A hybrid position/force teaching device and its application to rehabilitation support robots. - Yoshifumi Morita; Masao Sakai; Hideki Inuzuka (RoMoCo, 2017)

Study on Hybrid Position/Force Teaching and Control Method for 6 DoF Manipulator Utilizing f-PAWTED. - Quang-Trung Chu; Hiroki Tanaka; Hideki Inuzuka; Yoshifumi Morita; Masao Sakai (J. Robotics Netw. Artif. Life, 2021)