1. [4] S. Hirose, T. Kado and Y. Umetani: “Tensor Actuated Elastic Manipulator,” Proc. of 6th World Congress on Theory of Machines and Mechanisms, pp.978–981, 1983.
2. [5] N. Endo, T. Kojima, K. Endo, F. Iida, K. Hashimoto and A. Takanishi: “Development of Anthropomorphic Soft Robotic Hand WSH-1RII,” Proc. of the 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, pp.175–182, 2012.
3. [6] R.J. Webster III and B.A. Jones: “Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review,” The International Journal of Robotics Reasearch, vol.29, no.13, pp.1661–1683, 2010.
4. [7] J. Jung, R.S. Penning, N.J. Ferrier and M.R. Zinn: “A Modeling Approach for Continuum Robotic Manipulators: Effects of Nonlinear Internal Device Friction,” 2011 IEEE/RSJ Internation Conference on Intelligent Robots and Systems, pp.5139–5146, 2011.
5. [10] K. Hsiao, H. Mochiyama and T. Takei: “A Study on Planar Non-constant Curvature Model for Continuum Manipulator with Rubber Skin Layer including Pulling-wire Mechanism,” Proc. of the 6th International Conference on Advanced Mechatronics (ICAM2015), pp.56–57, 2015.