Micro in-pipe mobile machines by making use of an electro-rheological fluid. - Yutaka Kondoh; Shinichi Yokota (IROS, 1997)

Movable electrode-type ER actuators (proposal of linear-type and rotary-type METERA). - Yutaka Kondoh; Shinichi Yokota (IROS, 1999)

Micromotor Using Electroconjugate Fluid (Fabrication of Inner Diameter 2mm RE type ECF Motor). - Shinichi Yokota; Masakazu Hirata; Yutaka Kondoh; Koichi Suzumori; Atsushi Sadamoto; Yasufumi Otsubo; Kazuya Edamura (J. Robotics Mechatronics, 2001)