A simplified whole-body haptic sensing system with multiple supporting points. - Ryosuke Hanyu; Toshiaki Tsuji; Shigeru Abe (AMC, 2010)

Command recognition based on haptic information for a robot arm. - Ryosuke Hanyu; Toshiaki Tsuji; Shigeru Abe (IROS, 2010)

Fault tolerance measurement using a six-axis force/torque sensing system with redundancy. - Toshiaki Tsuji; Ryosuke Hanyu (IROS, 2010)