@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,
}

@inproceedings{CTT100590176,
  author = {好田祥基 and 武田行生 and 一柳 健 and 廣瀬和也},
  title = {二重球面ジョイントを用いた高精密パラレルリンクの開発},
  booktitle = {日本機械学会2009年度年次大会講演論文集},
  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{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{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{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{CTT100586925,
  author = {松田聡一郎 and 武田行生 and 樋口勝},
  title = {誤差補償装置を搭載した3-URU形3自由度回転パラレルメカニズムの開発},
  booktitle = {第15回日本IFToMM会議シンポジウム前刷集},
  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{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 = {樋口勝 and 石井利絵 and 武田行生},
  title = {パイプの3次元曲げ加工機用大発生力把持機構の開発},
  booktitle = {日本機械学会・ロボティクスメカトロにクス講演会2009講演論文集},
  year = 2009,
}

@inproceedings{CTT100576814,
  author = {田邊雅隆 and 武田行生},
  title = {姿勢補償性を有する並進パラレルマニピュレータ},
  booktitle = {日本機械学会・ロボティクスメカトロにクス講演会2009講演論文集},
  year = 2009,
}

@misc{CTT100576813,
  author = {武田行生},
  title = {ジョイントの配置に着目したパラレルマニピュレータの設計},
  year = 2009,
}

@misc{CTT100625062,
  author = {武田行生 and 広瀬　和也 and 一柳　健},
  title = {６自由度パラレル機構},
  howpublished = {登録特許},
  year = 2013,
  month  = {},
  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 = {武田行生 and 佐藤　秀太 and 樋口勝},
  title = {松葉杖形歩行支援機械},
  howpublished = {登録特許},
  year = 2013,
  month  = {},
  note   = {特願2008-125963(2008/05/13), 特開2009-273565(2009/11/26), 特許第5294196号(2013/06/21)}
}