@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,
}

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

@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{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{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{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{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{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{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)}
}