@article{CTT100570721,
  author = {Xiaofeng Zhang and Kentaro Nakamura and Sadayuki Ueha},
  title = {Two-joint robot finger design based on multi-degree-of-freedom ultrasonic motors},
  journal = {Acoustical Science and Technology},
  year = 2009,
}

@article{CTT100556676,
  author = {Xiaofeng Zhang and Yasuyuki Gouda and Daisuke Koyama and Kentaro Nakamura and Sadayuki Ueha},
  title = {A basic design of robot finger joint using multi-degree-of-freedom ultrasonic motor},
  journal = {Acoustical Science and Technology},
  year = 2008,
}

@inproceedings{CTT100616492,
  author = {X. Zhang and K. Nakamura and S. Ueha},
  title = {Multi-Joint Robot Finger Design Based on Multi-DOF Ultrasonic Motors},
  booktitle = {Proceedings of the Japan-China Joint Conference of Acoustics 2007(JCA2007)},
  year = 2007,
}

@inproceedings{CTT100616494,
  author = {Xiaofeng Zhang and Kentaro Nakamura and Sadayuki Ueha},
  title = {A multi-degrees-of-freedom ultrasonic motor design for robotics applications},
  booktitle = {Proc. 2006 IEEE Ultrasonics Symposium},
  year = 2006,
}