In-parallel actuated mechanisms as a new robotic mechanism. - Hiroaki Funabashi (Adv. Robotics, 1993)

High speed and high precision parallel mechanism. - Tatsuo Arai; Hiroaki Funabashi; Yoshihiko Nakamura; Yukio Takeda; Yoshihiko Koseki (IROS, 1997)

Kinematic Synthesis of In-Parallel Actuated Mechanisms Based on the Global Isotropy Index. - Yukio Takeda; Hiroaki Funabashi (J. Robotics Mechatronics, 1999)

An in-parallel actuated manipulator with redundant actuators for gross and fine motions. - Yukio Takeda; Kazuki Ichikawa; Hiroaki Funabashi; Kazuya Hirose (ICRA, 2003)

Design of the Leg Mechanism of a Water Surface Runner. - Masaru Higuchi; Hideo Tanaka; Shingo Tsutsumi; Yukio Takeda; Hiroaki Funabashi (J. Robotics Mechatronics, 2004)