The effects of joint flexibility on robot motion control based on joint torque positive feedback. - Minoru Hashimoto; Toshiro Horiuchi; Yoshihide Kiyosawa; Hideki Hirabayashi (ICRA, 1991)

A joint torque sensing technique for robots with harmonic drives. - Minoru Hashimoto; Yoshihide Kiyosawa; Hideki Hirabayashi; Richard P. Paul (ICRA, 1991)

A torque sensing technique for robots with harmonic drives. - Minoru Hashimoto; Yoshihide Kiyosawa; Richard P. Paul (IEEE Trans. Robotics Autom., 1993)

Experimental study on torque control using Harmonic Drive built-in torque sensors. - Minoru Hashimoto; Yoshihide Kiyosawa (J. Field Robotics, 1998)

Development and Analysis of Actuator with ER Damper. - Naoyuki Takesue; Guoguang Zhang; Masamichi Sakaguchi; Junji Furusho; Yoshihide Kiyosawa (ICRA, 2000)