On pairs of subrings with a common set of proper ideals. - Yasuyuki Hirano; Hisaya Tsutsui (Int. J. Math. Math. Sci., 2005)

Design of low-cost and easy-assemblable robotic hands with stiff and elastic gear trains. - Yasuyuki Hirano; Kensaku Akiyama; Ryuta Ozawa (IROS, 2016)

Positive Solutions to Some Systems of Diophantine Equations. - Christopher Briggs; Yasuyuki Hirano; Hisaya Tsutsui (J. Integer Seq., 2016)

Design of a Transmission With Gear Trains for Underactuated Mechanisms. - Ryuta Ozawa; Yuuki Mishima; Yasuyuki Hirano (IEEE Trans. Robotics, 2016)