Control of Impact for a Hammering Robot Using a Flexible Link. - Teruyuki Izumi; Yoshikazu Hitaka (Robotics, Mechatronics and Manufacturing Systems, 1993)

Control of a flexible link hammer in a gravitational field and its application to a home robot tapping human shoulders. - Teruyuki Izumi; Yoshikazu Hitaka (IROS, 1993)

Minimum energy driving a flexible link hammer using neural networks. - Yoshikazu Hitaka; Teruyuki Izumi (IROS (3), 1995)

Hitting from any direction in 3-D space by a robot with a flexible link hammer. - Teruyuki Izumi; Yoshikazu Hitaka (IEEE Trans. Robotics Autom., 1997)