Velocity Dependence of the Characteristics of Harmonic Drive Built-in Torque Sensing. - Minoru Hashimoto; Takashi Ishizuka; Ivan Godler; Masashi Horiuchi (ICRA, 2000)

Improved performance of built-in torque sensing for harmonic drives. - Ivan Godler; Tamotsu Ninomiya; Masashi Horiuchi; Minoru Hashimoto (IROS, 2000)

Ripple compensation for torque sensors built into harmonic drives. - Ivan Godler; Tamotsu Ninomiya; Masashi Horiuchi (IEEE Trans. Instrum. Meas., 2001)

Emotional arousal with 3D images and effects on time perception. - Takashi Kawai; Risako Hama; Masashi Horiuchi (SD&A, 2016)