A physical interference adapting hardware system using MIA arm and humanoid surface covers. - Hiroyasu Iwata; Hayato Hoshino; Toshio Morita; Shigeki Sugano (IROS, 1999)

Human-humanoid physical interaction realizing force following and task fulfillment. - Hiroyasu Iwata; Hayato Hoshino; Toshio Morita; Shigeki Sugano (IROS, 2000)