"Andres Osorio Salazar,Yusuke Sugahara,Yukio Takeda","A Differential Mechanism to Enhance the Scalability of a SMA-Wire-Bundle Linear Actuator","The 6th IFToMM Asian Mechanisms and Machine Science Conference (AsianMMS2021)","Advances in Asian Mechanism and Machine Science",,,,,2021,Dec.
"Nanato Atsumi,Yusuke Sugahara,Wataru Tochigi,Yukio Takeda,Katsumi Yanagita,Ryo Mizutani,Satoshi Mitani,Ryuta Katamura","Planar cable-driven parallel robot with fin-like chains for water jet impact acoustic wall inspection (Evaluation of the stiffness enhancement effect through analysis based on stiffness matrix and experiment)","第20回日本機械学会機素潤滑設計部門講演会","The Proceedings of the Machine Design and Tribology Division meeting in JSME","The Japan Society of Mechanical Engineers",,,"  1207",2021,Dec.
"Hoshiaki Baba,Yusuke Sugahara,Mitsuru Endo,Hiroyuki Ishii,Yukio Takeda","Development of a novel robot which locomotes by casting, winding and suspending on multiple tethers 1st Report: Its concept and experimental study of basic functions","第22回計測自動制御学会システムインテグレーション部門講演会（SI2021）","第22回計測自動制御学会システムインテグレーション部門講演会 予稿集","The Society of Instrument and Control Engineers",,,"pp. 607-612",2021,Dec.
"Tatsuya Yagi,Yusuke Sugahara,Yukio Takeda,Chao Lyu,Misato Nihei","高齢者向けモビリティのためのペダリング運動負荷システム（楕円軌道ペダル軌道の制御法と性能評価）","第42回バイオメカニズム学術講演会","第42回バイオメカニズム学術講演会講演予稿集","Society of Biomechanisms Japan",,,"  B3-2",2021,Nov.
"Ying-Chi Liu,Kosuke Irube,Yukio Takeda","Kineto-Static Analysis and Design Optimization of a 3-DOF Wrist Rehabilitation Parallel Robot with Consideration of the Effect of the Human Limb",,"Machines","MDPI","Vol. 9","No. 12","pp. 323",2021,Nov.
"Masumi Ohno,Yukio Takeda","Model Based Estimation of Passive Joint Clearance in Parallel Robot and Its Application to Failure Detection","I4SDG Workshop 2021","Proceedings of I4SDG Workshop 2021. I4SDG 2021. Mechanisms and Machine Science","Springer","Vol. 108",,"pp. 362-371",2021,Oct.
"Hiroshi Kano,Yusuke Sugahara,Mitsuru Endo,石井裕之,YUKIO TAKEDA","空間に構造的に架設された網状の索道を自走するロボットの研究（ダブルアーム型の運動学，動作計画と機構の最適化について）",,"日本ロボット学会誌",,"Vol. 39","No. 8","pp. 767-770",2021,Oct.
"YUKIO TAKEDA","パラレルロボットの機構特性と応用","日本機械学会2021年度年次大会","日本機械学会2021年度年次大会 講演論文集",,,,,2021,Sept.
"Reiji ANDO,Shigeki SAITO,Yuki TAOKA,Yusuke SUGAHARA,Yukio TAKEDA","Development of Shape Adaptable Mechanism for Pasting Film Objects on Curved Surfaces","日本機械学会 2021年度年次大会","日本機械学会 2021年度年次大会 予稿集","The Japan Society of Mechanical Engineer",,,"  S114-05",2021,Sept.
"Yusuke Honjo,Daisuke Matsuura,Tsune Kobayashi,Yukio Takeda","Determination of Tooth Profile Curves of Variable Rack and Pinion Gears","TMM 2020","Advances in Mechanism Design III. TMM 2020. Mechanisms and Machine Science","Springer",,,"pp. 33-43",2021,Aug.
"Ryousuke Hakamata,Mitsuru Endo,Yusuke Sugahara,Hiroyuki Ishi,Yukio Takeda","Study on Casting by Using Compact and Low-Power Manipulator Based on the Principle of Fly-Fishing - 1st Report: Modeling of Line with Consideration of Releasing from Rod -","The Robotics and Mechatronics Conference 2021","日本機械学会ロボティクスメカトロニクス講演会2021 講演論文集","The Japan Society of Mechanical Engineers",,,,2021,June
"Daisuke Matsuura,Ryota Shioya,H. Harry Asada,Yukio Takeda","An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area","MEDER 2021: 5th IFToMM Symposium on Mechanism Design for Robotics","Mechanism Design for Robotics, MEDER 2021","Springer",,,"pp. 265-273",2021,May
"Ying-Chi LIU,YUKIO TAKEDA","Analysis of a 3-DOF Parallel Robot for Wrist Rehabilitation with Consideration of Effect of Human Limb","The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)","Proceedings of The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)",,,,"pp. 49-56",2021,Mar.
"F. Russell,Y. Takeda,P. Kormushev,R. Vaidyanathan,P. Ellison","Stiffness Modulation in a Humanoid Robotic Leg and Knee",,"IEEE Robotics and Automation Letters",,"Vol. 6","No. 2","pp. 2563-2570",2021,Mar.
"Hiroshi MATSUO,Daisuke YAMAGUCHI,Yukio TAKEDA,Masahiko OTAKE,Haruhiko KUSAKA","Actuation Strategy of Origami-inspired Extendable Mechanism to Achieve Rapid Extension and High Load Capacity","The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)","Proceedings of The 3rd Jc-IFToMM International Symposium (The 26th Jc-IFToMM Symposium on Mechanism and Machine Theory)",,,,"pp. 57-64",2021,Mar.
"Woo-hyeok Choi,Yukio Takeda","Geometric Design and Prototyping of a (2-RRU)-URR Parallel Mechanism for Thumb Rehabilitation Therapy",,"Machines","MDPI","Vol. 9","no. 3",,2021,Feb.
"Mirz, C.,H?sing, M.,Takeda, Y.,Corves, B.","Modellbasierte Anforderungsanalyse f?r den Massenausgleich bei Delta-Robotern","Siebte IFToMM D-A-CH Konferenz 2021",,,,,,2021,Feb.
"Masumi Ohno,Yukio Takeda","Design of target trajectories for the detection of joint clearances in parallel robot based on the actuation torque measurement",,"Mechanism and Machine Theory",,"Vol. 155","No. C",,2021,Jan.
"Andres Osorio Salazar,Yusuke Sugahara,Daisuke Matsuura,Yukio  Takeda","Scalable Output Linear Actuators, a Novel Design Concept Using Shape  Memory Alloy Wires Driven by Fluid Temperature",,"Machines","MDPI","Vol. 9","Issue 1","  14",2021,Jan.