"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.
"熱海七都,菅原雄介,栃木渉,武田行生,柳田克己,水谷亮,三谷哲史,片村立太","フィン状連鎖を有する水撃音響式壁面検査のための平面パラレルワイヤ駆動機構（剛性行列に基づく解析と実験による剛性向上効果の評価）","第20回日本機械学会機素潤滑設計部門講演会","機素潤滑設計部門講演会講演論文集","一般社団法人日本機械学会",,,"  1207",2021,Dec.
"馬場星明,菅原雄介,遠藤央,石井裕之,武田行生","複数のテザーの投擲・巻取りとこれらへの懸垂により移動するロボットの開発 第１報，コンセプトの提案と基本機能の実験的検討","第22回計測自動制御学会システムインテグレーション部門講演会（SI2021）","第22回計測自動制御学会システムインテグレーション部門講演会 予稿集","公益社団法人 計測自動制御学会",,,"pp. 607-612",2021,Dec.
"八木達也,菅原雄介,武田行生,呂超,二瓶美里","高齢者向けモビリティのためのペダリング運動負荷システム（楕円軌道ペダル軌道の制御法と性能評価）","第42回バイオメカニズム学術講演会","第42回バイオメカニズム学術講演会講演予稿集","バイオメカニズム学会",,,"  B3-2",2021,Nov.
"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.
"加納弘嗣,菅原雄介,遠藤央,石井裕之,武田行生","空間に構造的に架設された網状の索道を自走するロボットの研究（ダブルアーム型の運動学，動作計画と機構の最適化について）",,"日本ロボット学会誌",,"Vol. 39","No. 8","pp. 767-770",2021,Oct.
"武田行生","パラレルロボットの機構特性と応用","日本機械学会2021年度年次大会","日本機械学会2021年度年次大会 講演論文集",,,,,2021,Sept.
"安東零司,齊藤滋規,田岡祐樹,菅原雄介,武田行生","薄膜状対象物の曲面貼付を目的とした形状適応機構の開発","日本機械学会 2021年度年次大会","日本機械学会 2021年度年次大会 予稿集","一般社団法人 日本機械学会",,,"  S114-05",2021,Sept.
"Yusuke Honjo,Daisuke Matsuura,Tsune Kobayashi,Yukio Takeda","Determination of Tooth Profile Curves of Variable Rack and Pinion Gears","TMM 2020","Advances in Mechanism Design III. TMM 2020. Mechanisms and Machine Science","Springer",,,"pp. 33-43",2021,Aug.
"袴田遼典,遠藤央,菅原雄介,石井裕之,武田行生","フライフィッシングの原理を応用した小型低出力マニピュレータによる投擲の研究―第1報：ロッドからの繰り出しを考慮したラインのモデリング―","日本機械学会ロボティクスメカトロニクス講演会2021","日本機械学会ロボティクスメカトロニクス講演会2021 講演論文集","一般社団法人 日本機械学会",,,,2021,June
"Daisuke Matsuura,Ryota Shioya,H. Harry Asada,Yukio Takeda","An Extendable Continuum Robot Arm to Deal with a Confined Space Having Discontinuous Contact Area","MEDER 2021: 5th IFToMM Symposium on Mechanism Design for Robotics","Mechanism Design for Robotics, MEDER 2021","Springer",,,"pp. 265-273",2021,May
"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.