Estimation mechanism of contact information for a soft robot. - Takashi Takuma; Ken Takamine; Tatsuya Masuda (ROBIO, 2011)

Robust sensing of contact information for detection of the physical properties of an object. - Takashi Takuma; Ken Takamine; Tatsuya Masuda (IROS, 2012)

Sensing mechanism for estimation of the physical properties of an object avoiding failure of the sensors. - Takashi Takuma; Ken Takamine; Tatsuya Masuda (Adv. Robotics, 2014)