaglia and Yukio Takeda},
  title = {Multiobjective Optimization of a Cable-Driven Robot for Wrist Rehabilitation Using a Genetic Algorithm},
  booktitle = {Proceedings of 6th Jc-IFToMM International Symposium},
  year = 2023,
}

@inproceedings{CTT100895499,
  author = {Takamaru Saito and Ming Jiang and Yusuke Sugahara and Yukio Takeda and Marco Ceccarelli},
  title = {Aa Assistive Device for Ankle Motion},
  booktitle = {Proceedings of 6th Jc-IFToMM International Symposium},
  year = 2023,
}

@inproceedings{CTT100895496,
  author = {M.J.P. Alampay and M. Jiang and Y. Sugahara and Y. Takeda},
  title = {A semi-wearable robotic leg for assistance in the sit-to-stand motion of hemiplegic patients},
  booktitle = {Proceedings of 28th Robotics Symposia},
  year = 2023,
}

@inproceedings{CTT100884579,
  author = {一條 敦弘 and 馬場 星明 and 袴田 遼典 and 菅原雄介 and 遠藤央 and 石井裕之 and 干場功太郎 and 武田行生},
  title = {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）},
  booktitle = {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},
  year = 2022,
}

@inproceedings{CTT100884580,
  author = {斎藤天丸 and Huang ShaoQing and Jiang Ming and 干場功太郎 and 菅原雄介 and 武田行生},
  title = {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）},
  booktitle = {},
  year = 2022,
}

@inproceedings{CTT100884577,
  author = {Jiancheng Nie and Yusuke Sugahara and Yukio Takeda},
  title = {Design of Wearable Robotic Support Limbs for Walking Assistance Based on Configurable Support Polygon},
  booktitle = {},
  year = 2022,
}

@inproceedings{CTT100882051,
  author = {Lei Cao and Yukio Takeda and Yusuke Sugahara and Vincenzo parenti Castelli},
  title = {Design and analysis of arc motion based hand exoskeleton for finger rehabilitation},
  booktitle = {第40回日本ロボット学会学術講演会予稿集},
  year = 2022,
}

@inproceedings{CTT100884578,
  author = {Takamaru Saito and Kotaro Hoshiba and Yusuke Sugahara and Yukio Takeda},
  title = {Light Weight Geared Actuator Utilizing the Drive Redundancy},
  booktitle = {Proceedings of the 4th International Conference of IFToMM ITALY},
  year = 2022,
}

@inproceedings{CTT100882052,
  author = {小松崎和泉 and 干場功太郎 and 武田行生 and 菅原雄介},
  title = {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},
  booktitle = {第40回日本ロボット学会学術講演会予稿集},
  year = 2022,
}

@inproceedings{CTT100895495,
  author = {劉 穎奇 and 武田行生},
  title = {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},
  booktitle = {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},
  year = 2022,
}

@inproceedings{CTT100882050,
  author = {内呑優希 and 塚本航平 and 菅原雄介 and 遠藤央 and 岡本淳 and 武田行生},
  title = {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）},
  booktitle = {第40回日本ロボット学会学術講演会予稿集},
  year = 2022,
}

@inproceedings{CTT100881632,
  author = {西脇佑理 and 呂超 and 陳志韜 and 小野敬済 and 武田行生 and 菅原雄介 and 二瓶美里},
  title = {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},
  booktitle = {LIFE2022講演論文集},
  year = 2022,
}

@inproceedings{CTT100887568,
  author = {Daisuke Matsuura and Yusuke Honjyo and Tsune Kobayashi and Yukio Takeda},
  title = {Determination of Tooth Profile Curve of Helical Pinion and Rack Gears to Achieve Non-Constant Transmission Ratio},
  booktitle = {Mechanisms and Machine Science},
  year = 2022,
}

@inproceedings{CTT100881634,
  author = {蔵田真鈴 and 干場功太郎 and 菅原雄介 and 上原隆浩 and 川端眞人 and 原田健 and 武田行生},
  title = {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 -},
  booktitle = {LIFE2022講演論文集},
  year = 2022,
}

@inproceedings{CTT100881633,
  author = {菅原雄介 and 八木達也 and 武田行生 and 二瓶美里},
  title = {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 -},
  booktitle = {LIFE2022講演論文集},
  year = 2022,
}

@inproceedings{CTT100895494,
  author = {GIOVANNI COLUCCI and ANDREA BOTTA and MATTIA VERUTTI and CARMEN VISCONTE and GIUSEPPE QUAGLIA and YING-CHI LIU and YUKIO TAKEDA},
  title = {A PRELIMINARY SYNTHESIS OF A LIGHT AND COMPACT WEARABLE CABLE-DRIVEN PARALLEL ROBOT FOR WRIST JOINT REHABILITATION},
  booktitle = {Proceedings of the 5th Jc-IFToMM International Symposium},
  year = 2022,
}

@inproceedings{CTT100882142,
  author = {Ryousuke Hakamata and Mitsuru Endo and Yusuke Sugahara and Yukio Takeda and Hiroyuki Ishii},
  title = {Dynamic modeling and parameter identification of an elastic rod for analyzing fly-fishing},
  booktitle = {Proceedings of the 5th Jc-IFToMM International Symposium},
  year = 2022,
}

@inproceedings{CTT100882143,
  author = {夏目龍之介 and 干場功太郎 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {Proceedings of the 5th Jc-IFToMM International Symposium},
  year = 2022,
}

@inproceedings{CTT100874171,
  author = {菅原雄介 and 熱海七都 and 栃木渉 and 干場功太郎 and 武田行生 and 柳田克己 and 水谷亮 and 三谷哲史 and 片村立太},
  title = {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）},
  booktitle = {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},
  year = 2022,
}

@inproceedings{CTT100878675,
  author = {Vuocolo, A. and Cao, L. and Petinari, A. and Sancisi, N. and Takeda, Y. and Parenti-Castelli, V.},
  title = {New Hand Exoskeletons for Four Long Finger Rehabilitation},
  booktitle = {ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022},
  year = 2022,
}

@inproceedings{CTT100878673,
  author = {Liu, Y.C. and Botta, A. and Quaglia, G. and Takeda, Y.},
  title = {Preliminary Mechanical Design of a Wearable Parallel-Serial Hybrid Robot for Wrist and Forearm Rehabilitation with Consideration of Joint Misalignment Compensation},
  booktitle = {ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022},
  year = 2022,
}

@inproceedings{CTT100878676,
  author = {Mirz, C. and Hüsing, M. and Takeda, Y. and Corves, B.},
  title = {Low Cost Delta Robot for the Experimental Validation of Frame Vibration Reduction Methods},
  booktitle = {ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022},
  year = 2022,
}

@inproceedings{CTT100878672,
  author = {Lei, Y. and Sugahara, Y. and Takeda, Y.},
  title = {Design and Inverse Kinematics of a Novel Tendon-Driven Continuum Manipulator Capable of Twisting Motion},
  booktitle = {Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics},
  year = 2022,
}

@inproceedings{CTT100878671,
  author = {塩谷崚太 and 干場功太郎 and 武田行生},
  title = {平面ワイヤ駆動型連続体ロボットの安定性解析},
  booktitle = {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},
  year = 2022,
}

@inproceedings{CTT100874173,
  author = {斎藤天丸 and 菅原雄介 and 武田行生},
  title = {減速機付きアクチュエータの駆動冗長性による軽量化},
  booktitle = {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},
  year = 2022,
}

@inproceedings{CTT100878670,
  author = {本荘佑介 and 松浦大輔 and 小林 恒 and 武田行生},
  title = {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},
  booktitle = {2022年度精密工学会春季大会学術講演会講演論文集},
  year = 2022,
}

@inproceedings{CTT100864718,
  author = {Andres Osorio Salazar and Yusuke Sugahara and Yukio Takeda},
  title = {A Differential Mechanism to Enhance the Scalability of a SMA-Wire-Bundle Linear Actuator},
  booktitle = {Advances in Asian Mechanism and Machine Science},
  year = 2021,
}

@inproceedings{CTT100864511,
  author = {熱海七都 and 菅原雄介 and 栃木渉 and 武田行生 and 柳田克己 and 水谷亮 and 三谷哲史 and 片村立太},
  title = {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）},
  booktitle = {機素潤滑設計部門講演会講演論文集},
  year = 2021,
}

@inproceedings{CTT100864742,
  author = {馬場星明 and 菅原雄介 and 遠藤央 and 石井裕之 and 武田行生},
  title = {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},
  booktitle = {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},
  year = 2021,
}

@inproceedings{CTT100863533,
  author = {八木達也 and 菅原雄介 and 武田行生 and 呂超 and 二瓶美里},
  title = {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）},
  booktitle = {第42回バイオメカニズム学術講演会講演予稿集},
  year = 2021,
}

@inproceedings{CTT100865465,
  author = {Masumi Ohno and Yukio Takeda},
  title = {Model Based Estimation of Passive Joint Clearance in Parallel Robot and Its Application to Failure Detection},
  booktitle = {Proceedings of I4SDG Workshop 2021. I4SDG 2021. Mechanisms and Machine Science},
  year = 2021,
}

@inproceedings{CTT100861783,
  author = {安東零司 and 齊藤滋規 and 田岡祐樹 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {日本機械学会 2021年度年次大会 予稿集},
  year = 2021,
}

@inproceedings{CTT100865464,
  author = {武田行生},
  title = {パラレルロボットの機構特性と応用},
  booktitle = {日本機械学会2021年度年次大会 講演論文集},
  year = 2021,
}

@inproceedings{CTT100865462,
  author = {Yusuke Honjo and Daisuke Matsuura and Tsune Kobayashi and Yukio Takeda},
  title = {Determination of Tooth Profile Curves of Variable Rack and Pinion Gears},
  booktitle = {Advances in Mechanism Design III. TMM 2020. Mechanisms and Machine Science},
  year = 2021,
}

@inproceedings{CTT100852645,
  author = {袴田遼典 and 遠藤央 and 菅原雄介 and 石井裕之 and 武田行生},
  title = {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―},
  booktitle = {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},
  year = 2021,
}

@inproceedings{CTT100856210,
  author = {Daisuke Matsuura and Ryota Shioya and H. Harry Asada and Yukio Takeda},
  title = {An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area},
  booktitle = {Mechanism Design for Robotics, MEDER 2021},
  year = 2021,
}

@inproceedings{CTT100865458,
  author = {Ying-Chi LIU and YUKIO TAKEDA},
  title = {Analysis of a 3-DOF Parallel Robot for Wrist Rehabilitation with Consideration of Effect of Human Limb},
  booktitle = {Proceedings of The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)},
  year = 2021,
}

@inproceedings{CTT100845504,
  author = {Hiroshi MATSUO and Daisuke YAMAGUCHI and Yukio TAKEDA and Masahiko OTAKE and Haruhiko KUSAKA},
  title = {Actuation Strategy of Origami-inspired Extendable Mechanism to Achieve Rapid Extension and High Load Capacity},
  booktitle = {Proceedings of The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)},
  year = 2021,
}

@inproceedings{CTT100845506,
  author = {Mirz, C. and Hüsing, M. and Takeda, Y. and Corves, B.},
  title = {Modellbasierte Anforderungsanalyse für den Massenausgleich bei Delta-Robotern},
  booktitle = {},
  year = 2021,
}

@inproceedings{CTT100833030,
  author = {Ying-Chi Liu and Yukio Takeda},
  title = {Development of a Human-Robot Dynamic Model of a Wearable Robot for Wrist Rehabilitation},
  booktitle = {第38回 日本ロボット学会学術講演会講演概要集},
  year = 2020,
}

@inproceedings{CTT100833025,
  author = {八木達也 and 菅原雄介 and 松浦大輔 and 武田行生 and 二瓶美里 and 西畑智道 and 鎌田実 and 遠藤央},
  title = {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）},
  booktitle = {第38回 日本ロボット学会学術講演会講演予稿集},
  year = 2020,
}

@inproceedings{CTT100833023,
  author = {加納弘嗣 and 菅原雄介 and 遠藤央 and 石井裕之 and 武田行生},
  title = {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-},
  booktitle = {第38回 日本ロボット学会学術講演会講演予稿集},
  year = 2020,
}

@inproceedings{CTT100832050,
  author = {Yusuke Sugahara and Guangcan Chen and Nanato Atsumi and Daisuke Matsuura and Yukio Takeda and Ryo Mizutani and Ryuta Katamura},
  title = {A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation},
  booktitle = {ROMANSY 23 - Robot Design, Dynamics and Control},
  year = 2020,
}

@inproceedings{CTT100832067,
  author = {Xinghai LIANG and Kosuke IRUBE and Yukio TAKEDA},
  title = {Kinematic Design of a 3-RPS Parallel Mechanism for Wrist Rehabilitation},
  booktitle = {Proceedings of The 4th INTERNATIONAL WORKSHOP ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES},
  year = 2020,
}

@inproceedings{CTT100832066,
  author = {NGUYEN DUC SANG and YUKIO TAKEDA},
  title = {Design of High-Speed Lower-Mobility Parallel Robot By Kinematic Index Based On Power Efficiency},
  booktitle = {Proceedings of The 4th INTERNATIONAL WORKSHOP ON FUNDAMENTAL ISSUES, APPLICATIONS AND FUTURE RESEARCH DIRECTIONS FOR PARALLEL MECHANISMS / MANIPULATORS / MACHINES},
  year = 2020,
}

@inproceedings{CTT100832065,
  author = {Ying-Chi Liu and Yukio Takeda},
  title = {Kineto-static Analysis of a Compact Wrist Rehabilitation Robot Including the Effect of Human Soft Tissue to Compensate for Joint Misalignment},
  booktitle = {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)},
  year = 2020,
}

@inproceedings{CTT100832064,
  author = {Christian Mirz and Olaf Uzsynski and Jorge Angeles and Yukio Takeda and Burkhard Corves},
  title = {Stiffness Optimization of Delta Robots},
  booktitle = {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)},
  year = 2020,
}

@inproceedings{CTT100832063,
  author = {Chanatip Thongsookmark and Agnes Beckermann and Mathias Huesing and Yukio Takeda},
  title = {Kinematic Design of an Adjustable Foot Motion Generator for Gait Rehabilitation},
  booktitle = {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)},
  year = 2020,
}

@inproceedings{CTT100832051,
  author = {Reiji Ando and Hiroshi Matsuo and Daisuke Matsuura and Yusuke Sugahara and Yukio Takeda},
  title = {Static Analysis and Design of Extendable Mechanism Inspired by Origami Structure Based on Non-Overconstrained Kinematically Equivalent Mechanism},
  booktitle = {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)},
  year = 2020,
}

@inproceedings{CTT100832049,
  author = {Andres Osorio Salazar and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda},
  title = {A Novel, Scalable Shape Memory Alloy Actuator Controlled by Fluid Temperature},
  booktitle = {Niola V., Gasparetto A. (eds) Advances in Italian Mechanism Science. Mechanisms and Machine Science},
  year = 2020,
}

@inproceedings{CTT100832062,
  author = {Hiroshi Matsuo and Yukio Takeda and Erik Macho and Victor Petuya and Oscar Altuzarra and Alfonso Hernández},
  title = {Quasi-Static Analysis of a Tapered Extendable Arm Inspired by an Origami with Modified Folding Diagram},
  booktitle = {Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science},
  year = 2020,
}

@inproceedings{CTT100832061,
  author = {Andrea Petinari and Yukio Takeda and Vincenzo Parenti-Castelli},
  title = {A New Rehabilitation Device for Finger Extension Movement},
  booktitle = {Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science},
  year = 2020,
}

@inproceedings{CTT100832060,
  author = {Woo-hyeok Choi and Yukio Takeda},
  title = {Static Analysis and Actuator Selection of (2-RRU)–URR Parallel Mechanism for Thumb Rehabilitation},
  booktitle = {Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science},
  year = 2020,
}

@inproceedings{CTT100887561,
  author = {王 森 and 松浦 大輔 and 菅原 雄介 and 武田 行生},
  title = {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},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2020,
}

@inproceedings{CTT100823982,
  author = {服部智也 and 西畑智道 and 二瓶美里 and 鎌田実 and 菅原雄介 and 松浦大輔 and 武田行生 and 遠藤央 and 金天海},
  title = {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},
  booktitle = {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},
  year = 2020,
}

@inproceedings{CTT100820126,
  author = {石井貴大 and 菅原雄介 and 松浦大輔 and 武田行生 and 松本壮史 and 中澤大輔},
  title = {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},
  booktitle = {第25回ロボティクスシンポジア予稿集},
  year = 2020,
}

@inproceedings{CTT100823984,
  author = {西畑智道 and 二瓶美里 and 鎌田実 and 菅原雄介 and 松浦大輔 and 武田行生 and 金天海 and 遠藤央},
  title = {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},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100814333,
  author = {西畑智道 and 二瓶美里 and 鎌田実 and 菅原雄介 and 松浦大輔 and 武田行生 and 金天海 and 遠藤央},
  title = {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―},
  booktitle = {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},
  year = 2019,
}

@inproceedings{CTT100806743,
  author = {Yusuke Sugahara and Kohei Tsukamoto and Mitsuru Endo and Jun Okamoto and Daisuke Matsuura and Yukio Takeda},
  title = {A Multi-DOF Human-Powered Robot Using Regenerative Clutches and Constant-Force Springs},
  booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019)},
  year = 2019,
}

@inproceedings{CTT100820636,
  author = {松田聡一郎 and 武田行生},
  title = {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},
  booktitle = {Proceedings of The Second International Jc-IFToMM Symposium},
  year = 2019,
}

@inproceedings{CTT100822879,
  author = {Hiroshi Matsuo and YUKIO TAKEDA},
  title = {Improvement of an Origami Based Extendable Mechanism with a Modification of Folding Diagram},
  booktitle = {Proceedings of the 2nd International Jc-IFToMM symposium},
  year = 2019,
}

@inproceedings{CTT100807172,
  author = {Quang Huan Luong and Jeremy Jong and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda},
  title = {A 3-Dimensional Dynamic Model of the Aerotrain and the Horizontal Tail Effect on the Longitudinal Stability},
  booktitle = {Mechanisms and Machine Science},
  year = 2019,
}

@inproceedings{CTT100807171,
  author = {Woo-hyeok Choi and Yukio Takeda},
  title = {Kinematic Analysis of (2-RRU)-URR Parallel Mechanism Performing 2R1T Output Motion},
  booktitle = {Mechanisms and Machine Science},
  year = 2019,
}

@inproceedings{CTT100822882,
  author = {Ying-Chi Liu and Yukio Takeda},
  title = {Kineto-static Analysis of a Wrist Rehabilitation Robot with Compliant Elements and Supplementary Passive Joints to Compensate the Joint Misalignment},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100807168,
  author = {Ying-Chi Liu and Yukio Takeda},
  title = {Static Analysis of a Wrist Rehabilitation Robot with Consideration to the Compliance and Joint Misalignment Between the Robot and Human Hand},
  booktitle = {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},
  year = 2019,
}

@inproceedings{CTT100807165,
  author = {武田 行生 and 菅原 雄介 and 松浦 大輔 and 松田 聡一郎 and 鈴木 智行 and 北川 雅隆 and LIU Ying-Chi},
  title = {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},
  booktitle = {日本機械学会2019年度年次大会講演論文集},
  year = 2019,
}

@inproceedings{CTT100804183,
  author = {塚本航平 and 菅原雄介 and 松浦大輔 and 武田行生 and 遠藤央 and 岡本淳},
  title = {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）},
  booktitle = {第37回 日本ロボット学会学術講演会講演概要集},
  year = 2019,
}

@inproceedings{CTT100807166,
  author = {Yukio TAKEDA},
  title = {Introduction of research activity in Mechanical Systems Design Laboratory in Tokyo Institute of Technology: Kinematic design of assistive devices and parallel robots},
  booktitle = {13. Kolloquium Getriebetechnik},
  year = 2019,
}

@inproceedings{CTT100804178,
  author = {松尾博史 and 安東零司 and 松浦大輔 and 菅原雄介 and 勅使河原誠一 and H. Harry Asada and 武田行生},
  title = {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},
  booktitle = {第37回 日本ロボット学会学術講演会講演概要集},
  year = 2019,
}

@inproceedings{CTT100807167,
  author = {Christian Mirz and Danimir Doncevic and Mathias Huesing and Burkhard Corves and Yukio Takeda},
  title = {Design Optimization of an Energy-Efficient Five-Bar Linkage Manipulator},
  booktitle = {13. Kolloquium Getriebetechnik},
  year = 2019,
}

@inproceedings{CTT100806290,
  author = {菅原雄介 and 島悠貴 and 松浦大輔 and 武田行生 and 二瓶美里 and 佐久間菜月 and 西畑智道 and 鎌田実 and 遠藤央},
  title = {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},
  booktitle = {LIFE2019},
  year = 2019,
}

@inproceedings{CTT100804177,
  author = {岡朋宏 and Jorge Solis and Ann-Louise Lindborg and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {第37回 日本ロボット学会学術講演会講演概要集},
  year = 2019,
}

@inproceedings{CTT100804182,
  author = {Andres OSORIO and Asitha KULASEKERA and Yusuke SUGAHARA and Daisuke MATSUURA and Yukio TAKEDA},
  title = {A novel scalable SMA actuator using thermally conductive fluid: Its concept and basic characterization},
  booktitle = {第37回 日本ロボット学会学術講演会講演概要集},
  year = 2019,
}

@inproceedings{CTT100807169,
  author = {南雲周 and 有尾知朗 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {2019年度精密工学会秋季大会学術講演会講演論文集},
  year = 2019,
}

@inproceedings{CTT100802540,
  author = {Santosh Maurya and Daisuke Matsuura and Takahiro Uehara and Masato Kawabata and Yukio Takeda},
  title = {Addressing communication issue among caregivers and wheelchair users: identifying design metrics and defining needs},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100800821,
  author = {Brinker J. and Corves B. and Takeda Y.},
  title = {Kinematic and Dynamic Dimensional Synthesis of Extended Delta Parallel Robots},
  booktitle = {Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics & Mechatronics (ISRM 2017). Mechanisms and Machine Science, vol 72},
  year = 2019,
}

@inproceedings{CTT100800823,
  author = {Matteo Russo and Ceccarelli M. and Takeda Y.},
  title = {Comparison of Motion/Force Transmissibility in a 3-SPR Parallel Manipulator and a 6-SPS Equivalent Mechanism},
  booktitle = {Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics & Mechatronics (ISRM 2017). Mechanisms and Machine Science, vol 72},
  year = 2019,
}

@inproceedings{CTT100806690,
  author = {Rasheed Kittinanthapanya and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda},
  title = {Modeling and Characterization of the Double Helical Compliant Joint},
  booktitle = {Robotics and Mechatronics. Proceeding of the Fifth IFToMM International Symposium on Robotics and Mechatronics (ISRM2017). Mechanisms and Machine Science, vol 72},
  year = 2019,
}

@inproceedings{CTT100802539,
  author = {Santosh Maurya and YUKIO TAKEDA and Celine Mougenot},
  title = {Enabling Designers to Generate Concepts of Interactive Product Behaviours: A Mixed Reality Design Approach},
  booktitle = {Proceedings of the Design Society: International Conference on Engineering Design},
  year = 2019,
}

@inproceedings{CTT100800827,
  author = {Matsuo H. and Matsuura D. and Sugahara Y. and Takeda Y.},
  title = {Modeling and Displacement Analysis of Origami Spring Considering Collision and Deformation of Components},
  booktitle = {Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73},
  year = 2019,
}

@inproceedings{CTT100800825,
  author = {Kuo CH. and Matsuura D. and Takeda Y.},
  title = {A 7R Spatial Linkage for Ankle Rehabilitation with an Arbitrary Ankle Rotation Axis},
  booktitle = {Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73},
  year = 2019,
}

@inproceedings{CTT100800824,
  author = {Mohanta J.K. and Mohan S. and Takeda Y. and Corves B.},
  title = {Adaptive Backstepping Motion Control of a New Sitting-type Lower Limb Rehabilitation Robot},
  booktitle = {Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73},
  year = 2019,
}

@inproceedings{CTT100793499,
  author = {Randy Raharja Sudiono and Yusuke Sugahara and Mitsuru Endo and Daisuke Matsuura and Yukio Takeda},
  title = {Cable Traversing Robots on Spatially Structured Cableway for Reconfigurable Parallel Cable System},
  booktitle = {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},
  year = 2019,
}

@inproceedings{CTT100795145,
  author = {Masumi Ohno and YUKIO TAKEDA},
  title = {Trajectory Design Based on Joint Impact Index for Detecting Joint Clearance in Parallel Robot},
  booktitle = {Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science},
  year = 2019,
}

@inproceedings{CTT100800828,
  author = {Matsuura D. and Ueki T. and Sugahara Y. and Yoshida M. and Takeda Y.},
  title = {Reproduction of Long-Period Ground Motion by Cable Driven Earthquake Simulator Based on Computed Torque Method},
  booktitle = {Pott A., Bruckmann T. (eds) Cable-Driven Parallel Robots. CableCon 2019. Mechanisms and Machine Science, vol 74},
  year = 2019,
}

@inproceedings{CTT100795143,
  author = {大野真澄 and 武田行生},
  title = {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},
  booktitle = {第24回ロボティクスシンポジア講演論文集},
  year = 2019,
}

@inproceedings{CTT100780954,
  author = {C. Zhang and T. Ohashi and M. Saijo and J. Solis and Y. Takeda and A.-L. Lindborg and R. Takeda and Y. Tanaka},
  title = {A Monte Carlo based Computation Offloading Algorithm for Feeding Robot IoT System},
  booktitle = {Qiu M. (eds) Smart Computing and Communication. SmartCom 2018. Lecture Notes in Computer Science, vol 11344},
  year = 2018,
}

@inproceedings{CTT100790385,
  author = {Ryota Shioya and Eigo Kitamura and Daisuke Matsuura and Yusuke Sugahara and Yukio Takeda},
  title = {Development of an Extensible Continuum Robot Arm for Assembly Tasks},
  booktitle = {Proceedings of the Taiwan-Japan Workshop on Mechanical and Aerospace Engineering 2018},
  year = 2018,
}

@inproceedings{CTT100826073,
  author = {C.Zhang and T.Ohashi and M.Saijo and J.Solis and Y.Takeda and A.-L.Lindborg and R.Takeda and Y.Tanaka},
  title = {Design of IoT System for Robotic Assistive Device with Multi-grip Tools and Vision System},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100770402,
  author = {Daisuke MATSUURA and Yuta CHOUNAN and Yusuke SUGAHARA and Yukio TAKEDA},
  title = {Wearable Working Assist Mechanism for Hemiplegics Capable of Changing Step Length and Walking Direction},
  booktitle = {New Trends in Medical and Service Robotics: Mechanisms and Machine Science, Vol. 65},
  year = 2018,
}

@inproceedings{CTT100771330,
  author = {Rasheed Kittinanthapanya and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda},
  title = {A Novel SMA Driven Compliant Rotary Actuator Based on Double Helical Structure},
  booktitle = {Mechanism Design for Robotics : Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics},
  year = 2018,
}

@inproceedings{CTT100787296,
  author = {西畑智道 and 佐久間菜月 and 二瓶美里 and 鎌田実 and 菅原雄介 and 島悠貴 and 松浦大輔 and 武田行生 and 金天海},
  title = {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－},
  booktitle = {LIFE2018 講演論文集},
  year = 2018,
}

@inproceedings{CTT100771333,
  author = {上木泰修 and 松浦大輔 and 菅原雄介 and 吉田稔 and 武田行生},
  title = {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},
  booktitle = {第36回日本ロボット学会学術講演会予稿集},
  year = 2018,
}

@inproceedings{CTT100771332,
  author = {T. Oka and D. Matsuura and Y. Sugahara and J. Solis and A. L. Lindborg and Y. Takeda},
  title = {Chopstick-type Gripper Mechanism for Meal-Assistance Robot Capable of Adapting to Size and Elasticity of Foods},
  booktitle = {Mechanism Design for Robotics : Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics},
  year = 2018,
}

@inproceedings{CTT100790381,
  author = {Qizhi Meng and Fugui Xie and Xin-Jun Liu and Yukio Takeda},
  title = {EXTENSION OF MOTION/FORCE TRANSMISSION INDEX TO PARALLEL MANIPULATORS WITH DOUBLE PLATFORMS -CASE STUDY ON THE PAR4 MANIPULATOR},
  booktitle = {Proceedings of the ASME 2018 International Design Engineering, Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2018},
  year = 2018,
}

@inproceedings{CTT100770400,
  author = {Xinghai Liang and Yukio Takeda},
  title = {Iterative Method for the Inverse Kinematics of a 3-Limb Parallel Mechanism with 3-DOF Using a 6-Limb Mechanism with 6-DOF},
  booktitle = {Proceedings of ARK2018: Advances in Robot Kinematics 2018},
  year = 2018,
}

@inproceedings{CTT100768448,
  author = {二瓶美里 and 佐久間菜月 and 西畑智道 and 鎌田実 and 菅原雄介 and 島悠貴 and 松浦大輔 and 武田行生},
  title = {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）},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100768447,
  author = {菅原雄介 and シャフィク・ムハマド and 島悠貴 and 松浦大輔 and 武田行生 and 遠藤央 and 岡本淳},
  title = {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）},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2018,
}

@inproceedings{CTT100768443,
  author = {宮坂篤史 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100768442,
  author = {松尾博史 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {折り紙に基づく伸縮機構の安定性を考慮した挙動解析},
  booktitle = {第24回日本IFToMM会議シンポジウム前刷集},
  year = 2018,
}

@inproceedings{CTT100770401,
  author = {Jan Brinker and Dominic Ring and Marco Luebbecke and Yukio Takeda and Burkhard Corves},
  title = {Optimization of the Reconfiguration Planning of Cyber-Physical Production Systems with Delta-Like Architecture},
  booktitle = {Proceedings of ReMAR 2018 - International Conference on Reconfigurable Mechanisms & Robots},
  year = 2018,
}

@inproceedings{CTT100770399,
  author = {Burkhard Corves and Christian Mirz and Jan Brinker and Daisuke Matsuura and Yukio Takeda},
  title = {Stiffness Analysis of Delta Parallel Robots Combining the Virtual Joint Method with an FEA Stiffness Model},
  booktitle = {ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium},
  year = 2018,
}

@inproceedings{CTT100770398,
  author = {Jan Brinker and Maximilian Schmitz and Yukio Takeda and Burkhard Corves},
  title = {Dynamic Modeling of Functionally Extended Delta-Like Parallel Robots with Virtual Tree Structures},
  booktitle = {ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium},
  year = 2018,
}

@inproceedings{CTT100770397,
  author = {Matteo Russo and Marco Ceccarelli and Daniele Cafolla and Daisuke Matsuura and Yukio Takeda},
  title = {An Experimental Characterization of a Parallel Mechanism for Robotic Legs},
  booktitle = {ROMANSY22 - Robot Design, Dynamics and Control, Proceedings of the 22nd CISM IFToMM Symposium},
  year = 2018,
}

@inproceedings{CTT100800818,
  author = {Xinghai LIANG and Yukio TAKEDA},
  title = {A General Iterative Method for Inverse Kinematics of 3-Limb Parallel Mechanism with 3 DOF Based on Kinematically Equivalent Mechanism},
  booktitle = {Proceedings of the 22nd JC-IFToMM Symposium (2018)},
  year = 2018,
}

@inproceedings{CTT100766249,
  author = {島悠貴 and 佐久間菜月 and 菅原雄介 and 松浦大輔 and 武田行生 and 西畑智道 and 二瓶美里 and 鎌田実},
  title = {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},
  booktitle = {機素潤滑設計部門講演会講演論文集},
  year = 2018,
}

@inproceedings{CTT100766250,
  author = {岡朋宏 and 松浦大輔 and 菅原雄介 and Jorge Solis and Ann-Louise Lindberg and 武田行生},
  title = {食べ物への馴染み機能を有する箸型グリッパの開発},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100767029,
  author = {菅原雄介 and 松浦大輔 and 武田行生},
  title = {高精度パラレルメカニズムの開発},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100795142,
  author = {大野真澄 and 武田行生},
  title = {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},
  booktitle = {第23回ロボティクスシンポジア講演論文集},
  year = 2018,
}

@inproceedings{CTT100795144,
  author = {Masumi Ohno and YUKIO TAKEDA},
  title = {Identification of Joint Clearances in Parallel Robots by Using Embedded Sensors},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100753533,
  author = {Yusuke Sugahara and Kensuke Kikui and Mitsuru Endo and Jun Okamoto and Daisuke Matsuura and Yukio Takeda},
  title = {A Human-Powered Joint Drive Mechanism Using Regenerative Clutches},
  booktitle = {Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = 2017,
}

@inproceedings{CTT100757934,
  author = {佐久間菜月 and 二瓶美里 and 西畑智道 and 菅原雄介 and 松浦大輔 and 島悠貴 and 武田行生 and 鎌田実},
  title = {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},
  booktitle = {},
  year = 2017,
}

@inproceedings{CTT100770393,
  author = {M.Russo and M. Ceccarelli and Y. Takeda},
  title = {Comparison of motion/force transmissibility in a 3-SPR parallel manipulator and a 6-SPS equivalent mechanism},
  booktitle = {Proceedings of 5th International Symposium on Robotics and Mechatronics (ISRM2017)},
  year = 2017,
}

@inproceedings{CTT100755661,
  author = {松田 聡一郎 and 松浦 大輔 and 菅原 雄介 and 武田 行生},
  title = {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},
  booktitle = {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},
  year = 2017,
}

@inproceedings{CTT100770394,
  author = {J. Brinker and B. Corves and Y. Takeda},
  title = {Kinematic and Dynamic Dimensional Synthesis of Extended Delta Parallel Robots},
  booktitle = {Proceedings of 5th International Symposium on Robotics and Mechatronics (ISRM2017)},
  year = 2017,
}

@inproceedings{CTT100756478,
  author = {菅原雄介 and 松浦大輔 and 武田行生},
  title = {高精度パラレルメカニズムの開発},
  booktitle = {},
  year = 2017,
}

@inproceedings{CTT100770178,
  author = {Jorge Solis and Ann-Louise Lindborg and Miki Saijo and Yukio Takeda and Cheng Zhang and Ryuta Takeda},
  title = {Japan-Sweden Academia-Industry International Collaboration: Challenges in developing a robotic assistive eating device for frail elderly’s independent life},
  booktitle = {Proceedings of IEEE RO-MAN 2017. Workshop on The Barriers of Social Robotics take-up by Society},
  year = 2017,
}

@inproceedings{CTT100750583,
  author = {Yukio Takeda and Xinghai Liang},
  title = {TRANSMISSION INDEX OF LOWER-MOBILITY PARALLEL MECHANISM - CASE STUDY ON 3-PRS MECHANISM -},
  booktitle = {Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017},
  year = 2017,
}

@inproceedings{CTT100750581,
  author = {Jan Brinker and Marco Lübbecke and Yukio Takeda and Burkhard Corves},
  title = {Optimization of the Reconfiguration Planning of Handling Systems based on Parallel Manipulators with Delta-Like Architecture},
  booktitle = {Proceedings of 2017 13th IEEE Conference on Automation Science and Engineering (CASE)},
  year = 2017,
}

@inproceedings{CTT100750588,
  author = {XINGHAI LIANG and YUKIO TAKEDA},
  title = {TRANSMISSIBILITY AND SINGULARITY ANALYSIS OF 3-PRS PARALLEL MECHANISM BASED ON PRESSURE ANGLE},
  booktitle = {Proceedings of the 23rd JC-IFToMM Symposium (2017)},
  year = 2017,
}

@inproceedings{CTT100750586,
  author = {MATTEO RUSSO and YUKIO TAKEDA and MARCO CECCARELLI},
  title = {JACOBIAN ANALYSIS OF A 3-UPR PARALLEL MANIPULATOR FOR A ROBOTIC LEG APPLICATION},
  booktitle = {Proceedings of the 23rd JC-IFToMM Symposium (2017)},
  year = 2017,
}

@inproceedings{CTT100750585,
  author = {ALEXANDER SZIGETI and DAISUKE MATSUURA and YUKIO TAKEDA},
  title = {DESIGN AND ANALYSIS OF AN IMPROVED JANSEN LEG MECHANISM CAPABLE OF PASSIVELY ADAPTING TO OBSTACLES},
  booktitle = {Proceedings of the 23rd JC-IFToMM Symposium (2017)},
  year = 2017,
}

@inproceedings{CTT100750584,
  author = {大野真澄 and 武田行生},
  title = {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},
  booktitle = {日本IFToMM会儀シンポジウム前刷集（第23回）},
  year = 2017,
}

@inproceedings{CTT100750587,
  author = {JAN BRINKER and BURKHARD CORVES and MATHIAS HÜSING and YUKIO TAKEDA},
  title = {A SURVEY ON FULLY-PARALLEL DELTA-LIKE ROBOTS WITH ARTICULATED AND UNARTICULATED PLATFORMS},
  booktitle = {Proceedings of the 23rd JC-IFToMM Symposium (2017)},
  year = 2017,
}

@inproceedings{CTT100742062,
  author = {松浦大輔 and 南雲周 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {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},
  year = 2017,
}

@inproceedings{CTT100770391,
  author = {Daisuke Matsuura and Toshihiro Ichinoseki and Tasuke Ogawa and Yuji Ichikawa and Tomokazu Takakura and Susumu Tachikawa and Koji Yoshihara and Hiroshi Ujiie and Yukio Takeda},
  title = {Development of Ankle Rehabilitation Device which can Mechanically Avoid Undesirable Load},
  booktitle = {Proc. ICRA2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots},
  year = 2017,
}

@inproceedings{CTT100770390,
  author = {Ann-Louise Lindborg and Jorge Solis and Miki Saijo and Yukio Takeda and Cheng Zhang and Ryuta Takeda},
  title = {Design approach of a robotic assistive eating device with a multi-grip and camera for frail elderly’s independent life},
  booktitle = {Proc. ICRA2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots},
  year = 2017,
}

@inproceedings{CTT100750580,
  author = {Brinker J. and Corves B. and Takeda Y.},
  title = {On the Motion/Force Transmissibility and Constrainability of Delta Parallel Robots},
  booktitle = {Zeghloul S., Romdhane L., Laribi M. (eds) Computational Kinematics},
  year = 2017,
}

@inproceedings{CTT100742066,
  author = {島悠貴 and 菅原雄介 and 松浦大輔 and 武田行生 and 遠藤央 and 岡本淳},
  title = {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）},
  booktitle = {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},
  year = 2017,
}

@inproceedings{CTT100742063,
  author = {松浦大輔 and 青木仁志 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {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},
  year = 2017,
}

@inproceedings{CTT100741245,
  author = {Masahiro Takesue and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda},
  title = {Determination of Anchor Points of Cable-driven Parallel Robot for Water Bottom Operation},
  booktitle = {Proceedings of The 7th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2017)},
  year = 2017,
}

@inproceedings{CTT100741244,
  author = {Woo hyeok Choi and Daisuke Matsuura and Yusuke Sugahara and Yukio Takeda},
  title = {An exoskeletal mechanism for rehabilitation of the CMC joint},
  booktitle = {Proceedings of The 7th International Conference on Manufacturing, Machine Design and Tribology (ICMDT2017)},
  year = 2017,
}

@inproceedings{CTT100750578,
  author = {Chu ZHANG and Bluest LAN and Daisuke MATSUURA and Céline MOUGENOT and Yusuke SUGAHARA and Yukio TAKEDA},
  title = {KINEMATIC DESIGN OF A FOOTPLATE DRIVE MECHANISM USING A 3-DOF PARALLEL MECHANISM FOR WALKING REHABILITATION DEVICE},
  booktitle = {Proceedings of the JSME International Conference on Motion and Power Transmissions},
  year = 2017,
}

@inproceedings{CTT100725405,
  author = {Hiroshi Matsuo and Daisuke Matsuura and Yusuke Sugahara and Yukio Takeda},
  title = {Kinematic Characterization of the Origami Spring Based on Spherical 6R Linkage, New Advances in Mechanisms},
  booktitle = {New Advances in Mechanisms, Mechanical Transmissions and Robotics, Volume 46 of the series Mechanisms and Machine Science},
  year = 2016,
}

@inproceedings{CTT100717730,
  author = {長南悠太 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100717728,
  author = {菅原雄介 and 遠藤央 and 岡本淳 and 松浦大輔 and 武田行生},
  title = {人力ロボティクスの提案},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100717735,
  author = {長南悠太 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100717734,
  author = {林翔太 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {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},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100711534,
  author = {松尾博史 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {空間6R機構によるORIGAMI SPRINGの挙動解析―運動領域解析―},
  booktitle = {日本IFToMM会議第22回シンポジウム前刷集},
  year = 2016,
}

@inproceedings{CTT100711535,
  author = {Daisuke Matsuura and Shota Ishida and Muhamad Akramin and Emek Barış Küçüktabak and Yusuke Sugahara and Yukio Takeda},
  title = {Conceptual Design of a Cable Driven Parallel Mechanism forPlanar Earthquake Simulation},
  booktitle = {日本IFToMM会議第22回シンポジウム前刷集},
  year = 2016,
}

@inproceedings{CTT100708841,
  author = {菊井 健介 and 菅原 雄介 and 松浦 大輔 and 武田 行生 and 遠藤 央 and 岡本 淳},
  title = {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-},
  booktitle = {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]},
  year = 2016,
}

@inproceedings{CTT100710903,
  author = {Sergio Jainandunsing and Just L. Herder and Yukio Takeda and Daisuke Matsuura},
  title = {Design of a compliant environmentally interactive snake-like manipulator},
  booktitle = {RoManSy21- Robot Design, Dynamics and Control},
  year = 2016,
}

@inproceedings{CTT100709166,
  author = {Daisuke Matsuura and Shota Ishida and Muhamad Akramin and Emek Barış Küçüktabak and Yusuke Sugahara and Shinji Tanaka and Nobuo Fukuwa and Minoru Yoshida and Yukio Takeda},
  title = {Conceptual Design of a Cable Driven Parallel Mechanism for Planar Earthquake Simulation},
  booktitle = {ROMANSY21 - Robot Design, Dynamics and Control - Proceedings of the 21st CISM-IFToMM Symposium},
  year = 2016,
}

@inproceedings{CTT100708842,
  author = {大野 真澄 and 松浦 大輔 and 菅原 雄介 and 武田 行生},
  title = {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},
  booktitle = {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]},
  year = 2016,
}

@inproceedings{CTT100708840,
  author = {Daisuke Matsuura and Hitoshi Aoki and Yukio Takeda},
  title = {Development of a 3D-Magnetic Tweezer System Having Magnetic Pole Positioning Mechanism},
  booktitle = {Proceedings of 2016 IEEE International Conference on Robotics and Automation (ICRA2016)},
  year = 2016,
}

@inproceedings{CTT100704147,
  author = {松尾博史 and 松浦大輔 and 菅原雄介 and 武田行生},
  title = {空間6R機構によるOrigami Springの挙動解析},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100702923,
  author = {菅原雄介 and 遠藤央 and 岡本淳 and 松浦大輔 and 武田行生},
  title = {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）},
  booktitle = {第21回ロボティクスシンポジア予稿集},
  year = 2016,
}

@inproceedings{CTT100710905,
  author = {武居雅央 and 菅原雄介 and 松浦大輔 and 武田行生},
  title = {パラレルワイヤ駆動式水底作業ロボットの提案},
  booktitle = {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},
  year = 2016,
}

@inproceedings{CTT100710904,
  author = {宮坂篤史 and 松浦大輔 and 武田行生},
  title = {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},
  booktitle = {日本機械学会関東支部第22期総会講演会講演論文集},
  year = 2016,
}

@inproceedings{CTT100701896,
  author = {Daisuke Matsuura and Yukio Takeda},
  title = {3D-Magnetic Tweezer for Live Cell Experiment},
  booktitle = {Proceedings of the First International Engineering Forum 2016},
  year = 2016,
}

@inproceedings{CTT100710902,
  author = {松浦大輔 and 青木仁志 and 武田行生},
  title = {生細胞試験用3次元磁気テザーの発生力推定},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100710901,
  author = {武田行生},
  title = {東工大と大田区の協創による革新的ものつくり},
  booktitle = {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},
  year = 2015,
}

@inproceedings{CTT100699628,
  author = {Daisuke Matsuura and Pavel Adodin and Yukio Takeda},
  title = {Development of a Variable Stiffness Manipulator to Perform Tactile Sensing},
  booktitle = {Proc. of the 6th International Conference on Advanced Mechatronics (ICAM2015)},
  year = 2015,
}

@inproceedings{CTT100699629,
  author = {Daisuke Matsuura and Ryutaro Inose and Yukio Takeda},
  title = {Motion Control Algorithm of Walking Assist Machine Using Crutches to Achieve Variable Gait Style and Step Length},
  booktitle = {Mechanisms and Machine Science},
  year = 2015,
}

@inproceedings{CTT100710899,
  author = {Daan L. Bakker and Daisuke Matsuura and Yukio Takeda and Just Herder},
  title = {Design of an Environmentally Interactive Continuum Manipulator},
  booktitle = {Proceedings of the 14th IFToMM World Congress},
  year = 2015,
}

@inproceedings{CTT100714658,
  author = {Shinji Tanaka and Takahiro Matsuo and Yukio Takeda and Daisuke Matsuura},
  title = {Measurement of Refrigerant Concentration Distribution in Lubricating Film Using Confocal Microscopy and Laser Induced Fluorescence Method},
  booktitle = {Proceedings of the International Tribology Conference, Tokyo 2015},
  year = 2015,
}

@inproceedings{CTT100710900,
  author = {武田行生 and 飯島淳一},
  title = {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」},
  booktitle = {日本機械学会2015年度年次大会講演会 講演論文集（},
  year = 2015,
}

@inproceedings{CTT100696390,
  author = {アドディン パヴェル and 松浦 大輔 and 武田 行生},
  title = {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},
  booktitle = {第33回 日本ロボット学会学術講演会予稿集},
  year = 2015,
}

@inproceedings{CTT100693249,
  author = {青木仁志 and 松浦大輔 and 武田行生},
  title = {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},
  booktitle = {第21回日本IFToMM会議シンポジウム前刷集},
  year = 2015,
}

@inproceedings{CTT100710898,
  author = {Alexander. Szigeti and Yukio Takeda and Daisuke Matsuura},
  title = {Portable Design and Range of Motion Control for an Ankle Rehabilitation Mechanism Capable of Adjusting to Changes in Joint Axis},
  booktitle = {Recent Advances in Mechanism Design for Robotics, Mechanism and Machine Science 33},
  year = 2015,
}

@inproceedings{CTT100714661,
  author = {松尾高広 and 田中真二 and 武田行生 and 松浦大輔},
  title = {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},
  booktitle = {トライボロジー会議 2015春 姫路 予稿集},
  year = 2015,
}

@inproceedings{CTT100693246,
  author = {青木 仁志 and 松浦 大輔 and 武田 行生},
  title = {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},
  booktitle = {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]},
  year = 2015,
}

@inproceedings{CTT100693247,
  author = {寺本 昌倫 and 武田 行生 and 松浦 大輔},
  title = {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},
  booktitle = {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]},
  year = 2015,
}

@inproceedings{CTT100693248,
  author = {鈴木 智行 and 松浦 大輔 and 武田 行生},
  title = {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},
  booktitle = {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]},
  year = 2015,
}

@inproceedings{CTT100686449,
  author = {Yukio TAKEDA and Masanori TERAMOTO and Daisuke MATSUURA},
  title = {Kinematic Design of a Spherical Parallel Mechanism with Variable Target Point Having a Large Practical Workspace},
  booktitle = {Proceedings of the 6th International Conference on Manufacturing, Machine Design and Tribology},
  year = 2015,
}

@inproceedings{CTT100805026,
  author = {Basalp, E. and Kensuke Hara and Yamaura, H. and Daisuke Matsuura and YUKIO TAKEDA},
  title = {Improvement in modeling of Walking Assist Machine Using Crutches for dynamic analysis},
  booktitle = {Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015},
  year = 2015,
}

@inproceedings{CTT100686448,
  author = {Ruriko MORIYA and Daisuke MATSUURA and Yukio TAKEDA},
  title = {Development of Spatial 1-DOF Torque Transmission Mechanism for Characteristics Evaluation of Flexure Revolute Joints},
  booktitle = {Proceedings of the 6th International Conference on Positioning Technology},
  year = 2014,
}

@inproceedings{CTT100679300,
  author = {今泉彰太 and 武田行生 and 松浦大輔 and 田中真二 and 高橋秀智},
  title = {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},
  booktitle = {第19 回日本バーチャルリアリティ学会大会論文集},
  year = 2014,
}

@inproceedings{CTT100679301,
  author = {野家太郎 and 武田行生 and 松浦大輔 and 田中真二 and 高橋秀智},
  title = {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},
  booktitle = {第19 回日本バーチャルリアリティ学会大会論文集},
  year = 2014,
}

@inproceedings{CTT100676063,
  author = {武田行生},
  title = {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},
  booktitle = {日本機械学会2014年度年次大会講演論文集},
  year = 2014,
}

@inproceedings{CTT100676064,
  author = {松浦大輔 and 猪瀬龍太郎 and 武田行生},
  title = {松葉杖形歩行機械の歩行形式の選択と歩幅の可変化},
  booktitle = {日本機械学会2014年度年次大会講演論文集},
  year = 2014,
}

@inproceedings{CTT100674716,
  author = {Daisuke Matsuura and Ryutarou Inose and YUKIO TAKEDA},
  title = {Motion Control Algorithm of Walking Assist Machine Using Crutches to Achieve Variable Gait Style and Step Lengt},
  booktitle = {Proceedings of the International Workshop and Summer School on Medical and Service Robotics (MESROB2014)},
  year = 2014,
}

@inproceedings{CTT100674715,
  author = {Shohei Kawasumi and YUKIO TAKEDA and Daisuke Matsuura},
  title = {Precise Pipe-Bending by 3-RPSR Parallel Mechanism Considering the Effect of Springback and Dies Clearances},
  booktitle = {Proceedings of 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators},
  year = 2014,
}

@inproceedings{CTT100674717,
  author = {Daisuke Matsuura and Pavel Adodin and YUKIO TAKEDA},
  title = {Development of Variable Stiffness Manipulator for Tactile Sensing for Mobility and Deformability Measurement},
  booktitle = {},
  year = 2014,
}

@inproceedings{CTT100673731,
  author = {Daisuke Matsuura and Ryuhei Funato and Yuuta Chounan and Kunat Tharasrisuthi and Yukio Takeda},
  title = {Synthesis and Analysis of the Mechanism for Walking Assist Machine for Persons with Hemiplegia},
  booktitle = {Proc. of the 14th Mechatronics Forum International Conference (Mechatronics2014)},
  year = 2014,
}

@inproceedings{CTT100674712,
  author = {Daisuke Matsuura and Shota Ishida and Tatsuya Koga and YUKIO TAKEDA},
  title = {Design of Ankle Rehabilitation Mechanism Using a Quantitative Measure of Load Reduction},
  booktitle = {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},
  year = 2014,
}

@inproceedings{CTT100674714,
  author = {Mario Marcia-Mullio and YUKIO TAKEDA and Daisuke Matsuura and Shohei Kawasumi},
  title = {Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine},
  booktitle = {Advances in Robot Kinematics},
  year = 2014,
}

@inproceedings{CTT100673732,
  author = {Yukio Takeda and Daisuke Matsuura and Masaru Higuchi and Shuta Sato and Tatsuro Iwaya and Makoto Ogata and Ryuhei Funato},
  title = {Mechanism Design and Control of a Simple and Low-Cost Walking Assist Machine},
  booktitle = {Proc. of the 14th Mechatronics Forum International Conference (Mechatronics2014)},
  year = 2014,
}

@inproceedings{CTT100673174,
  author = {守屋瑠璃子 and 松浦大輔 and 武田行生},
  title = {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},
  booktitle = {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},
  year = 2014,
}

@inproceedings{CTT100673175,
  author = {川澄翔平 and 武田行生 and 松浦大輔},
  title = {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},
  booktitle = {日本IFToMM会議シンポジウム前刷集（第20回）},
  year = 2014,
}

@inproceedings{CTT100673173,
  author = {長南悠太 and 松浦大輔 and 武田行生},
  title = {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）},
  booktitle = {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},
  year = 2014,
}

@inproceedings{CTT100673172,
  author = {川澄翔平 and 武田行生 and 松浦大輔},
  title = {スプリングバックとダイス間隙を考慮した押通しパイプ曲げモデルの開発},
  booktitle = {日本機械学会第14回機素潤滑設計部門講演会講演論文集},
  year = 2014,
}

@inproceedings{CTT100673171,
  author = {林翔太 and 武田行生 and 松浦大輔 and 保地和博},
  title = {カム機構を用いた把持形連続長尺物送り装置の開発},
  booktitle = {日本機械学会第14回機素潤滑設計部門講演会講演論文集},
  year = 2014,
}

@inproceedings{CTT100673170,
  author = {武田行生},
  title = {パラレルメカニズムの基礎と産業応用},
  booktitle = {精密工学会 生産自動化専門委員会，研究例会講演前刷集},
  year = 2014,
}

@inproceedings{CTT100673169,
  author = {武田行生},
  title = {松葉杖形両脚用および片脚用歩行支援機械},
  booktitle = {平成26年度公益社団法人精密工学会春季大会関連事業「元気の出る新技術講演会―産学・産産連携への集い‐」資料集},
  year = 2014,
}

@inproceedings{CTT100673168,
  author = {武田行生 and 舟渡隆平 and 松浦大輔},
  title = {ブレーキ付リンク機構を用いた下肢障碍者用歩行支援機械の運動生成},
  booktitle = {日本機械学会MPT2013シンポジウム＜伝動装置＞講演論文集},
  year = 2013,
}

@inproceedings{CTT100661139,
  author = {Eduardo Castillo-Castaneda and Yukio Takeda and Shohei Kawasumi and Daisuke Matsuura},
  title = {Pose Estimation of a Six Degrees of Freedom Pipe-Bender Using a 3D-Visual Measurement System of High Accuracy},
  booktitle = {Proceedings of 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM2013)},
  year = 2013,
}

@inproceedings{CTT100661138,
  author = {Yukio Takeda and Shohei Kawasumi and Daisuke Matsuura and Eduardo Castillo-Castaneda},
  title = {Compliance Analysis of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender},
  booktitle = {Proceedings of 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM2013)},
  year = 2013,
}

@inproceedings{CTT100661184,
  author = {石田翔太 and 松浦大輔 and 古賀達也 and 武田行生},
  title = {関節軸の移動に適応するリハビリ機構とその力学解析},
  booktitle = {日本機械学会2013年度年次大会講演会講演論文集},
  year = 2013,
}

@inproceedings{CTT100658954,
  author = {Eduardo Castillo-Castaneda and Daisuke Matsuura and Yukio Takeda},
  title = {Circular test, positioning accuracy and repeatability of industrial robots using extrinsic parameters of a camera},
  booktitle = {Proc. 9th International Workshop on Robot Motion and Control},
  year = 2013,
}

@inproceedings{CTT100658188,
  author = {アドディン・パヴェル and 松浦大輔 and 武田行生},
  title = {可変剛性機構を用いた任意物体との接触における作用力の測定},
  booktitle = {日本IFToMM会議シンポジウム前刷集（第19回）},
  year = 2013,
}

@inproceedings{CTT100657781,
  author = {池田 剛 and 武田行生 and 松浦大輔},
  title = {回転中心位置を変更可能な大傾斜角球面パラレル機構の開発},
  booktitle = {日本機械学会 ロボティクス・メカトロニクス講演会2013講演論文集CD-ROM [2A2-K04]},
  year = 2013,
}

@inproceedings{CTT100657780,
  author = {Keiji Yonemoto and Yukio Takeda and Daisuke Matsuura},
  title = {Stiffness improvement of double helical flexure revolute joint for parallel manipulator with large workspace},
  booktitle = {Proceedings of the 5th International Conference on Manufacturing, Machine Design and Tribology},
  year = 2013,
}

@inproceedings{CTT100657779,
  author = {Tsuyoshi Ikeda and Yukio Takeda and Daisuke Matsuura},
  title = {Spherical parallel mechanism with variable target point},
  booktitle = {Proceedings of 6th International Workshop on Computational Kinematics},
  year = 2013,
}

@inproceedings{CTT100657783,
  author = {アドディン パヴェル and 松浦大輔 and 武田行生},
  title = {接触センシングのための可変剛性マニピュレータ},
  booktitle = {日本機械学会 ロボティクス・メカトロニクス講演会2013講演論文集CD-ROM [2A2-A09]},
  year = 2013,
}

@inproceedings{CTT100657782,
  author = {石田翔太 and 松浦大輔 and 武田行生},
  title = {回転軸変動に対応した足首リハビリ装置の機構の開発（ばねによる負荷調整機能の実現）},
  booktitle = {日本機械学会 ロボティクス・メカトロニクス講演会2013講演論文集CD-ROM [1A2-C10]},
  year = 2013,
}

@inproceedings{CTT100657774,
  author = {米本慶治 and 松浦大輔 and 武田行生},
  title = {二重らせん形状弾性ジョイントを適用した大変位パラレルマニピュレータの剛性を考慮した機構設計},
  booktitle = {2013年度精密工学会春季大会学術講演会講演論文集},
  year = 2013,
}

@inproceedings{CTT100657778,
  author = {池田 剛 and 武田行生 and 松浦大輔},
  title = {回転中心の空間的位置の独立制御が可能な球面パラレルメカニズム},
  booktitle = {2013年度精密工学会春季大会学術講演会講演論文集},
  year = 2013,
}

@inproceedings{CTT100657777,
  author = {西山麻貴 and 伊藤周作 and 松浦大輔 and 武田行生},
  title = {関節可動域制限者の把持動作支援装置の開発（関節駆動機構の構成とその制御に関する基礎的検討）},
  booktitle = {2013年度精密工学会春季大会学術講演会講演論文集},
  year = 2013,
}

@inproceedings{CTT100657776,
  author = {舟渡隆平 and 松浦大輔 and 武田行生},
  title = {片側装着形歩行支援機械の脚運動創成機構の基本構成},
  booktitle = {2013年度精密工学会春季大会学術講演会講演論文集},
  year = 2013,
}

@inproceedings{CTT100657775,
  author = {小俣正輝 and 松浦大輔 and 武田行生},
  title = {立ち・座り動作支援機のための残存機能を活用した支援入力軌道の設計},
  booktitle = {2013年度精密工学会春季大会学術講演会講演論文集},
  year = 2013,
}

@inproceedings{CTT100646793,
  author = {Castillo-Castaneda Eduardo and 松浦 大輔 and 川澄 翔平 and 武田 行生},
  title = {3次元画像計測を用いた3-RPSRパラレルメカニズム形パイプベンダーの精度および剛性の測定},
  booktitle = {第13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 (SI2012) CD-ROM講演論文集},
  year = 2012,
}

@inproceedings{CTT100645711,
  author = {Ryuhei FUNATO and Makoto OGATA and Daisuke MATSUURA and Masaru HIGUCHI and Yukio TAKEDA},
  title = {Foot-Driving Mechanism to Improve Riding Comfort and Energy Consumption of Walking Assist Machine Using Crutches},
  booktitle = {CD-ROM Proc. of The 2nd IFToMM Asian Conference on Mechanism and Machine Science (Asian-MMS2012)},
  year = 2012,
}

@inproceedings{CTT100645710,
  author = {Masashi FUJIMOTO and Daisuke MATSUURA and Yukio TAKEDA},
  title = {Active Suppression of User’s Tremor Effect and Intentional Motion Recognition for Laser Pointer},
  booktitle = {CD-ROM Proc. of The 2nd IFToMM Asian Conference on Mechanism and Machine Science (Asian-MMS2012)},
  year = 2012,
}

@inproceedings{CTT100644407,
  author = {松浦大輔 and 古賀達也 and 武田行生},
  title = {関節負荷軽減機能を有する足首リハビリ装置の機構開発},
  booktitle = {日本ロボット学会第30回記念学術講演会CD-ROM講演概要集},
  year = 2012,
}

@inproceedings{CTT100791517,
  author = {大熊政明 and 伏信一慶 and 八木 透 and ムージュノ セリーヌ and 田中真二 and 大河 誠司 and 武田行生 and 山浦 弘 and 中島 求 and 上野 広 and 山田 春信 and 久保 洋一 and 林 直生樹 and 寺本 律},
  title = {W111005 新しい機械の発想・設計・製作プロジェクト「独創機械設計プロジェクト」},
  booktitle = {年次大会 : Mechanical Engineering Congress, Japan},
  year = 2012,
}

@inproceedings{CTT100641468,
  author = {Ryutaro INOSE and Daisuke MATSUURA and Yukio TAKEDA},
  title = {Gait Synthesis for Variable Change of Step Length of Walking Assist Machine Using Crutches},
  booktitle = {Proceedings of Fourth TIT-BIT Joint Workshop on Mechanical Engineering},
  year = 2012,
}

@inproceedings{CTT100639672,
  author = {A. F. Lafeber and W. van Dijk and Y. Takeda},
  title = {Evaluation of Spring Implementation to Reduce the Required Motor Energy in a Walking Assist Exoskeleton with Linear Actuation (Walking Assist Machine Using Crutches)},
  booktitle = {Mechanisms, Mechanical Transmissions and Robotics, Applied Mechanics and Materials, Vol. 162},
  year = 2012,
}

@inproceedings{CTT100639673,
  author = {Yukio Takeda and Satoshi Inada and Daisuke Matsuura and Kazuya Hirose and Ken Ichiryu},
  title = {Orientation Capability of 3 3-RPSR Parallel Mechanism for a Movable-Die Drive Mechanism of Pipe Bender},
  booktitle = {Latest Advances in Robot Kinematics},
  year = 2012,
}

@inproceedings{CTT100639018,
  author = {藤本正志 and 武田行生 and 松浦大輔},
  title = {手のふるえの影響を抑制し使用者の意図した動作を実現するレーザーポインタ －使用者の意図する動作の判別－},
  booktitle = {日本機械学会ロボティクス・メカトロニクス講演会’12 講演論文集},
  year = 2012,
}

@inproceedings{CTT100639021,
  author = {稲田諭 and 武田行生 and 松浦大輔 and 川澄翔平 and 一柳健 and 広瀬和也},
  title = {3-RPSRパラレルメカニズムを用いた複雑3次元パイプベンダーの開発 －らせん形状の加工－},
  booktitle = {日本IFToMM会議シンポジウム前刷集（第18回）},
  year = 2012,
}

@inproceedings{CTT100639019,
  author = {稲田諭 and 武田行生 and 松浦大輔 and 川澄翔平 and 一柳健 and 広瀬和也},
  title = {3-RPSR パラレルメカニズムを用いた複雑3次元パイプベンダーの開発 －らせん形状の加工－},
  booktitle = {日本機械学会ロボティクス・メカトロニクス講演会’12 講演論文集},
  year = 2012,
}

@inproceedings{CTT100635723,
  author = {細川拓巳 and 松浦大輔 and 武田行生},
  title = {ばねの貯蔵エネルギーを利用したトルク補償機構を有する段差昇降装置の機構開発},
  booktitle = {日本機械学会第12回機素潤滑設計部門講演会講演論文集},
  year = 2012,
}

@inproceedings{CTT100631358,
  author = {J.Okamura and S. Hanagasaki and Y. Takeda},
  title = {Kinematic Synthesis of Two-DOF Rotational Parallel Mechanism With Compensation for Position Error},
  booktitle = {Proceedings of 2nd IFToMM International Symposium on Robotics and Mechatronics},
  year = 2011,
}

@inproceedings{CTT100631360,
  author = {藤本正志 and 武田行生},
  title = {レーザーポインタ使用時の手のふるえの影響の抑圧},
  booktitle = {日本機械学会 シンポジウム：スポーツ・アンド・ヒューマン・ダイナミクス2011講演論文集},
  year = 2011,
}

@inproceedings{CTT100631359,
  author = {中田一輝 and 武田行生 and 井口竹喜},
  title = {松葉杖歩行の消費エネルギー低減のための杖先形状について},
  booktitle = {日本機械学会 シンポジウム：スポーツ・アンド・ヒューマン・ダイナミクス2011講演論文集},
  year = 2011,
}

@inproceedings{CTT100628736,
  author = {有隅 仁 and 武田行生 and 中坊嘉宏},
  title = {キャスティング作業システムによる高所物体の回収動作},
  booktitle = {第29回日本ロボット学会学術講演会DVD},
  year = 2011,
}

@inproceedings{CTT100628737,
  author = {岡村潤 and 武田行生},
  title = {出力の回転中心を直接支持する要素を持たない高精度2自由度回転パラレルメカニズムの開発},
  booktitle = {日本機械学会2011年度年次大会DVD},
  year = 2011,
}

@inproceedings{CTT100628734,
  author = {米本慶治 and トウ セイ and 樋口 勝 and 武田行生},
  title = {弾性ジョイントを用いた大作業領域パラレルロボットの開発},
  booktitle = {第17回日本IFToMM会議シンポジウム前刷集},
  year = 2011,
}

@inproceedings{CTT100628733,
  author = {YUKIO TAKEDA and Xiao XIAO and MASARU HIGUCHI and Satoshi Inada and K. Hirose and Y. Yoshida and Y. Ishikura},
  title = {Development of a pipe bender using a parallel mechanism with 3-RPSR structure with six degrees of freedom,},
  booktitle = {Proceedings of 13th World congress in Mechanism and Machine Science},
  year = 2011,
}

@inproceedings{CTT100622429,
  author = {岡村潤 and 武田行生},
  title = {仮想ねじ対偶を用いたパラレル機構の剛性解析},
  booktitle = {日本機械学会ロボティクス・メカトロニクス講演会’11講演論文集},
  year = 2011,
}

@inproceedings{CTT100622428,
  author = {緒方誠 and 舟渡隆平 and 武田行生 and 樋口勝},
  title = {足首機構を有する松葉杖形歩行支援機械の開発（乗り心地と移動効率の向上）},
  booktitle = {日本機械学会ロボティクス・メカトロニクス講演会’11講演論文集},
  year = 2011,
}

@inproceedings{CTT100622424,
  author = {Yukio Takeda and Satoshi Inada and Masaru Higuchi and Xiao Xiao and Kazuya Hirose and Yoshiki Yoshida and Yu Ishikura},
  title = {Three-dimensional pipe bender using a 3-RPSR parallel mechanism with six degrees of freedom},
  booktitle = {Proceedings of the 4th International Conference on Manufacturing, Machine Design and Tribology},
  year = 2011,
}

@inproceedings{CTT100622425,
  author = {Keiji Yonemoto and Zheng Tong and Masaru Higuchi and Yukio Takeda},
  title = {Development of a High Precision Parallel Robot with Flexure Revolute Joints},
  booktitle = {Proceedings of the 4th International Conference on Manufacturing, Machine Design and Tribology},
  year = 2011,
}

@inproceedings{CTT100622426,
  author = {米本慶治 and 武田行生 and トウセイ and 樋口勝},
  title = {弾性ジョイントを用いた高精度パラレルロボットの開発},
  booktitle = {日本機械学会関東学生会第50回学生員卒業研究発表講演前刷集},
  year = 2011,
}

@inproceedings{CTT100619482,
  author = {岡村 潤 and 花ヶ崎秀太 and 武田行生},
  title = {出力の回転中心を直接支持する要素を持たない高精度2自由度回転パラレルメカニズムの総合},
  booktitle = {第16回ロボティクス・シンポジア論文集},
  year = 2011,
}

@inproceedings{CTT100622427,
  author = {舟渡隆平 and 武田行生 and 樋口勝 and 緒方誠},
  title = {松葉杖形歩行支援機械の運動制御システム},
  booktitle = {日本機械学会関東学生会第50回学生員卒業研究発表講演前刷集},
  year = 2011,
}

@inproceedings{CTT100812414,
  author = {Morisawa, T. and Kobayashi, H. and YUKIO TAKEDA},
  title = {Non-linear process model for CMP-APC},
  booktitle = {International Conference on Management and Service Science, MASS 2011},
  year = 2011,
}

@inproceedings{CTT100614938,
  author = {岡村 潤 and 花ヶ崎 秀太 and 武田 行生},
  title = {誤差の検出・補償機能を有する2自由度回転パラレルメカニズムの総合},
  booktitle = {日本IFToMM会議シンポジウム前刷集(第16回)},
  year = 2010,
}

@inproceedings{CTT100614937,
  author = {北 晃治 and 武田行生},
  title = {宇宙服膝部抵抗に対する立位姿勢決定要因の解析},
  booktitle = {シンポジウム：スポーツ・アンド・ヒューマン・ダイナミクス2010 講演論文集},
  year = 2010,
}

@inproceedings{CTT100614935,
  author = {松田聡一郎 and 武田行生},
  title = {高齢者の安定歩行のための支持物の形状設計},
  booktitle = {シンポジウム：スポーツ・アンド・ヒューマン・ダイナミクス2010 講演論文集},
  year = 2010,
}

@inproceedings{CTT100613515,
  author = {Tatsuya KOGA and Yun Ho TSOI and Yukio TAKEDA},
  title = {Development of a joint rehabilitation ROBOT using parallel mechanism -Composition of the control system-},
  booktitle = {Proc. the First IFToMM Asian Conference on Mechanism and Machine Science},
  year = 2010,
}

@inproceedings{CTT100613513,
  author = {Yoshiki YOSHIDA and Ken ICHIRYU and Yukio TAKEDA and Kazuya HIROSE},
  title = {Development of a high precision stage for vacuum environment using parallel mechanism with double ball joints},
  booktitle = {Proc. the First IFToMM Asian Conference on Mechanism and Machine Science},
  year = 2010,
}

@inproceedings{CTT100613516,
  author = {Asuka SHIOMI and Masaru HIGUCHI and Yukio TAKEDA and Hitoshi ARISUMI},
  title = {Development of a Reel-out Mechanism with Large Dynamic Range Tension Control Characteristics for Casting Manipulator},
  booktitle = {Proc. the First IFToMM Asian Conference on Mechanism and Machine Science},
  year = 2010,
}

@inproceedings{CTT100612370,
  author = {Tatsuro Iwaya and Yukio Takeda and Makoto Ogata and Masaru Higuchi},
  title = {Development of a Walking Assist Machine Using Crutches – Motion for Ascending and Descending Steps},
  booktitle = {New Trends in Mechanism Science – Analysis and Design, Mechanism and Machine Science 5},
  year = 2010,
}

@inproceedings{CTT100612371,
  author = {Hung-Kuo Su and Yukio Takeda},
  title = {Development of a Walking Assist Machine Using Crutch – Motion for Turning},
  booktitle = {Proceeding of 2nd Multidisciplinary International Student Workshop 2010},
  year = 2010,
}

@inproceedings{CTT100608078,
  author = {古賀達也 and ツォイ ユンホー and 武田行生},
  title = {パラレルメカニズムを用いたリハビリテーション装置の開発（制御系の構成）},
  booktitle = {日本機械学会・ロボティクスメカトロニクス講演会2010講演論文集},
  year = 2010,
}

@inproceedings{CTT100608080,
  author = {塩見飛鳥 and 樋口勝 and 有隅仁 and 武田行生},
  title = {キャスティングマニピュレータの大ダイナミックレンジ張力制御特性を有するワイヤ繰り出し機構の開発},
  booktitle = {日本機械学会・ロボティクスメカトロニクス講演会2010講演論文集},
  year = 2010,
}

@inproceedings{CTT100608079,
  author = {有隅 仁 and 武田行生 and 横井一仁},
  title = {キャスティングマニピュレーションによる物体回収動作の生成},
  booktitle = {日本機械学会・ロボティクスメカトロニクス講演会2010講演論文集},
  year = 2010,
}

@inproceedings{CTT100608076,
  author = {武田行生 and 肖 逍 and 広瀬和也 and 好田祥基 and 一柳 健},
  title = {静止節上に三重回転対偶を有する3-RPSR形6自由度空間パラレルメカニズム},
  booktitle = {日本機械学会・ロボティクスメカトロニクス講演会2010講演論文集},
  year = 2010,
}

@inproceedings{CTT100604903,
  author = {小俣正輝 and 武田行生 and ユンホーツォイ},
  title = {インピーダンス制御系を用いた位置・姿勢分離形パラレルマニピュレータによるペグインホール作業実験},
  booktitle = {日本機械学会第10回機素潤滑設計部門講演会講演論文集},
  year = 2010,
}

@inproceedings{CTT100604904,
  author = {好田祥基 and 武田行生 and 一柳健 and 廣瀬和也},
  title = {真空環境に対応した高精密パラレルメカニズムの開発},
  booktitle = {日本機械学会第10回機素潤滑設計部門講演会講演論文集},
  year = 2010,
}

@inproceedings{CTT100604902,
  author = {稲田諭 and 樋口勝 and 武田行生 and 一柳健},
  title = {パイプの３次元曲げ加工機用大発生力把持機構の開発（大きな曲率で２次元形状に曲げられたパイプ用の把持機構の提案）},
  booktitle = {日本機械学会第10回機素潤滑設計部門講演会講演論文集},
  year = 2010,
}

@inproceedings{CTT100600947,
  author = {岩屋達朗 and 武田行生 and 緒方 誠 and 樋口 勝},
  title = {松葉杖形歩行支援機械による段差昇降運動の消費エネルギーによる決定},
  booktitle = {日本機械学会関東支部第16期総会講演会講演論文集},
  year = 2010,
}

@inproceedings{CTT100590176,
  author = {好田祥基 and 武田行生 and 一柳 健 and 廣瀬和也},
  title = {二重球面ジョイントを用いた高精密パラレルリンクの開発},
  booktitle = {日本機械学会2009年度年次大会講演論文集},
  year = 2009,
}

@inproceedings{CTT100590177,
  author = {Gieseppe Carbone and Yukio Takeda and Marco Ceccarelli and Syamsul Huda},
  title = {Error and Stiffness Analysis of 3-URU Pure Rotational Parallel Mechanism},
  booktitle = {Proceedings of the ISRM2009, 1. International Symposium on Robotics and Mechatronics},
  year = 2009,
}

@inproceedings{CTT100588670,
  author = {Zheng Tong and Y. Takeda},
  title = {A Large-displacement 3-DOF Parallel Manipulator Using Leaf Spring},
  booktitle = {Multidisciplinary International Workshop 2009},
  year = 2009,
}

@inproceedings{CTT100588669,
  author = {Y. H. Tsoi and S. Q. Xie and Y. Takeda},
  title = {Design and Control of Parallel Robot for Ankle Rehabilitation},
  booktitle = {Multidisciplinary International Workshop 2009},
  year = 2009,
}

@inproceedings{CTT100586925,
  author = {松田聡一郎 and 武田行生 and 樋口勝},
  title = {誤差補償装置を搭載した3-URU形3自由度回転パラレルメカニズムの開発},
  booktitle = {第15回日本IFToMM会議シンポジウム前刷集},
  year = 2009,
}

@inproceedings{CTT100586926,
  author = {Masataka Tanabe and Yukio Takeda},
  title = {Kinematic design of a translational parallel manipulator with fine adjustment of platform orientation},
  booktitle = {Proceedings of 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
  year = 2009,
}

@inproceedings{CTT100586924,
  author = {Masaru Higuchi and Makoto Ogata and Shuta Sato and Yukio Takeda},
  title = {Development of a walking assist machine using crutches (Proposition of its composition and basic experiments)},
  booktitle = {Proceedings of the 3rd International Conference on Manufacturing, Machine Design and Tribology},
  year = 2009,
}

@inproceedings{CTT100576814,
  author = {田邊雅隆 and 武田行生},
  title = {姿勢補償性を有する並進パラレルマニピュレータ},
  booktitle = {日本機械学会・ロボティクスメカトロにクス講演会2009講演論文集},
  year = 2009,
}

@inproceedings{CTT100586923,
  author = {Junichi Imoto and Yukio Takeda and Hidenobu Saito and Ken Ichiryu},
  title = {Optimal kinematic calibration of robots based on maximum positioning-error estimation (Theory and application to a parallel-mechanism pipe bender)},
  booktitle = {Computational Kinematics},
  year = 2009,
}

@inproceedings{CTT100576815,
  author = {樋口勝 and 石井利絵 and 武田行生},
  title = {パイプの3次元曲げ加工機用大発生力把持機構の開発},
  booktitle = {日本機械学会・ロボティクスメカトロにクス講演会2009講演論文集},
  year = 2009,
}

@inproceedings{CTT100566373,
  author = {Masataka Tanabe and Yukio Takeda and Syamsul Huda},
  title = {Utility workspace of 3-5R translational parallel mechanism},
  booktitle = {Proceedings of 2008 IEEE International Conference on Robotics, Automation and Mechatronics},
  year = 2008,
}

@inproceedings{CTT100565610,
  author = {Conghui Liang and Marco Ceccarelli and Yukio Takeda},
  title = {Operation analysis of a one-dof pantograph leg mechanism},
  booktitle = {Proceedings of the RAAD2008, 17th International Workshop on Robotics in Alpe-Adria-Danube Region},
  year = 2008,
}

@inproceedings{CTT100565609,
  author = {Syamsul Huda and Yukio Takeda and Shuta Hanagasaki},
  title = {Kinematic design of 3-URU pure rotational parallel mechanism to perform precise motion within a large workspace},
  booktitle = {Proceedings of the second international workshop on fundamental issues and future research directions for parallel mechanisms and manipulators},
  year = 2008,
}

@inproceedings{CTT100564589,
  author = {佐藤秀太 and 武田行生 and 樋口勝},
  title = {松葉杖形歩行支援機械の開発},
  booktitle = {日本機械学会2008年度年次大会講演論文集},
  year = 2008,
}

@inproceedings{CTT100564590,
  author = {フダ シャムスル and 武田 行生},
  title = {Development of a 3-URU Type Rotational parallel mechanism with large inclination angle},
  booktitle = {日本機械学会2008年度年次大会講演論文集},
  year = 2008,
}

@inproceedings{CTT100562198,
  author = {Syamsul Huda and Yukio Takeda},
  title = {Kinematic design of 3-URU pure rotational parallel mechanism to minimize uncompensatable error},
  booktitle = {Proceedings of the seventeenth CISM-IFToMM Symposium on Robot Design, Dynamics, and Control: ROMANSY 17},
  year = 2008,
}

@inproceedings{CTT100562674,
  author = {井本淳一 and 武田行生 and 斎藤秀伸 and 一柳 健：},
  title = {最大位置決め誤差推定に基づくロボットのキャリブレーション},
  booktitle = {第14回日本IFToMM会議シンポジウム前刷集},
  year = 2008,
}

@inproceedings{CTT100559849,
  author = {樋口勝 and 白井靖朗 and 武田行生},
  title = {大発生力・大発生変位を実現する圧電素子駆動の精密位置決め用アクチュエータの開発},
  booktitle = {日本機械学会・ロボティクス・メカトロニクス講演会2008 講演論文集},
  year = 2008,
}

@inproceedings{CTT100559847,
  author = {樋口勝 and 森本哲也 and 武田行生},
  title = {ブレーキを有する劣駆動空間マニピュレータの重力場での運動計画},
  booktitle = {日本機械学会・ロボティクス・メカトロニクス講演会2008 講演論文集},
  year = 2008,
}

@inproceedings{CTT100559846,
  author = {井本淳一 and 武田行生 and 斎藤秀伸 and 一柳 健},
  title = {最大位置決め誤差推定に基づくスチュワートプラットフォームのキャリブレーション},
  booktitle = {日本機械学会・ロボティクス・メカトロニクス講演会2008 講演論文集},
  year = 2008,
}

@inproceedings{CTT100555857,
  author = {田邊 雅隆 and 武田 行生 and フダ シャムスル},
  title = {実用作業領域に基づく3自由度並進パラレルマニピュレータの開発},
  booktitle = {第8回機素潤滑設計部門講演会講演論文集},
  year = 2008,
}

@inproceedings{CTT100551278,
  author = {HUDA SYAMSUL and 武田 行生},
  title = {補償不能誤差成分を考慮した3-URU形パラレルメカニズムの機構設計},
  booktitle = {第１３回ロボティクスシンポジア予稿集},
  year = 2008,
}

@inproceedings{CTT100547069,
  author = {武田行生},
  title = {出力速度特性と運動伝達性に基づくパラレルメカニズムの機構総合},
  booktitle = {日本機械学会機素潤滑設計部門MPT2007シンポジウム＜伝動装置＞講演論文集},
  year = 2007,
}

@inproceedings{CTT100547357,
  author = {Shuta Hanagasaki and Yukio Takeda},
  title = {Performance evaluation of kinematic and static characteristics and optimal design of 3-URU-type pure rotational parallel mechanism},
  booktitle = {Proceedings of the AOTULE Student Workshop jointly with the 5th KAIST-TOKYO Tech Mechanical Engineering Workshop},
  year = 2007,
}

@inproceedings{CTT100543534,
  author = {井本淳一 and 武田行生},
  title = {最大位置決め誤差推定に基づくパラレルメカニズムの最適キャリブレーション},
  booktitle = {日本機械学会2007年度年次大会講演論文集},
  year = 2007,
}

@inproceedings{CTT100543431,
  author = {Yunfeng Wu and Hitoshi Nakamura and Yukio Takeda and Masaru Higuchi and Koichi Sugimoto},
  title = {Development of a Power Assist System of a Walking Chair Based on Human Arm Characteristics},
  booktitle = {Proceedings of second TIT-BIT joint workshop on mechanical engineering},
  year = 2007,
}

@inproceedings{CTT100535400,
  author = {Syamsul Huda and Yukio Takeda},
  title = {Sensitivity analysis of a 3-5R type pure rotational parallel mechanism with respect to joint axes error},
  booktitle = {Preprints of the Thirteenth Symposium on Theory of Machines and Mechanisms},
  year = 2007,
}

@inproceedings{CTT100535398,
  author = {花ヶ崎　秀太 and 武田　行生 and フダ　シャムスル},
  title = {3-URU形回転3自由度パラレルメカニズムの運動学特性および静力学特性評価と最適設計},
  booktitle = {第13回日本IFToMM会議シンポジウム前刷集},
  year = 2007,
}

@inproceedings{CTT100535399,
  author = {田邊 雅隆 and 武田 行生 and フダ シャムスル},
  title = {3-5R形並進3自由度パラレルメカニズムの実用作業領域に基づく最適設計},
  booktitle = {第13回日本IFToMM会議シンポジウム前刷集},
  year = 2007,
}

@inproceedings{CTT100534056,
  author = {S. Huda and Y. Takeda},
  title = {Dimensional Synthesis of 3-URU Pure Rotational Parallel Mechanism with Respect to Singularity and Workspace},
  booktitle = {Proc. Twelfth world congress in mechanism and machine science},
  year = 2007,
}

@inproceedings{CTT100533087,
  author = {田邊　雅隆 and 武田　行生 and フダ　シャムスル},
  title = {3-5R形並進3自由度空間パラレルメカニズムの特異点を考慮した作業領域},
  booktitle = {日本機械学会　ロボティクス・メカトロニクス講演会2007 講演論文集},
  year = 2007,
}

@inproceedings{CTT100533088,
  author = {花ヶ崎　秀太 and 武田　行生 and フダ　シャムスル},
  title = {3-URU回転3自由度パラレルメカニズムの運動学および静力学特性の評価},
  booktitle = {日本機械学会　ロボティクス・メカトロニクス講演会2007 講演論文集},
  year = 2007,
}

@inproceedings{CTT100520710,
  author = {Yunfeng Wu and Hitoshi Nakamura and Yukio Takeda and Masaru Higuchi and Koichi Sugimoto},
  title = {Development of a Power Assist System of a Walking Chair Based on Human Arm Characteristics},
  booktitle = {Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = 2006,
}

@inproceedings{CTT100411092,
  author = {Syamsul Huda and Yukio Takeda},
  title = {Mobility and Workspace of a 3-5R Translational Parallel Mechanism},
  booktitle = {Proceedings of IDETC/CIE 2006 ASME 2006 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference},
  year = 2006,
}

@inproceedings{CTT100411093,
  author = {フダ　シャムスル and 武田行生},
  title = {姿勢一定の3-5R形非過拘束3自由度空間パラレルメカニズムの機構特性},
  booktitle = {日本機械学会2006年度年次大会講演論文集(4)},
  year = 2006,
}

@inproceedings{CTT100409993,
  author = {Masaru Higuchi and Yotaro Mori and Yoichi Tatsumi and Yukio Takeda and Koichi Sugimoto},
  title = {Design of Leg Mechanism for Water Surface Runner Driven by Pneumatic Actuators},
  booktitle = {Proceedings of the third International Symposium on Aero Aqua Bio-mechanisms (ISABMEC 2006)},
  year = 2006,
}

@inproceedings{CTT100542417,
  author = {Yukio Takeda and Wei Guo},
  title = {Realization of fine positioning by a redundant parallel manipulator},
  booktitle = {Proceedings of 2006 International Symposium on Flexible Automation},
  year = 2006,
}

@inproceedings{CTT100409679,
  author = {呉允鋒 and 中村仁 and 武田行生 and 樋口勝 and 杉本浩一},
  title = {人間の上肢力学特性を考慮したパワーアシスト駆動系の開発},
  booktitle = {日本機械学会・ロボティクス・メカトロニクス講演会’06講演論文集},
  year = 2006,
}

@inproceedings{CTT100409676,
  author = {Syamsul Huda and Yukio Takeda},
  title = {Kinematic Analysis of a Novel 3-URU Spherical Parallel Mechanism},
  booktitle = {Proceedings of the 2006 JSME Conference on Robotics and Mechatronics},
  year = 2006,
}

@inproceedings{CTT100409677,
  author = {巽陽一 and 樋口勝 and 武田行生 and 杉本浩一},
  title = {水上走行機械の足部駆動系の開発},
  booktitle = {日本機械学会・ロボティクス・メカトロニクス講演会’06講演論文集},
  year = 2006,
}

@inproceedings{CTT100409680,
  author = {武田行生 and フダ　シャムスル},
  title = {3-URU形非過拘束3自由度球面パラレルメカニズムの特異点解析},
  booktitle = {第6回機素潤滑設計部門講演会講演論文集},
  year = 2006,
}

@inproceedings{CTT100409678,
  author = {樋口勝 and 品川知徳 and 伊藤宏比古 and 武田行生 and 杉本浩一},
  title = {車椅子の段差通過時における快適性の向上に関する研究},
  booktitle = {日本機械学会・ロボティクス・メカトロニクス講演会’06講演論文集},
  year = 2006,
}

@inproceedings{CTT100409681,
  author = {樋口勝 and 武田行生 and 舟橋宏明},
  title = {ロボット用ブレーキの開発（製作・組立誤差と作動力の関係）},
  booktitle = {第6回機素潤滑設計部門講演会講演論文集},
  year = 2006,
}

@inproceedings{CTT100390741,
  author = {樋口勝 and 武田行生 and 舟橋宏明},
  title = {ロボット用ブレーキの開発（製作誤差を考慮したブレーキの設計）},
  booktitle = {日本機械学会東北支部第14期秋期講演会講演論文集},
  year = 2005,
}

@inproceedings{CTT100390668,
  author = {宇野敏哉 and 杉浦啓太 and 武田行生 and 樋口　勝 and 市丸寛展 and 杉本浩一 and 藤原　修 and 榎本和城 and 安原鋭幸 and 大竹尚登},
  title = {樹脂基CNT複合材料を用いたすべり球面軸受の開発},
  booktitle = {2005年度精密工学会秋季大会学術講演会},
  year = 2005,
}

@inproceedings{CTT100390669,
  author = {武田行生 and 郭　巍},
  title = {並列粗微動駆動形6自由度空間位置決め機構の位置決め分解能の向上},
  booktitle = {2005年度精密工学会秋季大会学術講演会講演論文集},
  year = 2005,
}

@inproceedings{CTT100390740,
  author = {樋口勝 and 品川知徳 and 武田行生 and 杉本浩一},
  title = {車椅子の段差通過時における安全性および快適性の向上に関する研究},
  booktitle = {日本機械学会東北支部第14期秋期講演会講演論文集},
  year = 2005,
}

@inproceedings{CTT100390022,
  author = {Y.Takeda and H.Maruyama and Y.Fujigasaki and M.Higuchi and K.Sugimoto},
  title = {Development of a Haptic Interface for a Virtual Tennis Application Using an In-Parallel Wire-Driven Mechanism},
  booktitle = {Proceedings of the 1st International Conference on Manufacturing, Machine Design and Tribology, June 23-24, 2005, Seoul},
  year = 2005,
}

@inproceedings{CTT100390021,
  author = {Yunfeng Wu and Paul Laurent and Yukio Takeda and Masaru Higuchi and Koichi Sugimoto},
  title = {Development of a Power Assist System of a Walking Chair – Characteristics of Torque-Speed Power Combination Mechanism-},
  booktitle = {Proceedings of the 1st International Conference on Manufacturing, Machine Design and Tribology, June 23-24, 2005, Seoul},
  year = 2005,
}

@inproceedings{CTT100389991,
  author = {泉　慎介 and 武田行生 and 樋口　勝},
  title = {大作業領域を有するキャスティングマニピュレータの運動制御（高速でのグリッパ投射実験とその解析）},
  booktitle = {第11回日本IFToMM会議会議シンポジウム前刷集},
  year = 2005,
}

@inproceedings{CTT100389705,
  author = {Yukio Takeda},
  title = {Kinematic Analysis of Parallel Mechanisms at Singular Points at which a Connecting Chain Has Local Mobility},
  booktitle = {Proc. Int. Workshop on Computational Kinematics CK2005},
  year = 2005,
}

@inproceedings{CTT100389472,
  author = {牧由久 and 武田行生 and 杉本浩一},
  title = {3-SPR形パラレルメカニズムの運動特性（出力変位特性の解析）},
  booktitle = {2005年度精密工学会春季大会学術講演会講演論文集},
  year = 2005,
}

@inproceedings{CTT100498849,
  author = {Yunfeng Wu and Masaru Higuchi and Yukio Takeda},
  title = {Development of a Power Assisting System of a Walking Chair},
  booktitle = {Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year = 2004,
}

@inproceedings{CTT100495513,
  author = {Yukio Takeda and Kazuki Ichikawa and Hiroaki Funabashi and Kazuya Hirose},
  title = {Static Analysis and Design of a Rolling Spherical Bearing},
  booktitle = {Proceedings of the 11th World Congress in Mechanism and Machine Science},
  year = 2004,
}

@inproceedings{CTT100483831,
  author = {Yukio Takeda and Kazuki Ichikawa and Hiroaki Funabashi and Kazuya Hirose},
  title = {An In-Parallel Actuated Manipulator with Redundant Actuators for Gross and Fine Motions},
  booktitle = {Proc. 2003 IEEE International Conf. on Robotics and Automation},
  year = 2003,
}

@misc{CTT100800819,
  author = {武田行生},
  title = {リンク機構の基本，設計のポイント},
  year = 2019,
}

@misc{CTT100710906,
  author = {武田行生},
  title = {工学としてのキネマティクス},
  year = 2016,
}

@misc{CTT100665986,
  author = {武田行生},
  title = {摩擦が作用する機構の解析理論},
  year = 2013,
}

@misc{CTT100661183,
  author = {武田行生},
  title = {福祉医療機器の機構開発},
  year = 2013,
}

@misc{CTT100657773,
  author = {武田行生},
  title = {パラレルメカニズムを用いた加工機},
  year = 2013,
}

@misc{CTT100657771,
  author = {武田行生},
  title = {機械工学年鑑，機械設計},
  year = 2012,
}

@misc{CTT100639675,
  author = {武田行生 and 松浦大輔},
  title = {機能システム学（武田）研究室},
  year = 2012,
}

@misc{CTT100635721,
  author = {武田行生},
  title = {パラレルマニピュレータの機構と特性},
  year = 2012,
}

@misc{CTT100628735,
  author = {武田行生},
  title = {機械設計，運動機構},
  year = 2011,
}

@misc{CTT100599933,
  author = {武田行生},
  title = {パラレルマニピュレータ},
  year = 2010,
}

@misc{CTT100576813,
  author = {武田行生},
  title = {ジョイントの配置に着目したパラレルマニピュレータの設計},
  year = 2009,
}

@misc{CTT100532251,
  author = {武田行生 and 樋口勝},
  title = {歩行椅子の研究開発},
  year = 2007,
}

@misc{CTT100392819,
  author = {武田行生},
  title = {高精度機械運動システムの機構設計技術　～マイクロ運動機構実現に向けて～},
  year = 2005,
}

@misc{CTT100391414,
  author = {武田行生},
  title = {パラレルメカニズム},
  year = 2005,
}

@misc{CTT100390507,
  author = {武田行生},
  title = {海外のfunding agencyにおける研究者の役割},
  year = 2005,
}

@misc{CTT100390508,
  author = {武田行生},
  title = {パラレルメカニズムの足跡とこれからの展開},
  year = 2005,
}

@misc{CTT100595917,
  author = {武田行生},
  title = {パラレルマニピュレータの運動伝達性を考慮した機構総合に関する研究},
  year = 1995,
}

@misc{CTT100595591,
  author = {YUKIO TAKEDA},
  title = {２足歩行機械の脚機構の研究},
  year = 1989,
}

@misc{CTT100909658,
  author = {菅原雄介 and 武田行生 and 松浦大輔 and 陳　光燦 and 武居雅央 and 水谷　亮 and 岡　尚人 and 柳田　克巳 and 古賀　達雄 and 三谷　哲史 and 片村  立太},
  title = {パラレルワイヤ機構},
  howpublished = {公開特許},
  year = 2023,
  month  = {},
  note   = {特願2023-173738(2023/10/05), 特開2023-168597(2023/11/24)}
}


@misc{CTT100922134,
  author = {菅原雄介 and 武田行生 and 石井貴大 and 浅香拓 and 松本　壮史 and 垣尾　政之 and 中澤　大輔},
  title = {自走式エレベーター、及び、自走式エレベーターの経路切り替え方法},
  howpublished = {公開特許},
  year = 2024,
  month  = {},
  note   = {PCT/JP2022/038029(2022/10/20), WO 2024/079812(2024/04/18)}
}


@misc{CTT100894470,
  author = {武田行生 and 安東零司 and 齋藤滋規 and 菅原雄介 and 田岡祐樹 and 干場功太郎},
  title = {形状適応機構及び形状適応装置},
  howpublished = {公開特許},
  year = 2023,
  month  = {},
  note   = {特願2022-116483(2022/07/21), 特開2023-029240(2023/03/03)}
}


@misc{CTT100911040,
  author = {武田行生 and LEIYuhang and 菅原雄介},
  title = {連続体ロボット},
  howpublished = {公開特許},
  year = 2023,
  month  = {},
  note   = {特願2022-088758(2022/05/31), 特開2023-176465(2023/12/13)}
}


@misc{CTT100911041,
  author = {菅原雄介 and 熱海七都 and 武田行生 and 水谷　亮 and 片村　立太 and 三谷　哲史 and 柳田　克巳},
  title = {移動体制御装置、移動体制御システム、移動体システム、移動体制御方法及び移動体制御プログラム},
  howpublished = {公開特許},
  year = 2023,
  month  = {},
  note   = {特願2022-086642(2022/05/27), 特開2023-174034(2023/12/07)}
}


@misc{CTT100922148,
  author = {武田行生 and 大野真澄 and 中川　浩　 and 安部　健一郎　 and 松井　英生 and 永山　智昭},
  title = {ロボットのジョイントのすき間検出装置及びすき間検出方法},
  howpublished = {登録特許},
  year = 2024,
  month  = {},
  note   = {特願2022-575614(2022/01/12), WO 2022/154021(2022/07/21), 特許第7475615号(2024/04/19)}
}


@misc{CTT100883368,
  author = {武田行生 and 大野真澄 and 中川　浩　 and 安部　健一郎　 and 松井　英生 and 永山　智昭},
  title = {ロボットのジョイントのすき間検出装置及びすき間検出方法},
  howpublished = {公開特許},
  year = 2022,
  month  = {},
  note   = {PCT/JP2022/000787(2022/01/12), WO 2022/154021(2022/07/21)}
}


@misc{CTT100884599,
  author = {菅原雄介 and 武田行生 and 石井貴大 and 松本　壮史 and 垣尾　政之},
  title = {自走エレベータの駆動装置},
  howpublished = {公開特許},
  year = 2022,
  month  = {},
  note   = {PCT/JP2021/009051(2021/03/08), WO 2022/190179(2022/09/15)}
}


@misc{CTT100884609,
  author = {菅原雄介 and 武田行生 and 熱海七都 and 片村　立太 and 水谷　亮 and 柳田  克己 and 三谷  哲史},
  title = {移動装置支持機構},
  howpublished = {公開特許},
  year = 2022,
  month  = {},
  note   = {特願2021-033703(2021/03/03), 特開2022-134534(2022/09/15)}
}


@misc{CTT100911046,
  author = {菅原雄介 and 武田行生 and 石井貴大 and 松本　壮史　 and 垣尾　政之　},
  title = {搬送機器},
  howpublished = {登録特許},
  year = 2023,
  month  = {},
  note   = {特願2023-504896(2021/03/08), WO 2022/190179(2022/09/15), 特許第7409552号(2023/12/25)}
}


@misc{CTT100884075,
  author = {武田行生 and 松尾博史 and 山口大介 and 大竹　雅彦 and 日下　晴彦},
  title = {伸展装置および安全装置},
  howpublished = {公開特許},
  year = 2022,
  month  = {},
  note   = {特願2021-007191(2021/01/20), 特開2022-111630(2022/08/01)}
}


@misc{CTT100864139,
  author = {菅原雄介 and 武田行生 and 松浦大輔 and 陳　光燦 and 武居雅央 and 水谷　亮 and 岡　尚人 and 柳田　克巳 and 古賀　達雄 and 三谷　哲史 and 片村  立太},
  title = {パラレルワイヤ機構},
  howpublished = {登録特許},
  year = 2023,
  month  = {},
  note   = {特願2020-010258(2020/01/24), 特開2021-116154(2021/08/10), 特許第7395151号(2023/12/01)}
}


@misc{CTT100885396,
  author = {菅原雄介 and 石井貴大 and 武田行生 and 松浦大輔 and 松本　壮史 and 垣尾　政之 and 中澤　大輔},
  title = {搬送装置},
  howpublished = {登録特許},
  year = 2022,
  month  = {},
  note   = {特願2021-541850(2019/08/27), 特許第7156545号(2022/10/11)}
}


@misc{CTT100869582,
  author = {菅原雄介 and 武田行生 and 松浦大輔 and 石井貴大 and 松本 壮史 and 垣尾 政之 and 中澤 大輔},
  title = {搬送装置},
  howpublished = {公開特許},
  year = 2021,
  month  = {Mar.},
  note   = {PCT/JP2019/033579(2019/08/27), WO 2021/038731(2021/03/04)}
}


@misc{CTT100845254,
  author = {菅原雄介 and Randy Raharja SUDIONO and 武田行生 and 松浦大輔 and 片村 立太 and 岡 尚人 and 柳田 克巳 and 古賀 達雄 and 水谷 亮 and 三谷 哲史},
  title = {自走装置及びパラレルワイヤ機構},
  howpublished = {登録特許},
  year = 2022,
  month  = {},
  note   = {特願2019-103977(2019/06/03), 特開2020-196589(2020/12/10), 特許第7198455号(2022/12/21)}
}


@misc{CTT100842105,
  author = {武田行生 and 大野真澄 and 安部　健一郎 and 山城　光 and 松井　英生 and 中川　浩 and 有田　創一},
  title = {ロボットのジョイントの異常検出装置及び異常検出方法
},
  howpublished = {登録特許},
  year = 2022,
  month  = {},
  note   = {特願2019-043183(2019/03/08), 特開2020-142353(2020/09/10), 特許第7117697号(2022/08/04)}
}


@misc{CTT100809896,
  author = {武田行生 and 大野真澄 and 安部　健一郎 and 呉　允鋒 and 山城　光 and 松井　秀生 and 有田　創一 and 中川　浩},
  title = {ロボットのジョイントの異常検出装置及び異常検出方法},
  howpublished = {登録特許},
  year = 2021,
  month  = {},
  note   = {特願2018-024055(2018/02/14), 特開2019-136838(2019/08/22), 特許第6846717号(2021/03/04)}
}


@misc{CTT100785206,
  author = {武田行生 and 松浦大輔 and 小林幸太郎 and 川目 信幸 and 伏木 正明 and 村上 硯哉},
  title = {変速操作機構},
  howpublished = {公開特許},
  year = 2018,
  month  = {Sept.},
  note   = {特願2017-037349(2017/02/28), 特開2018-141541(2018/09/13)}
}


@misc{CTT100761467,
  author = {武田行生 and 菅原雄介 and 松浦大輔 and 大野真澄 and 呉 允鋒 and 安部 健一郎 and 山城 光},
  title = {パラレルリンクロボットの関節部の異常検出装置及び異常検出方法},
  howpublished = {登録特許},
  year = 2018,
  month  = {July},
  note   = {特願2016-112118(2016/06/03), 特開2017-217709(2017/12/14), 特許第6374439号(2018/07/27)}
}


@misc{CTT100701100,
  author = {武田行生 and 松浦大輔 and 保地和博},
  title = {棒材の軸方向連続送り装置
},
  howpublished = {登録特許},
  year = 2018,
  month  = {},
  note   = {特願2014-082861(2014/04/14), 特開2015-203450(2015/11/16), 特許第6384827号(2018/08/17)}
}


@misc{CTT100690287,
  author = {武田行生 and 池田剛 and 松浦大輔},
  title = {回転中心の独立制御可能な回転パラレル機構},
  howpublished = {登録特許},
  year = 2017,
  month  = {},
  note   = {特願2013-125871(2013/06/14), 特開2015-000448(2015/01/05), 特許第6128522号(2017/04/21)}
}


@misc{CTT100684789,
  author = {武田行生 and 舟渡隆平 and 松浦大輔},
  title = {歩行支援装置},
  howpublished = {登録特許},
  year = 2017,
  month  = {},
  note   = {特願2013-104286(2013/05/16), 特開2014-223195(2014/12/04), 特許第6238223号(2017/11/10)}
}


@misc{CTT100666451,
  author = {武田行生 and 古賀　達也 and 松浦大輔},
  title = {関節駆動装置},
  howpublished = {登録特許},
  year = 2016,
  month  = {},
  note   = {特願2012-089994(2012/04/11), 特開2013-215461(2013/10/24), 特許第5904580号(2016/03/25)}
}


@misc{CTT100653042,
  author = {武田行生 and 緒方　誠 and 樋口勝},
  title = {松葉杖形歩行支援機械},
  howpublished = {登録特許},
  year = 2015,
  month  = {},
  note   = {特願2011-113780(2011/05/20), 特開2012-239709(2012/12/10), 特許第5754707号(2015/06/05)}
}


@misc{CTT100625062,
  author = {武田行生 and 広瀬　和也 and 一柳　健},
  title = {６自由度パラレル機構},
  howpublished = {登録特許},
  year = 2013,
  month  = {},
  note   = {特願2009-198062(2009/08/28), 特開2011-045984(2011/03/10), 特許第5397856号(2013/11/01)}
}


@misc{CTT100600629,
  author = {武田行生 and 佐藤　秀太 and 樋口勝},
  title = {松葉杖形歩行支援機械},
  howpublished = {登録特許},
  year = 2013,
  month  = {},
  note   = {特願2008-125963(2008/05/13), 特開2009-273565(2009/11/26), 特許第5294196号(2013/06/21)}
}




@phdthesis{CTT100595917,
  author = {武田行生},
  title = {パラレルマニピュレータの運動伝達性を考慮した機構総合に関する研究},
  school = {東京工業大学},
  year = 1995,
}

@mastersthesis{CTT100595591,
  author = {YUKIO TAKEDA},
  title = {２足歩行機械の脚機構の研究},
  school = {東京工業大学},
  year = 1989,
}