@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,
}

@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,
}

@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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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{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,
}

@misc{CTT100800819,
  author = {YUKIO TAKEDA},
  title = {リンク機構の基本，設計のポイント},
  year = 2019,
}

@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)}
}