Motion planning of truss-type robot: acquisition and representation of criterion by modular neural network. - Masao Tanaka; Kazuyuki Hanahara (IROS, 1991)

Simulation study of dynamic properties and nodal offset of truss-type parallel mechanism. - Masao Tanaka; Kazuyuki Hanahara (Robotics, Mechatronics and Manufacturing Systems, 1993)

Human-robot communication by means of hand-clapping (preliminary experiment with hand-clapping language). - Kazuyuki Hanahara; Yukio Tada; Takashi Muroi (SMC, 2007)

Human-Robot Communication with Hand-Clapping Language (Consideration from Communication Impedance Matching Viewpoint). - Kazuyuki Hanahara; Yukio Tada (J. Comput., 2008)