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Papers

International

[1] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi:
"New Nonlinear Tracking Differential-estimators: Theory and Practice,"
International Journal of Innovative Computing, Information and Control, vol. 8, no. 10, pp. 0, Oct, 2012.

[2] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi:
"Haptic Transmission by Weighting Control Under Time-varying Communication Delay,"
IET Control Theory and Applications, vol. 6, no. 3, pp. 420-429, Feb, 2012.

[3] Sho Sakaino, Tomoya Sato, and Kouhei Ohnishi:
"Multi-DOF Micro-Macro Bilateral Controller Using Oblique Coordinate Control,"
IEEE Transactions on Industrial Informatics, vol. 7, no. 3, pp. 446-454, Aug, 2011.

[4] Hiroaki Kuwahara, Tomoyuki Shimono, Hiroaki Tanaka, and Kouhei Ohnishi:
"Abstraction of Action Components Unconstrained by Alignment of Haptic Sensing Points,"
IEEE Transaction on Industrial Electronics, vol. 58, no. 8, pp. 3196-3204, Aug, 2011.

[5] Sho Sakaino, Tomoya Sato, and Kouhei Ohnishi:
"Precise Position/Force Hybrid Control with Modal Mass Decoupling and Bilateral Communication Between Different Structurel,"
IEEE Transactions on Industrial Informatics, vol. 7, no. 2, pp. 266-276, May, 2011.

[6] Tomoya Sato, Sho Sakaino, and Kouhei Ohnishi:
"Walking Trajectory Planning on Stairs Using Virtual Slope for Biped Robots,"
IEEE Transaction on Industrial Electronics, vol. 58, no. 4, pp. 1385-1396, Apr, 2011.


Japanese

[1] 中島悠, 野崎貴裕, 小山田雄仁, 大西公平:
"視覚情報を用いた物体座標系におけるバイラテラル制御,"
電気学会論文誌産業応用部門誌, vol. 132, no. 3, pp. 374-380, Mar, 2012.

[2] 斉藤佑貴, 元岡渉, 野崎貴裕, 矢代大祐, 大西公平:
"レキシブルアクチュエータを用いた二関節筋機構を備えた2リンクマニピュレータの開発,"
電気学会論文誌産業応用部門誌, vol. 132, no. 3, pp. 397-403, Mar, 2012.

Conferences

International

[1] Emre Sariyildiz, Davide Cattine, and Kouhei Ohnishi:
"Improving the Performace of Higher Order Disturbance Observers: A Position Approach,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[2] Kazuki Tanida, Takahiro Mizoguchi, Fumiya Mitome, and Kouhei Ohnishi:
"Function Separation for 2-DOF Haptic Surgical Forceps Robots Driven by Multi Drive Linear Motors,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[3] Haruya Sato, Takahiro Mizoguchi, Fumiya Mitome, and Kouhei Ohnishi:
"Separated Master System to Decrease Operational Force of Bilateral Control,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[4] Fumiya Mitome, and Kouhei Ohnishi:
"Data Transmission Using Motion Setection Based on Sigma-delta Modulation for Bilateral Control,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[5] Uichiro Nishio, Takahiro Nozaki, and Kouhei Ohnishi:
"A Method of Joint Torque Control for a Tendon-driven System,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[6] Takahiro Mizoguchi, Takahiro Nozaki, and Kouhei Ohnishi:
"Scaling Bilateral Controls with Impedance Transmission Using Transfer Admittance,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[7] Yu Nakajima, Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi:
"Transparency Analysis of Motion Canceling Bilateral Control Under Sensing Constraints,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[8] Tomoko Kawase, Keita Shimamoto, Kazuki Tanida, and Kouhei Ohnishi:
"Application of Tension Control into Linear Motor-actuated Cable Differential-driven Joint,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[9] Yuki Saito, Takahiro Nozaki, and Kouhei Ohnishi:
"Model-based Compensation of Wire Elongation for Tendon-driven Rotary Actuator,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[10] Takahiko Sato, Hisashi Ono, and Kouhei Ohnishi:
"Gyroscope Integrated Environmental Mode Compliance Control for Biped Robot,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[11] Hisashi Ono, Takahiko Sato, and Kouhei Ohnishi:
"Falling Risk Evaluation Based on Plantar Contact Points for Biped Robot,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[12] Midori Miyagi, and Kouhei Ohnishi:
"Micro Macro Bilateral Control in The Frequency Domain,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[13] Keisuke Sugawara, and Kouhei Ohnishi:
"Development of Actively-controllable Endoscopic Forceps,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[14] Mariko Mizuochi, and Kouhei Ohnishi:
"Coding and Decoding Scheme for Wide-band Bilateral Teleoperation,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[15] Takahiro Nozaki, Takahiro Mizoguchi, and Kouhei Ohnishi:
"Position/Force Decoupling for Micro-macro Bilateral Control Based on Modal Space Disturbance Observer,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[16] Shinnosuke Yamaoka, Takahiro Nozaki, Daisuke Yashiro, and Kouhei Ohnishi:
"Acceleration Control of Stacked Piezoelectric Actuator Utilizing Disturbance Observer and Reaction Force Observer,"
in Proc. 12th IEEE International Workshop on Advanced Motion Control, AMC, Sarajevo, Bosnia and Herzegovina, 25th Mar - 27th Mar, 2012.

[17] Takahiro Mizoguchi, Daisuke Yashiro, and Kouhei Ohnishi:
"Experimental Evaluation of Transformer Gyrator Switching Bilateral Control,"
in Proc. 37th Annual Conference of the IEEE Industrial Electronics Society, IES, Melbourne, Australia, 7th Nov - 10th Nov, 2011.

[18] Takahiko Sato, and Kouhei Ohnishi:
"Walking Trajectory Modification with Gyroscope for Biped Robot on Uneven Terrain,"
in Proc. 20th IEEE International Symposium on Industrial Electronics, ISIE, Gdansk, Poland, 27th Jun - 30th Jun, 2011.

[19] Keiji Okuda, Yusuke Suzuki, and Kouhei Ohnishi:
"Improvements in Motion Learning System Using Force Reverse Presentation Control with Variable Force and Time,"
in Proc. 20th IEEE International Symposium on Industrial Electronics, ISIE, Gdansk, Poland, 27th Jun - 30th Jun, 2011.

[20] Takahiro Mizoguchi, Yusuke Kasahara, Daisuke Yashiro, and Kouhei Ohnishi:
"Modal Transformation in Transformer Gyrator Integrated Type Bilateral Control,"
in Proc. 20th IEEE International Symposium on Industrial Electronics, ISIE, Gdansk, Poland, 27th Jun - 30th Jun, 2011.

[21] Keisuke Sugawara, Yusuke Suzuki, Daisuke Yashiro, and Kouhei Ohnishi:
"Performance Evaluation of Thrust Wires for Application to Endoscopic Forceps,"
in Proc. 20th IEEE International Symposium on Industrial Electronics, ISIE, Gdansk, Poland, 27th Jun - 30th Jun, 2011.

[22] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi:
"Frequency-domain Analysis of Wave Variable Based Teleoperation and Its Equivalent Implementation,"
in Proc. 1st International Symposium on Access Spaces, ISAS, Kanagawa, Japan, 17th Jun - 19th Jun, 2011.

[23] Daisuke Yashiro, and Dapeng Tian:
"Transparency of Centralized Controller based Bilateral Control,"
in Proc. 1st International Symposium on Access Spaces, ISAS, Kanagawa, Japan, 17th Jun - 19th Jun, 2011.

[24] Mari Kawamoto, and Kouhei Ohnishi:
"A Method for Estimation of Operational Torque with Utilizing a Hysteresis Model,"
in Proc. 1st International Symposium on Access Spaces, ISAS, Kanagawa, Japan, 17th Jun - 19th Jun, 2011.

[25] Hisashi Ono, Tomoya Sato, and Kouhei Ohnishi:
"Balance Recovery of Ankle Strategy: Using Knee Joint for Biped Robot,"
in Proc. 1st International Symposium on Access Spaces, ISAS, Kanagawa, Japan, 17th Jun - 19th Jun, 2011.

[26] Kazuki Tanida, Takahiro Mizoguchi, Daisuke Yashiro, Kouhei Ohnishi, Naoki Shimojima, and Yasuhide Morikawa:
"Measuring Stiffness of Organs Using 2-dof Haptic Surgical Forceps Robots,"
in Proc. 1st International Symposium on Access Spaces, ISAS, Kanagawa, Japan, 17th Jun - 19th Jun, 2011.

[27] Syo Sakaino, Tomoya Sato, and Kouhei Ohnishi:
"Velocity Constrained Mobile-hapto by Coordinate Transformation,"
in Proc. 1st International Symposium on Access Spaces, ISAS, Kanagawa, Japan, 17th Jun - 19th Jun, 2011.

[28] Tomoya Sato, Syo Sakaino, and Hisashi Ono:
"Motion Reproduction System of Manipulating and Grasping Motion for Grasping Objects of Unknown Size,"
in Proc. 1st International Symposium on Access Spaces, ISAS, Kanagawa, Japan, 17th Jun - 19th Jun, 2011.

[29] Takahiro Nozaki, Yusuke Suzuki, and Kouhei Ohnishi:
"Motion Recognition Using DP Matching Based on Position and Force Information,"
in Proc. 4th Conference on Human System Interaction, HSI, Kanagawa, Japan, 19th May - 21st May, 2011.

[30] Fumiya Mitome, and Kouhei Ohnishi:
"Bilateral Control With Bluetooth and Its Evaluation,"
in Proc. 4th Conference on Human System Interaction, HSI, Kanagawa, Japan, 19th May - 21st May, 2011.

[31] Dapeng Tian, Daisuke Yashiro, and Kouhei Ohnishi:
"A Novel Sliding Mode Assist Disturbance Observer,"
in Proc. IEEE International Conference on Mechatronics, ICM2012, Istanbul, Turkey, 12th Apr - 15th Apr, 2011.


Japanese

[1] 松実良知, 中島悠, 山岡紳之助, 大西公平:
"圧電バイモルフを用いた力センサレスミクロマクロバイラテラル制御,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[2] 山岡紳之介, 大西公平:
"外乱オブザーバを用いた積層型圧電アクチュエータの加速度制御,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[3] 渡邊権人, 大西公平:
"回転モータを用いた2自由度力覚呈示球状インタフェースの開発及び検証,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[4] 中島悠, 大西公平:
"カルマンフィルタを用いた環境同期型バイラテラル制御の性能向上,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[5] 谷田和貴, 溝口貴弘, 大西公平:
"マルチ駆動を用いた把持・左右動作鉗子ロボットの開発,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[6] 溝口貴弘, 野崎貴裕, 大西公平:
"伝達インピーダンス・アドミタンスを含むバイラテラル制御系の設計法,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[7] 佐藤晴哉, 大西公平:
"バイラテラル制御の操作性向上のためのアクチュエータ分離型マスタロボットシステム,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[8] 金子伸行, 富樫信之, 八田禎之, 下野誠通, 元井直樹, 藤本康孝, 谷田和貴, 大西公平:
"マルチ駆動マスタ・スレーブ一体型ハプティック鉗子のための機能に基づくスケーリングバイラテラル制御,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[9] 野崎貴裕, 溝口貴弘, 斉藤佑貴, 中野智啓, 大西公平:
"身体座標系と機能に基づくバイラテラル制御手法,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[10] 中野智啓, 佐藤晴哉, 斉藤佑貴, 野崎貴裕, 大西公平:
"腱駆動マスタ・スレーブ型ロボットハンドの把持動作を考慮した腱配置とバイラテラル制御,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[11] 兪浩洋, 斉藤佑貴, 笠原佑介, 河奈裕正, 臼田慎, 大西公平:
"ロボットドリル切削システムを用いた反力推定オブザーバに基づく骨密度の推定,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[12] 嶌本慶太, 谷田和貴, 野崎貴裕, 大西公平:
"腱駆動による球体関節機構の運動制御および張力制御,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[13] 斉藤佑貴, 野崎貴裕, 中野智啓, 大西公平:
"4要素粘弾性モデルに基づく腱駆動回転アクチュエータにおける糸伸長の解析と補償,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[14] 西尾宇一郎, 大西公平:
"腱駆動機構における関節トルク制御の一手法,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[15] 川瀬智子, 大西公平:
"リニアモータを用いたケーブル式差動装置のための張力推定に関する一考察,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[16] 水落麻里子, 大西公平:
"周波数解析に基づく符号化を用いたネットワークバイラテラル制御,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[17] 鈴木大貴, 川瀬智子, 大西公平:
"スキルのハプティック情報を利用した段階的トレーニング手法,"
平成23年度電気学会産業計測制御研究会資料, 神奈川, 6th Mar - 7th Mar, 2012.

[18] 臼田慎, 大西公平, 笠原佑介, 中島悠, 中川種昭, 河奈裕正:
"感覚のデータ化と遠隔感知を可能にする骨ドリルの開発と評価,"
第15回 日本顎顔面インプラント学会総会・学術大会, 幕張, 3rd Dec - 4th Dec, 2011.

[19] 中島悠, 野崎貴裕, 大西公平, 森川康英, 小澤壯治:
"２自由度鉗子ロボットにおけるモーションキャンセリングを伴うバイラテラル制御,"
日本コンピュータ外科学会誌, 神奈川, 22nd Nov - 24th Nov, 2011.

[20] 水落麻里子, 大西公平:
"広帯域触覚伝達のためのデータ符号化・復号化,"
日本コンピュータ外科学会誌, 神奈川, 22nd Nov - 24th Nov, 2011.

[21] 野崎貴裕, 溝口貴弘, 大西公平, 森川康英, 小澤壯治:
"遠隔操作ロボットによる環境剛性の増幅伝達,"
日本コンピュータ外科学会誌, 神奈川, 22nd Nov - 24th Nov, 2011.

[22] 溝口貴弘, 野崎貴裕, 大西公平, 森川康英, 小澤壯治:
"異構造システムのための作業空間TGIバイラテラル制御法,"
日本コンピュータ外科学会誌, 神奈川, 22nd Nov - 24th Nov, 2011.

[23] 斉藤佑貴, 野崎貴裕, 大西公平, 森川康英, 小澤壯治:
"腱駆動型回転アクチュエータのスケーリングバイラテラル制御,"
日本コンピュータ外科学会誌, 神奈川, 22nd Nov - 24th Nov, 2011.

[24] 川本茉莉, 大西公平:
"静止摩擦を考慮した操作力推定のための一手法,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[25] 野崎貴裕, 大西公平:
"斜交座標制御による腱駆動回転アクチュエータの回転角・張力制御,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[26] 菅原佳祐, 大西公平:
"フレキシブルアクチュエータを応用した内視鏡鉗子の開発と胃がんモデルを用いた触診実験,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[27] 奥田桂史, 大西公平:
"操作対象の周辺環境を考慮した環境インピーダンスの動的推定法,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[28] 三留郁弥, 大西公平:
"曲率エントロピーに基づいたデータ送信のためのモーションの定量化,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[29] 水落麻里子, 大西公平:
"ネットワーク経由バイラテラル遠隔操作における信号送信方法,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[30] 斉藤佑貴, 大西公平:
"二関節筋機構を持った2リンクマニピュレータにおけるトルク分配問題の新解法,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[31] 境野翔, 佐藤智矢, 大西公平:
"モバイルハプトにおける位置と速度の階層的拘束の実現,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[32] 大野尚史, 大西公平:
"二足歩行ロボットにおける上体加速度に基づいた切り換えバランス制御,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[33] 佐藤貴彦, 大西公平:
"不整地におけるジャイロセンサを用いた2足歩行ロボットの歩行軌道修正およびコンプライアンス制御,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[34] 宮垣翠, 大西公平:
"冗長系斜交制御を用いた高周波帯域スケーリングバイラテラル制御,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[35] 溝口貴弘, 矢代大祐, 大西公平:
"加速度に基づくバイラテラル制御系の実験的周波数解析,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

[36] 中島悠, 野崎貴裕, 大西公平:
"バイラテラル制御におけるモーションキャンセリング手法,"
平成23年度電気学会産業応用部門大会講演論文集, 沖縄, 6th Sep - 8th Sep, 2011.

Other Achievements

Press Report

[1] 大西公平:
"膜貫通の瞬間も判別　慶大が鉗子システム　直径2.3mm世界最小級,"
日刊工業新聞　朝刊1面, 10th Jan, 2012.

[2] 大西公平:
"触覚メディアリアリティを増幅する最新技術,"
ガリレオX　BSフジ, 13th Nov, 2011.

[3] 大西公平:
"人の指先の動き再現　慶大が2本指ロボ開発,"
日経産業新聞　朝刊11面, 29th Sep, 2011.

[4] 大西公平:
"ITが導く医の進化論　人工知能，難手術に挑む　熟練医の右腕に，成功率向上,"
日経産業新聞　朝刊１面, 15th Sep, 2011.

[5] 大西公平:
"介護・医療　感触伝達　内臓を傷つけず手術支援,"
日刊工業新聞　朝刊20面, 7th Apr, 2011.



Invited Lecture

[1] Daisuke Yashiro and Kouhei Ohnishi:
"Haptic forceps for surgical robot,"
IEEE-World Haptics conference, Istanbul, 21st Jun, 2012.

[2] Kouhei Ohnishi:
"Real world haptics - a door to new mutimedia -,"
The 17th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, Toyama, 31st Aug, 2011.

[3] Kouhei Ohnishi:
"Robotic surgery based on real world haptics,"
IEEE International Conference on Mechatronics, Istanbul, 15th Apr, 2011.



Award

[1] 野崎貴裕:
慶應義塾大学優秀研究活動賞(修士),
慶応義塾大学, 29th Mar, 2012.

[2] 兪浩洋:
畠山賞,
機械学会, 26th Mar, 2012.

[3] 境野翔:
優秀論文発表賞, "モバイルハプトにおける位置と速度の階層的拘束の実現,"
電気学会産業計測制御技術委員会, 12th Jan, 2012.

[4] 佐藤貴彦:
部門優秀論文発表賞, "不整地適応のための2足歩行ロボットの段差高さに基づいた可変コンプライアンス制御,"
電気学会産業応用部門, 7th Sep, 2011.

[5] 境野翔:
電気学会産業応用部門誌　論文賞, "斜交座標制御を用いた高度なハイブリッド制御の実現,"
電気学会, 7th Sep, 2011.

[6] Mari Kawamoto:
The Best Paper Award, "A method for estimation of operational torque considering of asymmetric property on bilateral control,"
4th International Conference on Human System Interactions, 19th Jun, 2011.

[7] Mari Kawamoto:
Best Presentation Award, "A method for estimation of operational torque considering of asymmetric property on bilateral control,"
4th International Conference on Human System Interactions, 19th Jun, 2011.

[8] Takahiro Nozaki:
The Best Paper Award, "Motion Recognition Using DP Matching Based on Position and Force Information,"
in Proc. 4th Conference on Human System Interaction, 21st May, 2011.