Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts. - Takahiro Inoue; Sizuka Yamamoto; Ryuichi Miyata; Shinichi Hirai (IROS, 2015)

Fictitious Target-Trajectory Forming Control for Redundant Manipulator and Active Regulation of Impulsive Forces. - Takahiro Inoue; Ryuichi Miyata; Shinichi Hirai (J. Robotics Mechatronics, 2015)

Force control on antagonistic Twist-drive Actuator robot. - Takahiro Inoue; Ryuichi Miyata; Shinichi Hirai (IROS, 2016)

Antagonistically Twisted Round Belt Actuator System for Robotic Joints. - Takahiro Inoue; Ryuichi Miyata; Shinichi Hirai (J. Robotics Mechatronics, 2016)