Development of miniature cybernetic actuator driven by piezoelectric device. - Koji Ikuta; Atsushi Kawahara; Yukio Tsutsui (IROS, 1991)

Ultra-Precision Linear Motor Positioning Technique. - Masanori Suematsu; Takao Fujii; Atsushi Kawahara; Tomoaki Tanimoto; Toshio Matsumoto; Hideaki Watanabe (J. Robotics Mechatronics, 1991)