Three-dimensional bio-micromanipulation. - Akiko Kawaji; Fumihito Arai; Tomohiko Sugiyama; Toshio Fukuda (Adv. Robotics, 1998)

Micro Tri-Axial Force Sensor for 3D Bio-Micromanipulation. - Fumihito Arai; Tomohiko Sugiyama; Toshio Fukuda; Hitoshi Iwata; Kouichi Itoigawa (ICRA, 1999)

3D Viewpoint Selection and Bilateral Control for Bio-Micromanipulation. - Fumihito Arai; Tomohiko Sugiyama; Poom Luangjarmekorn; Akiko Kawaji; Toshio Fukuda; Kouichi Itoigawa; Atsushi Maeda (ICRA, 2000)