@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 = {YUKIO TAKEDA},
  title = {機構制御技術},
  publisher = {朝倉書店},
  year = 2015,
}

@book{CTT100841443,
  author = {高田一 and Keisuke Arikawa and 石綿良三 and 神谷恵輔 and Takumi Inoue and 木村弘之 and HIROKI TAKAHARA and KOJI KIMURA and YUKIO TAKEDA},
  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 Keisuke Arikawa and 石綿良三 and 神谷恵輔 and Takumi Inoue and 木村浩之 and HIROKI TAKAHARA and KOJI KIMURA and YUKIO TAKEDA},
  title = {Problems in Mechanics for Mechanical Engineering},
  publisher = {The Japan Society of Mechanical Engineers},
  year = 2015,
}

@book{CTT100673176,
  author = {高田一 and Keisuke Arikawa and 石綿良三 and 神谷恵輔 and Takumi Inoue and ITSURO KAJIWARA and HIROKI TAKAHARA and Kazuya Yoshida and 木村弘之 and SEKIYA KOIKE and KOJI KIMURA and YUKIO TAKEDA},
  title = {Mechanics for Mechanical Engineering},
  publisher = {The Japan Society of Mechanical Engineers},
  year = 2014,
}

@book{CTT100630514,
  author = {Yukio Takeda},
  title = {Parallel Mechanism},
  publisher = {Ohmsha},
  year = 2011,
}

@book{CTT100561626,
  author = {吉川昌範 and 太田稔 and NAOTO OHTAKE and YUKIO TAKEDA 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 = {YUKIO TAKEDA},
  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 = {Yukio Takeda and Katsumi Watanabe and Nobuyoshi Morita and Takaaki Ooiwa and Masao Nishioka and Koichi Sugimoto},
  title = {Kinematics of Machinery},
  publisher = {The Japan Society of Mechanical Engineers},
  year = 2007,
}

@book{CTT100554283,
  author = {Koichi Sugimoto and YUKIO TAKEDA and SEIJI OKAWA and HIDETOMO TAKAHASHI and ICHIRO HAGIWARA and TADAHARU ADACHI and KAZUYOSHI FUSHINOBU and ITSURO KAJIWARA and MOTOMU NAKASHIMA},
  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 = {Ryota SHIOYA and Yukio TAKEDA},
  title = {Stability assessment method based on actual measurements for a cable-driven continuum robot},
  journal = {Transactions of the JSME (in Japanese)},
  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 = {Ryota Shioya and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Masumi Ohno and YUKIO TAKEDA},
  title = {Dynamic analysis of a parallel robot with spherical joints with consideration for joint clearance},
  journal = {Transactions of the JSME (in Japanese)},
  year = 2022,
}

@article{CTT100875371,
  author = {Koichi Kato and KAZUYOSHI FUSHINOBU and YUKIO TAKEDA},
  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 = {Hiroshi Kano and Yusuke Sugahara and Mitsuru Endo and 石井裕之 and YUKIO TAKEDA},
  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 = {Takahiro Ishii and Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA 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 = {Souichirou Matsuda and YUKIO TAKEDA},
  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 = {Hiroshi Matsuo and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  title = {Kinematic characterization of the Origami Spring with consideration to collision and deformation of components},
  journal = {Transactions of the JSME},
  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 = {Masumi Ohno and YUKIO TAKEDA},
  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 = {Souichirou Matsuda and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  title = {Assessment of living space for assisting stable walks by elderly people based on evaluation of balance recovery capability (Indices for evaluation for stable walk by a single support object)},
  journal = {Bulletin of the JSME, Transactions of the JSME (in Japanese)},
  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 = {Shohei KAWASUMI and Yukio TAKEDA and Daisuke MATSUURA},
  title = {Precise pipe-bending by 3-RPSR parallel mechanism considering springback and clearances at dies},
  journal = {Transacations of the JSME (in Japanese)},
  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 = {Koji Kita and Yukio Takeda},
  title = {Dominant Factor for Determining Upright Configuration and Gait of Human under Space-Suits Knee Loading},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Toshihiro Morisawa and 小林裕通 and YUKIO TAKEDA},
  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 = {Jun Okamura and Shuta Hanagasaki and YUKIO TAKEDA},
  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 = {Masataka TANABE and Yukio TAKEDA},
  title = {A Translational Parallel Manipulator with Fine Adjustment of Platform Orientation},
  journal = {Transactions of the Japan Society of Mechanical Engineers, Ser. C},
  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 = {Junichi IMOTO and Yukio TAKEDA and Hidenobu SAITO and Ken ICHIRYU},
  title = {Optimal Kinematic Calibration of Robots Based on the Maximum Positioning-Error Estimation},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Masaru Higuchi and Yukio Takeda and Hiroaki Funabashi},
  title = {Development of a Brake for Robotic Use (3rd Report, Effect of Manufacturing Error on Brake Application Force)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Development of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms with Six Degrees of Freedom},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {YUKIO TAKEDA},
  title = {Kinematic Characteristics at Singular Points of In-Parallel Actuated Mechanisms with Local Mobility in Connecting Chain},
  journal = {Proc. the 4th Machine Design and Tribology Division Meeting in JSME},
  year = 2004,
}

@article{CTT100498668,
  author = {樋口勝 and 森庸太郎 and 武田行生 and 杉本浩一},
  title = {Design of the Leg Mechanism of a Water Surface Running Machine Driven by Pneumatic Actuators},
  journal = {Proceedings of the 22nd Annual Conference of The Robotics Society of Japan },
  year = 2004,
}

@article{CTT100498664,
  author = {武田行生 and 上山孔司 and 杉本浩一},
  title = {Kinematic Characteristics at Singular Points of a Stewart Platform at which Local Mobility Exists in Connecting Chain},
  journal = {Proceedings of 2004 Fall Meeting of the Japan Society of Precision Engineering},
  year = 2004,
}

@article{CTT100498641,
  author = {樋口勝 and 中村仁 and 武田行生 and 杉本浩一},
  title = {Development of a Power Assisting System for a Walking Chair (Characteristics of a Human Arm in Driving a Crank)},
  journal = {Proceedings of 2004 JSME Mechanical Engineering Congress},
  year = 2004,
}

@article{CTT100498640,
  author = {武田行生 and 中村広則 and 樋口勝 and 杉本浩一},
  title = {A Digital Actuation System for Micro Parallel Manipulators},
  journal = {Proceedings of 2004 JSME Mechanical Engineering Congress},
  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 = {A Terrain Adaptive Strategy of a Biped Walking Machine Based on an Information of Advance/Delay of Landing Time of a Transfer Foot(2nd Report, Dynamic Characteristics of a Walking Machine with the Terrain Adaptive Mechanism)},
  journal = {Transactions of the Japan Society of Mechanical Engineers, Series C},
  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 = {Development of a Power Assisting System of a Walking Chair (Fundamental Study of a Power Assisting System for the Periodic Walk of a Walking Chair)},
  journal = {Transacations of the Japan Society of Mechanical Engineers, Series C},
  year = 2003,
}

@article{CTT100481540,
  author = {沈崗 and 武田行生 and 舟橋宏明},
  title = {Kinematic Calibration of In-Parallel Actuated Mechanisms Using Fourier Series (2nd Report, Experimental Investigations)},
  journal = {Transactions of the Japan Society of Mechanical Engineers, Series C},
  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 = {Kinematic Calibration of In-Parallel Actuated Mechanisms Using Fourier Series (1st Report, Calibration Method and Selection Method of the Set of Measurement Paths)},
  journal = {Transactions of JSME, Series C},
  year = 2002,
}

@article{CTT100465861,
  author = {樋口勝 and 舟橋宏明 and 武田行生},
  title = {Development of a Brake for Robotic Use (2nd Report, Dynamic Analysis of the Wedge Mechanism Driven by a Solenoid)},
  journal = {Transactions of JSME, Series C},
  year = 2002,
}

@article{CTT100465860,
  author = {舟橋宏明 and 樋口勝 and 川渕一郎 and 武田行生},
  title = {Development of a Brake for Robotic Use (1st Report, Proposal of a Brake Driven by a Piezoelectric Actuator and Solenoids)},
  journal = {Transactions of JSME, Series C},
  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 = {Development of a Spatial Six-Degrees-of-Freedom In-Parallel Actuated Worktable with Rolling Spherical Bearings},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Motion Control of In-Parallel Actuated Mechanisms Driven by Pneumatic Rubber Muscles},
  journal = {Transactions of JSME, Series C},
  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 = {YUKIO TAKEDA},
  title = {Control of an Inverted Pendulum for Maintaining the State of Inversion Based on the Reference Trajectory},
  journal = {Transactions of the Japan Society of Mechenical Engineers},
  year = 2000,
}

@article{CTT100445218,
  author = {YUKIO TAKEDA},
  title = {Optimal Kinematic Design of Haptic Device for Precision Task},
  journal = {Transactions of the Virtual Reality Society of Japan},
  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 = {Kinematic Synthesis of In-Parallel Actuated Mechanisms Based on the Global Isotropy Index},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1999,
}

@article{CTT100421449,
  author = {舟橋宏明 and 武田行生 and 伊藤茂成 and 樋口勝},
  title = {Disturbance Compensating Control of a Biped Walking Machine Based on Reflex Motions},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1999,
}

@article{CTT100421450,
  author = {武田行生 and 舟橋宏明},
  title = {Motion Transmissibility of In-Parallel Wire-Driven Mechanisms},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1999,
}

@article{CTT100421451,
  author = {川渕一郎 and 武田行生 and 舟橋宏明},
  title = {A Terrain Adaptive Strategy of a Biped Walking Machine Based on an Information of Advance/Delay of Landing Time of a Transfer Foot ( 1st Report, Proposition of Adaptation Algorithm and Construction of a Leg Mechanism )},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1999,
}

@article{CTT100421452,
  author = {武田行生 and 舟橋宏明 and 中嶋一貴},
  title = {Development of Spatial In-Parallel Actuated Manipulators with Six Degrees of Freedom with High Motion Transmissibility ( 3rd Report, Performance Evaluation of High Speed Positioning Based on Actuator Power )},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Planar In-Parallel Actuated Mechanism with Three Degrees of Freedom with Large Practically Dextrous Working Space(Kinematic Synthesis)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1996,
}

@article{CTT100420591,
  author = {舟橋宏明 and 川渕一郎 and 武田行生},
  title = {Motion Analysis of Planar Linkages with Consideration of Clearances and Friction(Comprehension of Contact States at Revolute and Prismatic Pairs)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Displacement Analysis of Planar Link Mechanisms with Clearances (A Systematic Displacement Analysis with Itertive Correction of Contact Positions at Pairing Elements)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Development of Spatial In-Parallel Actuated  Manipulators with Six Degrees of Freedom with High Montion Trasmissibility(2nd Report,Position Repeatability of a Prototype Manipulator)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Evaluation of Spatial Isotropy of Output of Robotic Mechanisms},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1995,
}

@article{CTT100420587,
  author = {武田行生 and 舟橋宏明},
  title = {Development of Spatial In-Parallel Actuated  Manipulators with Six Degrees of Freedom with High Montion Trasmissibility(1st Report,Extraction of Region of Kinematic Constants Based on the Monte-Carlo Method)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1995,
}

@article{CTT100420583,
  author = {武田行生 and 舟橋宏明 and 佐々木康貴},
  title = {Development of a Spherical In-parallel Actuated Mechanism with Three Degrees of Freedom with Large Working Space and High Motion Transmissibility (1st Report, Evaluation of Motion Transmissibility and Analysis of Working Space)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  year = 1994,
}

@article{CTT100420582,
  author = {武田行生 and 舟橋宏明},
  title = {Kinematic and Static Characteristics of In-parallel Actuated Manipulators at Singular Points and in their Neighborhoods},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Motion Control of Mechanical Systems Based on Experimentally Identified Relations Between Inputs and Outputs(2nd Report, Improvement of Accuracy of Identified Parameters and Estimation of Control Accuracy},
  journal = {Transaction of the Japan Society of Mechanical Engineers},
  year = 1993,
}

@article{CTT100420580,
  author = {Yukio Takeda and Hiroaki Funabashi},
  title = {Motion Transmissibility in Parallel Manipulators},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Motion Control of Mechanical Systems Based on Experimentally Identified Relations Between Inputs and Outputs (1st Report, Proposition of a Control Method)},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {On Networking and Knowledge Distribution in Robots Composed of Identical Units},
  journal = {Transactions of the Japan Society of Mechanical Engineers.},
  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 = {Selection of DC Motors and Reduction Gears for Robots with Consideration of Energy Consumption},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {A Development of Spatial Parallel Manipulators with Six Degrees of Freedom},
  journal = {Transactions of the Japan Society of Mechanical Engineers},
  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 = {Ryota Aino and Kota Okamoto and Kana Miyata and Hiro Asako and Ryohei Morita and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Kota Okamoto and Ryousuke Hakamata and Takamaru Saito and Ryota Aino and Kana Miyata and Yusuke Sugahara and Kotaro Hoshiba and YUKIO TAKEDA},
  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 = {Takuma Hasebe and Tomoya Kawano and Takamaru Saito and Ming Jiang and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Kotaro Muramatsu and Jian Zheng and Takamaru Saito and Ming Jiang and Yusuke Sugahara and 南後淳 and YUKIO TAKEDA},
  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 = {Hiro Asako and Yusuke Sugahara and YUKIO TAKEDA 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 = {Wataru Tochigi and Yusuke Sugahara and YUKIO TAKEDA 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 = {Tomoya Kawano and Takamaru Saito and 崔 佑赫 and Ming Jiang and Yusuke Sugahara and YUKIO TAKEDA},
  title = {Assist As Needed制御に向けたRedundant Hybrid Actuator},
  booktitle = {},
  year = 2023,
}

@inproceedings{CTT100903944,
  author = {Hoshiaki Baba and Ryousuke Hakamata and Ryota Aino and Yusuke Sugahara and Mitsuru Endo and 石井裕之 and YUKIO TAKEDA},
  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 = {Jian Zheng and Ming Jiang and Botta Andrea and Yusuke Sugahara and YUKIO TAKEDA},
  title = {Detection of Intent in Sit-to-Stand Using Plantar Reaction Force in Response to External Stimulus on Toe},
  booktitle = {LIFE2023 講演論文集},
  year = 2023,
}

@inproceedings{CTT100903391,
  author = {Ryohei Morita and Ming Jiang and Andrea Botta and Yusuke Sugahara and Giuseppe Quaglia and Marco Ceccarelli and YUKIO TAKEDA},
  title = {A Wearable End-effector Type Upper Limb Assistive Robot - Proposal of a Mechanism and its Kineto-static Analysis -},
  booktitle = {LIFE2023 講演論文集},
  year = 2023,
}

@inproceedings{CTT100903389,
  author = {Mari Kurata and Ming Jiang and Kotaro Hoshiba and Yusuke Sugahara and 上原隆浩 and 川端眞人 and 原田健 and YUKIO TAKEDA},
  title = {Experimental Study on Lifting Assist Device for Transfer that can Cooperate with Caregiver},
  booktitle = {LIFE2023 講演論文集},
  year = 2023,
}

@inproceedings{CTT100903177,
  author = {Riyunosuke Natsume and Reiji Ando and Shuhei Yoshida and Yuki Taoka and Shigeki SAITO and Ming Jiang and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Atsuhiro Ichijiyo and Yusuke Sugahara and Hoshiaki Baba and Mitsuru Endo and YUKIO TAKEDA},
  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 = {Atsuhiro Ichijiyo and Hoshiaki Baba and Ryousuke Hakamata and Yusuke Sugahara and Mitsuru Endo and Hiroyuki Ishii and Kotaro Hoshiba and Yukio Takeda},
  title = {Study on Robot Traversing and Moving on Spatially Structured Cableway (Development of Spatially Structured Cableway Planning Method Taking Cable Deformation into Consideration)},
  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 = {Takamaru Saito and Shaoqing Huang and Ming Jiang and Kotaro Hoshiba and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Izumi Komatsuzaki and Kotaro Hoshiba and YUKIO TAKEDA and Yusuke Sugahara},
  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 = {Ying-Chi LIU and Yukio TAKEDA},
  title = {Design, Prototyping and Experiment of a Wrist-forearm Rehabilitation Robot with Improved Safety and Comfort},
  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 = {Yuki Uchinomi and Kohei Tsukamoto and Yusuke Sugahara and Mitsuru Endo and Okamoto Jun and Yukio Takeda},
  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 = {Yuri Nishiwaki and Chao Lyu and Chitao Chan and Takazumi Ono and Yukio Takeda and Yusuke Sugahara and Misato Nihei},
  title = {Evaluation of the Effectiveness of Prior Learning in Hands-Free Mobility with Cooperative Learning Operation system},
  booktitle = {Proceedings of LIFE2022},
  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 = {Mari Kurata and Kotaro Hoshiba and Yusuke Sugahara and Takahiro Uehara and Masato Kawabata and Ken Harada and Yukio Takeda},
  title = {Concept Proposal of Cooperative Transfer Assist Device Capable of Controlling Posture of Patient’s Upper Body},
  booktitle = {Proceedings of LIFE2022},
  year = 2022,
}

@inproceedings{CTT100881633,
  author = {Yusuke Sugahara and Tatsuya Yagi and Yukio Takeda and Misato Nihei},
  title = {Pedaling Exercise Load System of a Personal Mobility Vehicle for the Elderly- Intervention experiment using elliptical path pedal system -},
  booktitle = {Proceedings of LIFE2022},
  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 = {Riyunosuke Natsume and Kotaro Hoshiba and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Yusuke Sugahara and Nanato Atsumi and Wataru Tochigi and Kotaro Hoshiba and Yukio Takeda and Katsumi Yanagita and Ryo Mizutani and Satoshi Mitani and Ryuta Katamura},
  title = {Planar Cable-Driven Parallel Robot with Fin-Like Chains for Water Jet Impact Acoustic Wall Inspection – Internal Force Control by Average Cable Tension Feedback –},
  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 = {Ryota Shioya and Kotaro Hoshiba and YUKIO TAKEDA},
  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 = {Takamaru Saito and Yusuke Sugahara and Yukio Takeda},
  title = {Mass reduction of geared actuator by means of redundant drive},
  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 = {Yusuke Honjyo and Daisuke Matsuura and Tsune Kobayashi and YUKIO TAKEDA},
  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 = {Nanato Atsumi and Yusuke Sugahara and Wataru Tochigi and Yukio Takeda and Katsumi Yanagita and Ryo Mizutani and Satoshi Mitani and Ryuta Katamura},
  title = {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)},
  booktitle = {The Proceedings of the Machine Design and Tribology Division meeting in JSME},
  year = 2021,
}

@inproceedings{CTT100864742,
  author = {Hoshiaki Baba and Yusuke Sugahara and Mitsuru Endo and Hiroyuki Ishii and Yukio Takeda},
  title = {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},
  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 = {Tatsuya Yagi and Yusuke Sugahara and Yukio Takeda and Chao Lyu and Misato Nihei},
  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 = {Reiji ANDO and Shigeki SAITO and Yuki TAOKA and Yusuke SUGAHARA and Yukio TAKEDA},
  title = {Development of Shape Adaptable Mechanism for Pasting Film Objects on Curved Surfaces},
  booktitle = {日本機械学会 2021年度年次大会 予稿集},
  year = 2021,
}

@inproceedings{CTT100865464,
  author = {YUKIO TAKEDA},
  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 = {Ryousuke Hakamata and Mitsuru Endo and Yusuke Sugahara and Hiroyuki Ishi and Yukio Takeda},
  title = {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 -},
  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 = {Tatsuya Yagi and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda and 二瓶美里 and 西畑智道 and 鎌田実 and Mitsuru Endo},
  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 = {Hiroshi Kano and Yusuke Sugahara and Mitsuru Endo and 石井裕之 and Yukio Takeda},
  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 = {Seng Wang and Daisuke Matsuura and Yusuke Sugahara and Yukio Takeda},
  title = {Automatic side-following robotic wheelchair for enhancing the communication between a caregiver and a wheelchair rider},
  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 = {Tomoya Hattori and Tomomichi Nishihata and Misato Nihei and Minoru Kamata and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda and Mitsuru Endo and Kim Chyon Hae},
  title = {Proposal of a Method to Evaluate Human Learning Abilities in Collaborative Learning Operation System of Mobility Devices},
  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 = {Takahiro Ishii and Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA 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 Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA and 金天海 and Mitsuru Endo},
  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 = {Tomomichi Nishihata and Misato Nihei and Minoru Kamata and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda and Chyon Hae Kim and Mitsuru Endo},
  title = {Development of human-machine cooperative learning operation system for nonholonomic vehicles using dynamical learning trees},
  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 = {Soichiro MATSUDA and Yukio TAKEDA},
  title = {Dynamic analysis of walking with cane for elderly people using model with dynamic pair},
  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 = {YUKIO TAKEDA and Yusuke Sugahara and Daisuke Matsuura and Souichirou Matsuda and Tomoyuki Suzuki and Masataka Kitagawa and Ying-Chi Liu},
  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 = {Kohei Tsukamoto and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda and Mitsuru Endo 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 = {Hiroshi Matsuo and Reiji Ando and Daisuke Matsuura and Yusuke Sugahara and 勅使河原誠一 and H. Harry Asada and Yukio Takeda},
  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 = {Yusuke Sugahara and Yuki Shima and Daisuke Matsuura and Yukio Takeda and Misato Nihei and Natsuki Sakuma and Tomomichi Nishihata and Minoru Kamata and Mitsuru Endo},
  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 = {Tomohiro Oka and Jorge Solis and Ann-Louise Lindborg and Daisuke Matsuura and Yusuke Sugahara and Yukio Takeda},
  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 = {Amane Nagumo and Tomoaki Ario and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Masumi Ohno and YUKIO TAKEDA},
  title = {Trajectory design for detecting joint clearance in parallel robot based on actuation torque measurement},
  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 = {Tomomichi Nishihata and Natsuki Sakuma and Misato Nihei and Minoru Kamata and Yusuke Sugahara and Yuki Shima and Daisuke Matsuura and Yukio Takeda and Chyon Hae Kim},
  title = {Proposal of a new Hands-Free Mobility- Human-Machine Interactive Learning Operation System Adapted to Personal Mental Model -},
  booktitle = {LIFE2018 講演論文集},
  year = 2018,
}

@inproceedings{CTT100771333,
  author = {Taishuu Ueki and Daisuke Matsuura and Yusuke Sugahara and 吉田稔 and YUKIO TAKEDA},
  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 Yusuke Sugahara and Yuuki Shima and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Yusuke Sugahara and Muhammad Syafiq and Yuki Shima and Daisuke Matsuura and Yukio Takeda and Mitsuru Endo and Jun Okamoto},
  title = {Study on Human-Powered Robotics – 10th Report: Operation Effort Reduction of Human-Powered Joint Mechanism Using CVT and Power Assist –},
  booktitle = {The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)},
  year = 2018,
}

@inproceedings{CTT100768443,
  author = {Atsushi Miyasaka and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Hiroshi Matsuo and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Yuki Shima and Natsuki Sakuma and Yusuke Sugahara and Daisuke Matsuura and Yukio Takeda and Tomomichi Nishihata and Misato Nihei and Minoru Kamata},
  title = {Design of a Pedal Mechanism to Apply Effective Exercise Load to Improve the Gait Function for Lower Limb Operated Personal Mobility Vehicle for the Elderly},
  booktitle = {Proceedings of the Machine Design and Tribology Division meeting in JSME},
  year = 2018,
}

@inproceedings{CTT100766250,
  author = {Tomohiro Oka and Daisuke Matsuura and Yusuke Sugahara and Jorge Solis and Ann-Louise Lindberg and YUKIO TAKEDA},
  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 = {Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA},
  title = {高精度パラレルメカニズムの開発},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100795142,
  author = {Masumi Ohno and YUKIO TAKEDA},
  title = {High-speed computational method of parallel robot's motion error caused by joint clearance based on joint force model},
  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 Yusuke Sugahara and Daisuke Matsuura and Yuuki Shima and YUKIO TAKEDA 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 = {Souichirou Matsuda and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Masumi Ohno and YUKIO TAKEDA},
  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 = {Daisuke Matsuura and Amane Nagumo and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Yuuki Shima and Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA and Mitsuru Endo 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 = {Daisuke Matsuura and Hitoshi Aoki and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Yuuta Chounan and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Yusuke Sugahara and Mitsuru Endo and 岡本淳 and Daisuke Matsuura and YUKIO TAKEDA},
  title = {人力ロボティクスの提案},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100717735,
  author = {Yuuta Chounan and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Shouta Hayashi and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Hiroshi Matsuo and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Kensuke Kikui and Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA 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 = {Masumi Ohno and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  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 = {Hiroshi Matsuo and Daisuke Matsuura and Yusuke Sugahara and YUKIO TAKEDA},
  title = {空間6R機構によるOrigami Springの挙動解析},
  booktitle = {},
  year = 2016,
}

@inproceedings{CTT100702923,
  author = {Yusuke Sugahara and Mitsuru Endo and 岡本淳 and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Masahiro Takesue and Yusuke Sugahara and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Atsushi Miyasaka and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Daisuke Matsuura and Hitoshi Aoki and YUKIO TAKEDA},
  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 = {YUKIO TAKEDA},
  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 = {YUKIO TAKEDA and JUNICHI IIJIMA},
  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 = {Pavel Adodin and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Hitoshi Aoki and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Takahiro Matsuo and SHINJI TANAKA and YUKIO TAKEDA and Daisuke Matsuura},
  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 = {Hitoshi Aoki and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Masanori Teramoto and YUKIO TAKEDA and Daisuke Matsuura},
  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 = {Tomoyuki Suzuki and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Shota Imaizumi and YUKIO TAKEDA and Daisuke Matsuura and SHINJI TANAKA and HIDETOMO TAKAHASHI},
  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 = {Taro Noie and YUKIO TAKEDA and Daisuke Matsuura and SHINJI TANAKA and HIDETOMO TAKAHASHI},
  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 = {YUKIO TAKEDA},
  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 = {YUKIO TAKEDA and Ryutarou Inose and YUKIO TAKEDA},
  title = {Variable Gait Style and Step Length of a Walking Machine Using Crutches},
  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 = {Ruriko Moriya and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Shohei Kawasumi and YUKIO TAKEDA and Daisuke Matsuura},
  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 = {Yuuta Chounan and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Shohei Kawasumi and YUKIO TAKEDA and Daisuke Matsuura},
  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 = {Shouta Hayashi and YUKIO TAKEDA and Daisuke Matsuura and Kazuhiro Hochi},
  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 = {YUKIO TAKEDA},
  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 = {YUKIO TAKEDA},
  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 = {YUKIO TAKEDA and ryuhei funato and Daisuke Matsuura},
  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 = {Shota Ishida and Daisuke Matsuura and Tatsuya Koga and YUKIO TAKEDA},
  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 = {Pavel ADODIN and Daisuke MATSUURA and Yukio TAKEDA},
  title = {Interaction Force Measurement of Arbitrary Objects Using Variable Stiffness Mechanism},
  booktitle = {Proc. of the 19th Symposium on Theory of Machines and Mechanisms},
  year = 2013,
}

@inproceedings{CTT100657781,
  author = {Tsuyoshi Ikeda and YUKIO TAKEDA and Daisuke Matsuura},
  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 = {Pavel Adodin and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Shota Ishida and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Keiji Yonemoto and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Tsuyoshi Ikeda and YUKIO TAKEDA and Daisuke Matsuura},
  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 = {Maki Nishiyama and Shiyuusaku Itou and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {ryuhei funato and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Masaki Omata and Daisuke Matsuura and YUKIO TAKEDA},
  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 Daisuke Matsuura and Shohei Kawasumi and YUKIO TAKEDA},
  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 = {Daisuke Matsuura and Tatsuya Koga and YUKIO TAKEDA},
  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 = {MASAAKI OKUMA and KAZUYOSHI FUSHINOBU and 八木 透 and ムージュノ セリーヌ and SHINJI TANAKA and 大河 誠司 and YUKIO TAKEDA 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 = {Masashi Fujimoto and Yukio Takeda and Daisuke Matsuura},
  title = {Laser pointer with active suppression of tremor effect and intentional pointing -Recognition of user's intention to estimate essential desired motion-},
  booktitle = {Proceedings of 2012 JSME Conference on Robotics and Mechatronics},
  year = 2012,
}

@inproceedings{CTT100639021,
  author = {Satoshi Inada and Yukio Takeda and Daisuke Matsuura and Shohei Kawasumi and Ken Ichiryu and Kazuya Hirose},
  title = {Development of a Complex Three Dimensional Pipe Bender Using 3-RPSR Parallel Mechanism -Manufacturing of Helix Pipes-},
  booktitle = {Proceedings of the 18th Jc-IFToMM Symposium},
  year = 2012,
}

@inproceedings{CTT100639019,
  author = {Satoshi Inada and Yukio Takeda and Daisuke Matsuura and Syohei Kawasumi and Ken Ichiryu and Kazuya Hirose},
  title = {Development of a Complex Three Dimensional Pipe Bender Using 3-RPSR Parallel Mechanism -Manufacturing of Helix Pipes-},
  booktitle = {Proceedings of 2012 JSME Conference on Robotics and Mechatronics},
  year = 2012,
}

@inproceedings{CTT100635723,
  author = {Takumi Hosokawa and Daisuke Matsuura and YUKIO TAKEDA},
  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 = {Masashi Fujimoto and YUKIO TAKEDA},
  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 = {Kazuki Nakata and YUKIO TAKEDA 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 YUKIO TAKEDA 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 = {Jun Okamura and YUKIO TAKEDA},
  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 = {YUKIO TAKEDA and Zheng Tong and MASARU HIGUCHI and YUKIO TAKEDA},
  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 = {Jun Okamura and Yukio Takeda},
  title = {Stiffness analysis of parallel mechanism using virtual screw joints},
  booktitle = {Proceedings of the 2011 JSME Conference on Robotics and Mechatronics},
  year = 2011,
}

@inproceedings{CTT100622428,
  author = {Makoto Ogata and Ryuhei Funato and Yukio Takeda and Masaru Higuchi},
  title = {Development of a walking assist machine using crutches with foot-driving mechanism (Improvement of ride quality and energy consumption)},
  booktitle = {Proceedings of the 2011 JSME Conference on Robotics and Mechatronics},
  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 = {Keiji Yonemoto and YUKIO TAKEDA and Zheng Tong and MASARU HIGUCHI},
  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 = {Jun Okamura and Shuta Hanagasaki and YUKIO TAKEDA},
  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 = {ryuhei funato and YUKIO TAKEDA and MASARU HIGUCHI and Makoto Ogata},
  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 = {Jun Okamura and Shuta Hanagasaki and Yukio Takeda},
  title = {Kinematics Synthesis of a Two-dof Rotational Parallel Mechanism with Functions for Detection and Compensation of Position Error of the Rotation Center of the Output Link},
  booktitle = {Preprints of the Sixteenth Symposium on Theory of Machines and Mechanisms},
  year = 2010,
}

@inproceedings{CTT100614937,
  author = {Koji KITA and Yukio TAKEDA},
  title = {Analysis of Determinant for Upright Position with Space-Suits Knee Loading},
  booktitle = {Proceedings of Symposium on Sports and Human Dynamics 2010},
  year = 2010,
}

@inproceedings{CTT100614935,
  author = {Soichiro MATSUDA and Yukio TAKEDA},
  title = {Design of Shapes of Supporting Objects for Stable Walking by Elderly People},
  booktitle = {Proceedings of Symposium on Sports and Human Dynamics 2010},
  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 = {Tatsuya Koga and Yun Ho Tsoi and Yukio Takeda},
  title = {Development of a rehabilitation device using parallel mechanism – composition of control system},
  booktitle = {Proceedings of the 2010 JSME Conference on Robotics and Mechatronics},
  year = 2010,
}

@inproceedings{CTT100608080,
  author = {Asuka Shiomi and Masaru Higuchi and Hitoshi Arisumi and Yukio Takeda},
  title = {Development of a reel out mechanism with largr dynamic range tension control characteristics for casting manipulator},
  booktitle = {Proceedings of the 2010 JSME Conference on Robotics and Mechatronics},
  year = 2010,
}

@inproceedings{CTT100608079,
  author = {Hitoshi Arisumi and Yukio Takeda and Kazuhito Yokoi},
  title = {Collecting an object through the air by casting manipulation},
  booktitle = {Proceedings of the 2010 JSME Conference on Robotics and Mechatronics},
  year = 2010,
}

@inproceedings{CTT100608076,
  author = {Yukio TAKEDA and Xiao XIAO and Kazuya HIROSE and Yoshiki YOSHIDA and Ken ICHIRYU},
  title = {3-RPSR Parallel Mechanism with Triple Revolute Joints on the Base},
  booktitle = {Proceedings of the 2010 JSME Conference on Robotics and Mechatronics},
  year = 2010,
}

@inproceedings{CTT100604903,
  author = {Masaki Omata and Yukio Takeda and Yun Ho Tsoi},
  title = {Peg-in-hole by a position-orientation decoupled parallel manipulator with impedance control},
  booktitle = {Proceedings of the 10th Machine Design and Tribology Division Meeting in JSME},
  year = 2010,
}

@inproceedings{CTT100604904,
  author = {Yoshiki Yoshida and Yukio Takeda and Ken Ichiryu and Kazuya Hirose},
  title = {Development of high precision parallel mechanism for vacuum chamber},
  booktitle = {Proceedings of the 10th Machine Design and Tribology Division Meeting in JSME},
  year = 2010,
}

@inproceedings{CTT100604902,
  author = {Satoshi Inada and Masaru Higuchi and Yukio Takeda and Ken Ichiryu},
  title = {Development of gripper with large gripping force for a draw pipe bender which fabricates complex three dimensional shaped pipes (proposal of a gripping mechanism which grasps 2-dimensional shaped pipes)},
  booktitle = {Proceedings of the 10th Machine Design and Tribology Division Meeting in JSME},
  year = 2010,
}

@inproceedings{CTT100600947,
  author = {Tatsurou Iwaya and YUKIO TAKEDA and Makoto Ogata and MASARU HIGUCHI},
  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 = {Yoshiki Yoshida and Yukio Takeda and Ken Ichiryu and Kazuya Hirose},
  title = {Development of High Precision Parallel Link Using Double Ball Joints},
  booktitle = {Proceedings of the 2009 Mechanical Engineering Congress},
  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 = {Soichiro Matsuda and Yukio Takeda and Masaru Higuchi},
  title = {Development of 3-URU pure rotational parallel mechanism with error compensation devices},
  booktitle = {Preprints of the Fifteenth Symposium on Theory of Machines and Mechanisms},
  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 = {Masataka TANABE and Yukio TAKEDA},
  title = {A Translational Parallel Manipulator with Fine Adjustment of Platform Orientation},
  booktitle = {Proceedings of the 2009 JSME Conference on Robotics and Mechatronics},
  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 = {Masaru HIGUCHI and Rie ISHII and Yukio TAKEDA},
  title = {Development of Gripping Mechanism with Large Gripping Force for a Draw Pipe Bender Which Fabricates Complex 3-Dimensional Shape Pipes},
  booktitle = {Proceedings of the 2009 JSME Conference on Robotics and Mechatronics},
  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 = {Shuta Sato and Yukio Takeda and Masaru Higuchi},
  title = {Development of a walking assist machine using crutches},
  booktitle = {Proceedings of Mechanical Engineering Congress, 2008 Japan},
  year = 2008,
}

@inproceedings{CTT100564590,
  author = {Syamsul Huda and Yukio Takeda},
  title = {Development of a 3-URU Type Rotational parallel mechanism with large inclination angle},
  booktitle = {Proceedings of Mechanical Engineering Congress, 2008 Japan},
  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 = {Junichi IMOTO and Yukio TAKEDA and Hidenobu SAITO and Ken ICHIRYU},
  title = {Optimal kinematic calibration of robots based on the maximum positioning-error estimation},
  booktitle = {Preprints of the Fourteenth Symposium on Theory of Machines and Mechanisms},
  year = 2008,
}

@inproceedings{CTT100559849,
  author = {Masaru HIGUCHI and Yasuro SHIRAI and Yukio TAKEDA},
  title = {Development of an Ultra Precision Positioning Actuator with Large Force and Long Stroke Driven by Piezoelectric Actuators},
  booktitle = {Proceedings of the 2008 JSME Conference on Robotics and Mechatronics},
  year = 2008,
}

@inproceedings{CTT100559847,
  author = {Masaru HIGUCHI and Tetsuya MORIMOTO and Yukio TAKEDA},
  title = {Motion Planning of Spatial Underactuated Manipulators with Brakes at Passive Joints under Gravity},
  booktitle = {Proceedings of the 2008 JSME Conference on Robotics and Mechatronics},
  year = 2008,
}

@inproceedings{CTT100559846,
  author = {Junichi IMOTO and Yukio TAKEDA and Hidenobu SAITO and Ken ICHIRYU},
  title = {Optimal kinematic calibration of a Stewart platform based on the maximum positioning-error evaluation},
  booktitle = {Proceedings of the 2008 JSME Conference on Robotics and Mechatronics},
  year = 2008,
}

@inproceedings{CTT100555857,
  author = {Masataka Tanabe and Yukio Takeda and Syamsul Huda},
  title = {Development of a translational parallel manipulator with three dof based on the utility workspace},
  booktitle = {Proceedings of the 8th machine design and tribology division meeting in JSME},
  year = 2008,
}

@inproceedings{CTT100551278,
  author = {Syamsul HUDA and Yukio TAKEDA},
  title = {Kinematic design of 3-URU pure rotational parallel mechanism with consideration of the uncompensated error},
  booktitle = {Proceedings of 13th Robotics Symposia},
  year = 2008,
}

@inproceedings{CTT100547069,
  author = {YUKIO TAKEDA},
  title = {Kinematic Synthesis of Parallel Mechanism for Specified Conditions on Output Velocity and Motion Transmissibility},
  booktitle = {Proceedings of the JSME Symposium on Motion and Power Transmissions 2007},
  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 = {Junichi Imoto and Yukio Takeda},
  title = {Optimal Kinematic Calibration of Parallel Mechanisms Based on Maximum Positioning-Error Estimation},
  booktitle = {Proceedings of 2007 JSME Mechanical Engineering Congress},
  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 = {Shuta Hanagasaki and Yukio Takeda and Syamsul Huda},
  title = {Performance evaluation of kinematic and static characteristics and optimal design of 3-URU-type pure rotational parallel mechanism},
  booktitle = {Preprints of the Thirteenth Symposium on Theory of Machines and Mechanisms},
  year = 2007,
}

@inproceedings{CTT100535399,
  author = {Masataka Tanabe and Yukio Takeda and Syamsul Huda},
  title = {Optimal design of a 3-5R translational spatial parallel mechanism with utility workspace},
  booktitle = {Preprints of the Thirteenth Symposium on Theory of Machines and Mechanisms},
  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 = {Masataka Tanabe and Yukio Takeda and Syamsul Huda},
  title = {Workspace of 3 3-5R translational spatial parallel mechanism with consideration of singularity},
  booktitle = {Proceedings of the 2007 JSME Conference on Robotics and Mechatronics},
  year = 2007,
}

@inproceedings{CTT100533088,
  author = {Shuta Hanagasaki and Yukio Takeda and Syamsul Huda},
  title = {Evaluation of kinematic and static characteristics of 3-URU-type pure rotational parallel mechanism},
  booktitle = {Proceedings of the 2007 JSME Conference on Robotics and Mechatronics},
  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 = {Syamsul Huda and Yukio Takeda},
  title = {Kinematic Characteristics of a 3-5R non-overconstrained translational parallel mechanism with three degrees of freedom},
  booktitle = {Proceedings of Mechanical Engineering Congress, 2006 Japan},
  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 = {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 JSME Conference on Robotics and Mechatronics},
  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 = {Yoichi Tatsumi and Masaru Higuchi and Yukio Takeda and Koichi Sugimoto},
  title = {Design of the Leg Mechanism of a Water Surface Running Machine},
  booktitle = {Proceedings of the 2006 JSME Conference on Robotics and Mechatronics},
  year = 2006,
}

@inproceedings{CTT100409680,
  author = {Yukio Takeda and Syamsul Huda},
  title = {Singularity analysis of a 3-URU non-overconstrained spherical parallel mechanism with three degrees of freedom},
  booktitle = {The 6th. Machine Design and Tribology Division Meeting in JSME},
  year = 2006,
}

@inproceedings{CTT100409678,
  author = {Masaru Higuchi and Tomonori Shinagawa and Hirohiko Ito and Yukio Takeda and Koichi Sugimoto},
  title = {Study of comfortable ride quality of a wheelchair when it passes over steps},
  booktitle = {Proceedings of the 2006 JSME Conference on Robotics and Mechatronics},
  year = 2006,
}

@inproceedings{CTT100409681,
  author = {Masaru Higuchi and Yukio Takeda and Hiroaki Funabashi},
  title = {Development of a Brake for Robotic Use (Effect of Manufacturing Error on Brake Application Force)},
  booktitle = {The 6th. Machine Design and Tribology Division Meeting in JSME},
  year = 2006,
}

@inproceedings{CTT100390741,
  author = {Masaru Higuchi and Yukio Takeda and Hiroaki Funabashi},
  title = {Development of a brake for robotic use (Design of a brake with considering manufacturing error)},
  booktitle = {Proc. of the 14th fall meeting of the Tohoku-branch of JSME},
  year = 2005,
}

@inproceedings{CTT100390668,
  author = {Toshiya UNO and Keita SUGIURA and Yukio TAKEDA and Masaru HIGUCHI and Koichi SUGIMOTO and Shu HUJIWARA and Kazuki ENOMOTO and Toshiyuki YASUHARA and Naoto OHTAKE and 大竹尚登},
  title = {Development of a spherical joint using polymer matrix carbon nanofiber composites},
  booktitle = {Proc. 2005 Fall Meeting of JSPE},
  year = 2005,
}

@inproceedings{CTT100390669,
  author = {Yukio TAKEDA and Wei GUO},
  title = {Improvement of Positioning Resolution of a Spatial Six Degree-of-Freedom Parallel Mechanism with Redundant Actuators for Gross and Fine Motions},
  booktitle = {Proc. 2005 Fall Meeting of JSPE},
  year = 2005,
}

@inproceedings{CTT100390740,
  author = {Masaru Higuchi and Tomonori Shinagawa and Yukio Takeda and Koichi Sugimoto},
  title = {Study of safety and comfortability of a wheelchair when it passes over a step},
  booktitle = {Proc. of the 14th fall meeting of the Tohoku-branch of JSME},
  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 = {Motion Control of a Casting Manipulator with a Large Working Space - High-Speed Casting Experiment and Its Analysis-},
  booktitle = {Preprints of the Eleventh Symposium on Theory of Machines and Mechanisms},
  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 = {Kinematic Analysis of 3-SPR Spatial In-Parallel Actuated Mechanism (Analysis of Output Displacement Characteristics)},
  booktitle = {Proc. 2005 Spring Meeting of JSPE},
  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 = {YUKIO TAKEDA},
  title = {リンク機構の基本，設計のポイント},
  year = 2019,
}

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

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

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

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

@misc{CTT100657771,
  author = {YUKIO TAKEDA},
  title = {機械工学年鑑，機械設計},
  year = 2012,
}

@misc{CTT100639675,
  author = {YUKIO TAKEDA and Daisuke Matsuura},
  title = {機能システム学（武田）研究室},
  year = 2012,
}

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

@misc{CTT100628735,
  author = {YUKIO TAKEDA},
  title = {機械設計，運動機構},
  year = 2011,
}

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

@misc{CTT100576813,
  author = {Yukio TAKEDA},
  title = {Design of Parallel Manipulators with Consideration to Joints Location},
  year = 2009,
}

@misc{CTT100532251,
  author = {Yukio Takeda and Masaru Higuchi},
  title = {Research and Development of a Walking Chair},
  year = 2007,
}

@misc{CTT100392819,
  author = {Yukio TAKEDA},
  title = {Mechanism Design Technologies of High-Precision Machinery Systems},
  year = 2005,
}

@misc{CTT100391414,
  author = {Yukio TAKEDA},
  title = {Parallel Mechanism},
  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 = {YUKIO TAKEDA},
  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 = {Yusuke Sugahara and YUKIO TAKEDA and Daisuke Matsuura and Masahiro Takesue},
  title = {パラレルワイヤ機構},
  howpublished = {PublishedPatent},
  year = 2023,
  month  = {},
  note   = {特願2023-173738(2023/10/05), 特開2023-168597(2023/11/24)}
}


@misc{CTT100922134,
  author = {Yusuke Sugahara and YUKIO TAKEDA and Takahiro Ishii and Hiro Asako},
  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 = {PublishedPatent},
  year = 2024,
  month  = {},
  note   = {PCT/JP2022/038029(2022/10/20), WO 2024/079812(2024/04/18)}
}


@misc{CTT100894470,
  author = {YUKIO TAKEDA and Reiji Ando and Shigeki SAITO and Yusuke Sugahara and Yuki Taoka and Kotaro Hoshiba},
  title = {形状適応機構及び形状適応装置},
  howpublished = {PublishedPatent},
  year = 2023,
  month  = {},
  note   = {特願2022-116483(2022/07/21), 特開2023-029240(2023/03/03)}
}


@misc{CTT100911040,
  author = {YUKIO TAKEDA and Yuhang Lei and Yusuke Sugahara},
  title = {連続体ロボット},
  howpublished = {PublishedPatent},
  year = 2023,
  month  = {},
  note   = {特願2022-088758(2022/05/31), 特開2023-176465(2023/12/13)}
}


@misc{CTT100911041,
  author = {Yusuke Sugahara and Nanato Atsumi and YUKIO TAKEDA},
  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 = {PublishedPatent},
  year = 2023,
  month  = {},
  note   = {特願2022-086642(2022/05/27), 特開2023-174034(2023/12/07)}
}


@misc{CTT100922148,
  author = {YUKIO TAKEDA and Masumi Ohno},
  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 = {RegisteredPatent},
  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 = {YUKIO TAKEDA and Masumi Ohno},
  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 = {PublishedPatent},
  year = 2022,
  month  = {},
  note   = {PCT/JP2022/000787(2022/01/12), WO 2022/154021(2022/07/21)}
}


@misc{CTT100884599,
  author = {Yusuke Sugahara and YUKIO TAKEDA and Takahiro Ishii},
  title = {自走エレベータの駆動装置},
  howpublished = {PublishedPatent},
  year = 2022,
  month  = {},
  note   = {PCT/JP2021/009051(2021/03/08), WO 2022/190179(2022/09/15)}
}


@misc{CTT100884609,
  author = {Yusuke Sugahara and YUKIO TAKEDA and Nanato Atsumi},
  title = {移動装置支持機構},
  howpublished = {PublishedPatent},
  year = 2022,
  month  = {},
  note   = {特願2021-033703(2021/03/03), 特開2022-134534(2022/09/15)}
}


@misc{CTT100911046,
  author = {Yusuke Sugahara and YUKIO TAKEDA and Takahiro Ishii},
  title = {搬送機器},
  howpublished = {RegisteredPatent},
  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 = {YUKIO TAKEDA and Hiroshi Matsuo and Daisuke Yamaguchi},
  title = {伸展装置および安全装置},
  howpublished = {PublishedPatent},
  year = 2022,
  month  = {},
  note   = {特願2021-007191(2021/01/20), 特開2022-111630(2022/08/01)}
}


@misc{CTT100864139,
  author = {Yusuke Sugahara and YUKIO TAKEDA and Daisuke Matsuura and Masahiro Takesue},
  title = {パラレルワイヤ機構},
  howpublished = {RegisteredPatent},
  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 = {Yusuke Sugahara and Takahiro Ishii and YUKIO TAKEDA and Daisuke Matsuura},
  title = {搬送装置},
  howpublished = {RegisteredPatent},
  year = 2022,
  month  = {},
  note   = {特願2021-541850(2019/08/27), 特許第7156545号(2022/10/11)}
}


@misc{CTT100869582,
  author = {Yusuke Sugahara and YUKIO TAKEDA and Daisuke Matsuura and Takahiro Ishii},
  title = {搬送装置},
  howpublished = {PublishedPatent},
  year = 2021,
  month  = {Mar.},
  note   = {PCT/JP2019/033579(2019/08/27), WO 2021/038731(2021/03/04)}
}


@misc{CTT100845254,
  author = {Yusuke Sugahara and YUKIO TAKEDA and Daisuke Matsuura},
  title = {自走装置及びパラレルワイヤ機構},
  howpublished = {RegisteredPatent},
  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 = {YUKIO TAKEDA and Masumi Ohno},
  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 = {RegisteredPatent},
  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 = {YUKIO TAKEDA and Masumi Ohno},
  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 = {RegisteredPatent},
  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 = {YUKIO TAKEDA and Daisuke Matsuura and Koutaro Kobayashi},
  title = {変速操作機構},
  howpublished = {PublishedPatent},
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  month  = {Sept.},
  note   = {特願2017-037349(2017/02/28), 特開2018-141541(2018/09/13)}
}


@misc{CTT100761467,
  author = {YUKIO TAKEDA and Yusuke Sugahara and Daisuke Matsuura and Masumi Ohno},
  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 = {RegisteredPatent},
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  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 = {YUKIO TAKEDA and Daisuke Matsuura and Kazuhiro Hochi},
  title = {棒材の軸方向連続送り装置
},
  howpublished = {RegisteredPatent},
  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 = {YUKIO TAKEDA and Tsuyoshi Ikeda and Daisuke Matsuura},
  title = {回転中心の独立制御可能な回転パラレル機構},
  howpublished = {RegisteredPatent},
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  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 = {YUKIO TAKEDA and ryuhei funato and Daisuke Matsuura},
  title = {歩行支援装置},
  howpublished = {RegisteredPatent},
  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 = {YUKIO TAKEDA and Daisuke Matsuura},
  title = {関節駆動装置},
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  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 = {YUKIO TAKEDA and MASARU HIGUCHI},
  title = {松葉杖形歩行支援機械},
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  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 = {YUKIO TAKEDA},
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  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 = {YUKIO TAKEDA and MASARU HIGUCHI},
  title = {松葉杖形歩行支援機械},
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  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 = {YUKIO TAKEDA},
  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 = { Tokyo Institute of Technology},
  year = 1995,
}

@mastersthesis{CTT100595591,
  author = {YUKIO TAKEDA},
  title = {２足歩行機械の脚機構の研究},
  school = { Tokyo Institute of Technology},
  year = 1989,
}