A predictive instantaneous-current PWM controlled rectifier with AC-side harmonic current reduction. - Yasuyuki Nishida; Osamu Miyashita; Toshimasa Haneyoshi; Hideo Tomita; Akeshi Maeda (IEEE Trans. Ind. Electron., 1997)

Robot arm imitated mechanism of bi-articular muscles using antagonism multi-motor drives. - Atsushi Umemura; Toshimasa Haneyoshi; Yukio Saito (RO-MAN, 2005)

The rigidity of the bi-articular robotic arm with a planetary gear. - Atsushi Umemura; Yukio Saito; Toshimasa Haneyoshi (AMC, 2010)

Tip force dependence on placed bi-articular motor using planetary gear. - Atsushi Umemura; Toshimasa Haneyoshi (Int. J. Mechatronics Autom., 2013)