Prototypes of New Type Image Position Detection Element. - Chiyoharu Horiguchi; Akira Kurahashi; Masanori Idesawa (J. Robotics Mechatronics, 1989)

Development of a finger-shaped tactile sensor and its evaluation by active touch. - Hitoshi Maekawa; Kazuo Tanie; Kiyoshi Komoriya; Makoto Kaneko; Chiyoharu Horiguchi; Takao Sugawara (ICRA, 1992)