An identification procedure for rate-dependent friction laws of robotic manipulator with limited motion range. - Masayoshi Iwatani; Ryo Kikuuwe (ASCC, 2015)

An external force estimator using elastoplastic friction model with improved static friction behavior. - Masayoshi Iwatani; Ryo Kikuuwe (ICARCV, 2016)

An elastoplastic friction force estimator and its application to external force estimation and force-sensorless admittance control. - Masayoshi Iwatani; Ryo Kikuuwe (SII, 2016)