Design and implementation of reinforceable muscle humanoid. - Ikuo Mizuuchi; Hironori Waita; Yuto Nakanishi; Tomoaki Yoshikai; Masayuki Inaba; Hirochika Inoue (IROS, 2004)

Powerful and dexterous multi-finger hand using dynamical pulley mechanism. - Tadaaki Hasegawa; Hironori Waita; Tomohiro Kawakami; Yoshinari Takemura; Tetsuya Ishikawa; Yuta Kimura; Chiaki Tanaka; Kenichiro Sugiyama; Takahide Yoshiike (ICRA, 2022)