@article{CTT100833702,
  author = {Koki Aizawa and Daisuke Haraguchi and Kotaro Tadano},
  title = {Load Reduction Control on Tool-Insertion Port for Laparoscopic Surgical Robot Using Semi-Active Joints},
  journal = {Journal of Robotics and Mechatronics},
  year = 2020,
}

@article{CTT100820458,
  author = {Koki Aizawa and Masao Kanazawa and Daisuke Haraguchi and Kotaro Tadano},
  title = {Surgical Robotic Arm with Pneumatic Semi-active Joints for Load Reduction on Tool-insertion Port},
  journal = {Sensors and Materials},
  year = 2020,
}

@inproceedings{CTT100799739,
  author = {相澤航輝 and 金澤雅夫 and 原口大輔 and 只野耕太郎},
  title = {準能動関節を有する挿入孔への位置合わせが不要な手術支援ロボットアームの開発},
  booktitle = {ロボティクス・メカトロニクス講演会 講演論文集(DVD版)},
  year = 2019,
}