A concept of a user interface capable of intuitive operation of 4-DoF articulated forceps. - Jacinto Enrique Colan Zaita; Jun Nakanishi; Keisuke Ohara; Tadayoshi Aoyama; Yasuhisa Hasegawa (MHS, 2017)

Development of a Precision-grip based Interface for 4-DoF Articulated Forceps. - Keisuke Ohara; Jacinto Enrique Colan Zaita; Daisuke Uozumi; Tadayoshi Aoyama; Jun Nakanishi; Yasuhisa Hasegawa (MHS, 2018)

Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism. - Jayant Unde; Jacinto Colan; Yasuhisa Hasegawa (MHS, 2021)

Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery. - Jacinto Colan; Jun Nakanishi; Tadayoshi Aoyama; Yasuhisa Hasegawa (Robotics, 2021)

Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation. - Yaonan Zhu; Jacinto Colan; Tadayoshi Aoyama; Yasuhisa Hasegawa (IROS, 2022)

Intension Reading based Task Outcome Prediction for Operability Improvement of Time-Delayed Teleoperation System. - Keisuke Fusano; Yaonan Zhu; Jacinto Enrique Colan Zaita; Tadayoshi Aoyama; Yasuhisa Hasegawa (MHS, 2022)

Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation. - Yaonan Zhu; Shukrullo Nazirjonov; Bingheng Jiang; Jacinto Colan; Tadayoshi Aoyama; Yasuhisa Hasegawa; Boris Belousov; Kay Hansel; Jan Peters 001 (CBS, 2023)

Gradient-Based Fine-Tuning Strategy for Improved Transfer Learning on Surgical Images. - Ana Davila; Jacinto Colan; Yasuhisa Hasegawa (MHS, 2023)

Enhancing Gradient-Based Inverse Kinematics with Dynamic Step Sizes. - Jacinto Colan; Ana Davila; Yasuhisa Hasegawa (MHS, 2023)

Single Actuator Tendon Driven Two Finger Linkage Gripper with Strong Pinch and Adaptable Cylindrical Grasp. - Jayant Unde; Jacinto Colan; Yaonan Zhu; Tadayoshi Aoyama; Yasuhisa Hasegawa (RO-MAN, 2023)

Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees. - Khusniddin Fozilov; Jacinto Colan; Kosuke Sekiyama; Yasuhisa Hasegawa (IEEE Access, 2023)

OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools. - Jacinto Colan; Ana Davila; Yaonan Zhu; Tadayoshi Aoyama; Yasuhisa Hasegawa (IEEE Access, 2023)

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots. - Jacinto Colan; Ana Davila; Khusniddin Fozilov; Yasuhisa Hasegawa (Sensors, 2023)

Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery. - Khusniddin Fozilov; Jacinto Colan; Ana Davila; Kazunari Misawa; Jie Qiu; Yuichiro Hayashi; Kensaku Mori; Yasuhisa Hasegawa (Sensors, 2023)

A hierarchical framework for collision avoidance in robot-assisted minimally invasive surgery. - Jacinto Colan; Ana Davila; Khusniddin Fozilov; Yasuhisa Hasegawa (CBS, 2024)

Variable Step Sizes for Iterative Jacobian-Based Inverse Kinematics of Robotic Manipulators. - Jacinto Colan; Ana Davila; Yasuhisa Hasegawa (IEEE Access, 2024)

Constrained Motion Planning for a Robotic Endoscope Holder based on Hierarchical Quadratic Programming. - Jacinto Colan; Ana Davila; Yasuhisa Hasegawa (CoRR, 2024)

Task segmentation based on transition state clustering for surgical robot assistance. - Yutaro Yamada; Jacinto Colan; Ana Davila; Yasuhisa Hasegawa (CoRR, 2024)

Manipulability maximization in constrained inverse kinematics of surgical robots. - Jacinto Colan; Ana Davila; Yasuhisa Hasegawa (CoRR, 2024)

Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation. - Jacinto Colan; Keisuke Sugita; Ana Davila; Yutaro Yamada; Yasuhisa Hasegawa (CoRR, 2024)

Voice control interface for surgical robot assistants. - Ana Davila; Jacinto Colan; Yasuhisa Hasegawa (CoRR, 2024)

Comparison of fine-tuning strategies for transfer learning in medical image classification. - Ana Davila; Jacinto Colan; Yasuhisa Hasegawa (Image Vis. Comput., 2024)

Real-time inverse kinematics for robotic manipulation under remote center-of-motion constraint using memetic evolution. - Ana Davila; Jacinto Colan; Yasuhisa Hasegawa (J. Comput. Des. Eng., 2024)

Latent regression based model predictive control for tissue triangulation. - Songtao Liu; Jacinto Colan; Yaonan Zhu; Taisuke Kobayashi; Kazunari Misawa; Masaru Takeuchi; Yasuhisa Hasegawa (Adv. Robotics, 2024)

Multimodal semi-supervised learning for online recognition of multi-granularity surgical workflows. - Yutaro Yamada; Jacinto Colan; Ana Davila; Yasuhisa Hasegawa (Int. J. Comput. Assist. Radiol. Surg., 2024)

Development of a compliant gripper for safe robot-assisted trouser dressing-undressing. - Jayant Unde; Takumi Inden; Yuki Wakayama; Jacinto Colan; Yaonan Zhu; Tadayoshi Aoyama; Yasuhisa Hasegawa (Adv. Robotics, 2024)

Design, Modeling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric. - Jayant Unde; Jacinto Colan; Yasuhisa Hasegawa (IEEE Robotics Autom. Lett., 2024)

Bio-Inspired Fine-Tuning for Selective Transfer Learning in Image Classification. - Ana Davila; Jacinto Colan; Yasuhisa Hasegawa (IEEE Access, 2025)

IST-ROS: A flexible object segmentation and tracking framework for robotics applications. - Khusniddin Fozilov; Yutaro Yamada; Jacinto Colan; Yaonan Zhu; Yasuhisa Hasegawa (SoftwareX, 2025)

Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism. - Jayant Unde; Jacinto Colan; Yasuhisa Hasegawa (IEEE Robotics Autom. Lett., 2025)

Human-Robot collaboration in surgery: Advances and challenges towards autonomous surgical assistants. - Jacinto Colan; Ana Davila; Yutaro Yamada; Yasuhisa Hasegawa (CoRR, 2025)

LLM-based ambiguity detection in natural language instructions for collaborative surgical robots. - Ana Davila; Jacinto Colan; Yasuhisa Hasegawa (CoRR, 2025)

Beyond Single Models: Enhancing LLM Detection of Ambiguity in Requests through Debate. - Ana Davila; Jacinto Colan; Yasuhisa Hasegawa (CoRR, 2025)

Assessing the Value of Visual Input: A Benchmark of Multimodal Large Language Models for Robotic Path Planning. - Jacinto Colan; Ana Davila; Yasuhisa Hasegawa (CoRR, 2025)