@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{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{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,
}

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

@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{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{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{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{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{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)}
}