Stable compliance control and its implementation for a 6 DOF manipulator. - Hiroshi Ishikawa 008; Chihiro Sawada; Kei Kawase; Masayuki Takata (ICRA, 1989)

Specification and generation of a motion path for compliant motion. - Chihiro Sawada; Hiroshi Ishikawa 008; Kei Kawase; Masayuki Takata (ICRA, 1989)

Cooperative Compliant Motion Control of Writ and Arm. - Kei Kawase; Hiroshi Ishikawa 008; Chihiro Sawada; Masayuki Takata (J. Robotics Mechatronics, 1991)

Evaluating the Performance of Robotic Compliant Tasks According to Power Consumption: Approach and Application. - Chihiro Sawada (ICRA, 1995)