The Development of a Direct Drive Master Arm. - Tetsuo Kotoku; Erhard J. Hüsler; Kazuo Tanie; Akio Fujikawa (J. Robotics Mechatronics, 1990)

Environment modeling for the interactive display (EMID) used in telerobotic systems. - Tetsuo Kotoku; Kazuo Tanie; Akio Fujikawa (IROS, 1991)

Development of Whole Arm Prothesis (Prototype II). - Yuji Maeda; Kazuo Tanie; Akio Fujikawa; Kazuo Tani; Kiyoshi Komoriya (J. Robotics Mechatronics, 1992)