The effects of joint flexibility on robot motion control based on joint torque positive feedback. - Minoru Hashimoto; Toshiro Horiuchi; Yoshihide Kiyosawa; Hideki Hirabayashi (ICRA, 1991)

A joint torque sensing technique for robots with harmonic drives. - Minoru Hashimoto; Yoshihide Kiyosawa; Hideki Hirabayashi; Richard P. Paul (ICRA, 1991)

Harmonic Drive with a Built-in Torque Sensor and Its Application to Torque Control. - Minoru Hashimoto; Hideki Hirabayashi; Toshihide Kiyosawa (J. Robotics Mechatronics, 1991)

Experimental study on torque control using harmonic drive built-in torque sensors. - Minoru Hashimoto; Toshiaki Shimono; Ken-ichi Koreyeda; Hideho Tanaka; Y. Koyosawa; Hideki Hirabayashi (ICRA, 1992)