Human intention based physical support robot system in assembling work. Extraction of behaviour support trigger from "Work Triangle". - Yasuhisa Hayakawa; Ikuo Kitagishi; Shigeki Sugano (IROS, 1998)

A Robotic Co-Operation System Based on a Self-Organization Approached Human Work Model. - Yasuhisa Hayakawa; Tetsuya Ogata; Shigeki Sugano (ICRA, 2000)

Assembly Support Based on Human Model -Provision of Physical Support According to Implicit Desire for Support-. - Yasuhisa Hayakawa; Ikuo Kitagishi; Yusuke Kira; Kensuke Satake; Tetsuya Ogata; Shigeki Sugano (J. Robotics Mechatronics, 2000)