A body-mounted surgical assistance robot for minimally invasive spinal puncture surgery. - Akira Bekku; Joonhwan Kim; Yoshikazu Nakajima; Kazuo Yonenobu (BioRob, 2014)

An obstetric forceps contouring the head surface to improve gripping capability in delivery assistance. - Masaki Chino; Yoshikazu Nakajima; Akira Bekku; Hiroyuki Tsuda; Tomomi Kotani; Fumitaka Kikkawa (BioRob, 2014)

Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit. - Akira Bekku; Yoshikazu Nakajima (J. Robotics, 2015)