A prototype of pneumatically-driven forceps manipulator with force sensing capability using a simple flexible joint. - Daisuke Haraguchi; Kotaro Tadano; Kenji Kawashima (IROS, 2011)

Design of a 4-DOF forceps manipulator for robotic surgery. - Takahiro Kanno; Daisuke Haraguchi; Kotaro Tadano; Kenji Kawashima (SII, 2013)

Load Reduction Control on Tool-Insertion Port for Laparoscopic Surgical Robot Using Semi-Active Joints. - Koki Aizawa; Daisuke Haraguchi; Kotaro Tadano (J. Robotics Mechatronics, 2020)

Automation of Intraoperative Tool Changing for Robot-Assisted Laparoscopic Surgery. - Dongbo Zhou; Yura Aoyama; Hayato Takeyama; Kotaro Tadano; Daisuke Haraguchi (J. Robotics Mechatronics, 2022)

Design and Evaluation of a Robotic Forceps With Flexible Wrist Joint Made of PEEK Plastic. - Dongbo Zhou; Daisuke Haraguchi (IEEE Robotics Autom. Lett., 2022)

Application and Mechanical Evaluation of Polyarylate Fiber Rope in Wire Drive Mechanism of Robotic Surgical Instruments. - Kanta Nojima; Kotaro Tadano; Daisuke Haraguchi (J. Robotics Mechatronics, 2023)

Sensorless Haptic Force Presentation using Force-Projecting Bilateral Control with Pneumatic Manipulator. - Yuki Monden; Daisuke Haraguchi (AMC, 2024)

Motion sensor-based haptic master controller with finger band soft actuator for surgical robots. - Yuta Soga; Soichiro Hano; Daisuke Haraguchi (Adv. Robotics, 2024)