@book{CTT100840419,
  author = {Kentaro Takagi and Norihiro. Kamamichi and Ken Masuya and Kenji Tahara and Toshihira Irisawa and Kinji Asaka},
  title = {Cahpter 32: Modeling and Control of Fishing-line/Sewing-thread Artificial Muscles (Twisted and Coiled Polymer Fibers, TCPFs)},
  publisher = {},
  year = 2019,
}

@book{CTT100788874,
  author = {舛屋賢 and 高木賢太郎 and 田原健二},
  title = {釣糸人工筋肉のモデルベースド制御に向けた巨視的モデリング},
  publisher = {シーエムシー出版},
  year = 2019,
}

@article{CTT100917648,
  author = {岡田昌史 and 渡邊和喜 and 舛屋 賢},
  title = {制御系で安定化された状態空間の速度場に低感度な最小動力学パラメータの確率的同定},
  journal = {日本機械学会論文集},
  year = 2022,
}

@article{CTT100917650,
  author = {岡田昌史 and ユウアレン and 舛屋 賢},
  title = {障害物回避と軌道への収束のための領域アトラクタによる人機械協調カート制御},
  journal = {日本機械学会論文集},
  year = 2022,
}

@article{CTT100851810,
  author = {Kentaro Takagi and Hiroki Iwai and Chihaya Oiwa and Toshihira Irisawa and Masatoshi Shioya and Ken Masuya and Kenji Tahara and Daichi Sakurai and Haruhiko Watanabe and Kinji Asaka},
  title = {Modeling and characterization for straight twisted polymer fiber actuators in blocked torsion: effect of radial thermal expansion},
  journal = {Smart Materials and Structures},
  year = 2021,
}

@article{CTT100851808,
  author = {Ken Masuya and Kenji Tahara},
  title = {Novel Twisted and Coiled Polymer Fiber Actuator Fabricated from Polymer-coated Optical Fiber},
  journal = {IEEE Robotics and Automation Letters},
  year = 2021,
}

@article{CTT100851804,
  author = {岡田 昌史 and ユウ アレン and 舛屋 賢},
  title = {人間支援による車輪移動系の軌道収束制御},
  journal = {日本機械学会論文集},
  year = 2020,
}

@article{CTT100840423,
  author = {Ken Masuya},
  title = {Low-cost Coil-shaped Optical Fiber Displacement Sensor for a Twisted and Coiled Polymer Fiber Actuator Unit},
  journal = {IEEE Robotics and Automation Letters},
  year = 2020,
}

@article{CTT100851801,
  author = {岡田 昌史 and 岡本 裕 and 舛屋 賢},
  title = {人の操作モデルと拡張カルマンフィルタによる状態推定を用いた掘削の半自律制御},
  journal = {日本機械学会論文集},
  year = 2020,
}

@article{CTT100793945,
  author = {Kenji Tahara and Ryo Hayashi and Ken Masuya and Kentaro Takagi and Toshihira Irisawa and Takuma Yamauchi and Eitaro Tanaka},
  title = {Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback},
  journal = {IEEE Robotics and Automation Letters},
  year = 2019,
}

@article{CTT100798120,
  author = {Hayashi, R. and Masuya, K. and Takagi, K. and Irisawa, T. and Fujino, R. and Yamauchi, T. and Tanaka, E. and Tahara, K.},
  title = {Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback},
  journal = {IEEE Robotics and Automation Letters},
  year = 2019,
}

@article{CTT100770733,
  author = {Ken Masuya and Shu Ono and Kentaro Takagi and Kenji Tahara},
  title = {Feedforward Control of Twisted and Coiled Polymer Actuator based on a Macroscopic Nonlinear Model Focusing on Energy},
  journal = {IEEE Robotics and Automation Letters},
  year = 2018,
}

@article{CTT100761368,
  author = {Ken Masuya and Shu Ono and Kentaro Takagi and Kenji Tahara},
  title = {Modeling framework for macroscopic dynamics of twisted and coiled polymer actuator driven by Joule heating focusing on energy and convective heat transfer},
  journal = {Sensors and Actuators, A: Physical},
  year = 2017,
}

@article{CTT100761372,
  author = {Ken Masuya and Tomomichi Sugihara},
  title = {COM motion estimation of a biped robot based on kinodynamics and torque equilibrium},
  journal = {Advanced Robotics},
  year = 2016,
}

@article{CTT100761375,
  author = {Ken Masuya and Tomomichi Sugihara},
  title = {Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation},
  journal = {Advanced Robotics},
  year = 2015,
}

@article{CTT100761400,
  author = {杉原 知道 and 舛屋 賢 and 山本 元司},
  title = {三次元高精度姿勢推定のための慣性センサの線形・非線形特性分離に基づいた相補フィルタ},
  journal = {日本ロボット学会誌},
  year = 2013,
}

@inproceedings{CTT100917670,
  author = {井手祐太 and 舛屋 賢 and 岡田昌史},
  title = {領域アトラクタを用いた膝装具ロボットのAssist-as-Needed制御},
  booktitle = {},
  year = 2022,
}

@inproceedings{CTT100880394,
  author = {大橋匠 and 内山瑛美子 and 干場功太郎 and 舛屋賢 and 三浦智 and 菅原雄介},
  title = {デザインドリブンイノベーションによる未来の支援機器コンセプトの創出},
  booktitle = {LIFE2022講演論文集},
  year = 2022,
}

@inproceedings{CTT100873513,
  author = {定近晋也 and 舛屋賢 and 岡田昌史},
  title = {ベクトル場の次元拡張による車輪移動系の前進・後退半自律制御},
  booktitle = {ロボティクス・メカトロニクス講演会 講演論文集},
  year = 2022,
}

@inproceedings{CTT100917676,
  author = {オジフン and 舛屋 賢 and 岡田昌史},
  title = {感度解析に基づく投擲ロボットの動力学パラメータ誤差同定と投擲の最適化},
  booktitle = {ロボティクス・メカトロニクス講演会 講演論文集},
  year = 2022,
}

@inproceedings{CTT100917673,
  author = {窪田晃稀 and 舛屋賢 and 岡田昌史},
  title = {平行リンクを用いた回転軸フリーなトルク伝達機構と膝装具への応用},
  booktitle = {ロボティクス・メカトロニクス講演会 講演論文集},
  year = 2022,
}

@inproceedings{CTT100917690,
  author = {齋藤健生 and 舛屋 賢 and 岡田昌史},
  title = {人の姿勢変化の誘導による運動教示},
  booktitle = {},
  year = 2021,
}

@inproceedings{CTT100917689,
  author = {井手祐太 and 舛屋 賢 and 岡田昌史},
  title = {回転中心推定を用いた膝装具接触部の力制御},
  booktitle = {},
  year = 2021,
}

@inproceedings{CTT100917688,
  author = {ユウアレン and 舛屋 賢 and 岡田昌史},
  title = {障害物回避と軌道追従の両立のための領域アトラクタによる人機械協調カート制御},
  booktitle = {},
  year = 2021,
}

@inproceedings{CTT100917686,
  author = {大山良行 and 舛屋 賢 and 岡田昌史},
  title = {感度解析に基づく投擲ロボットの動力学パラメータ同定による複数の着地点に対する投擲精度の同時最適化},
  booktitle = {},
  year = 2021,
}

@inproceedings{CTT100917685,
  author = {渡邊和喜 and 舛屋 賢 and 岡田昌史},
  title = {制御系に低感度な最小動力学パラメータの確率的同定},
  booktitle = {},
  year = 2021,
}

@inproceedings{CTT100851796,
  author = {岩井 宏樹 and 高木 賢太郎 and 入澤 寿平 and 塩谷 正俊 and 舛屋 賢 and 田原 健二},
  title = {コイル型釣糸人工筋（TCPF）の粘弾性の温度依存性について},
  booktitle = {},
  year = 2020,
}

@inproceedings{CTT100851794,
  author = {舛屋賢},
  title = {高分子被膜付き光ファイバを用いた高分子繊維アクチュエータの開発},
  booktitle = {},
  year = 2020,
}

@inproceedings{CTT100830271,
  author = {Ken Masuya and Kenji Tahara},
  title = {Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane},
  booktitle = {},
  year = 2020,
}

@inproceedings{CTT100851790,
  author = {黒須 寛明 and 舛屋 賢 and 岡田 昌史},
  title = {柔道の受け身に倣う運動量交換型・撃力非伝達型衝撃緩和機構の設計},
  booktitle = {},
  year = 2020,
}

@inproceedings{CTT100851792,
  author = {舛屋賢},
  title = {釣糸アクチュエータユニットのためのコイル状光ファイバを用いた力センサの検討},
  booktitle = {},
  year = 2020,
}

@inproceedings{CTT100830275,
  author = {Hiroki Iwai and Kentaro Takagi and Chihaya Oiwa and Toshihira Irisawa and Masatoshi Shioya and Ken Masuya and Kenji Tahara and Haruhiko Watanabe and Daichi Sakurai and Kinji Asaka},
  title = {On the fluctuation phenomenon of axial thermal stress of a torsional fishing-line artificial muscle (twisted polymer fiber) actuator},
  booktitle = {},
  year = 2020,
}

@inproceedings{CTT100830273,
  author = {谷嵜 星斗 and 高木 賢太郎 and 田原 健二 and 舛屋 賢 and 入澤 寿平 and 塩谷 正俊 and 安積 欣志},
  title = {収縮型釣糸人工筋（TCPF）のヒステリシスを除去するためのトレーニング方法の考案},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100830274,
  author = {岩井 宏樹 and 高木 賢太郎 and 入澤 寿平 and 塩谷 正俊 and 舛屋 賢 and 田原 健二 and 渡邊 晴彦 and 櫻井 大地 and 安積 欣志},
  title = {ねじり型釣糸人工筋（TPF）のアキシャル方向の変形も考慮したモデル化に向けて},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100830272,
  author = {舛屋賢},
  title = {釣糸アクチュエータのユニット化のための光ファイバを用いた変位センサの検討},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100806799,
  author = {岩井 宏樹 and 高木 賢太郎 and 大岩 千隼 and 入澤 寿平 and 塩谷 正俊 and 舛屋 賢 and 田原 健二 and 渡邊 晴彦 and 櫻井 大地 and 安積 欣志},
  title = {ねじり型釣糸人工筋(TPF)が初期ねじり回数によって収縮もしくは伸長する現象について},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100806797,
  author = {岡本 裕 and 舛屋 賢 and 岡田 昌史},
  title = {非線形力学系を用いた掘削の操作自由度の設計と制御},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100806796,
  author = {谷嵜 星斗 and 高木 賢太郎 and 田原 健二 and 舛屋 賢 and 入澤 寿平 and 塩谷 正俊 and 安積 欣志},
  title = {釣糸人工筋アクチュエータの駆動時における最適荷重に関する調査},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100799564,
  author = {岡本 裕 and 舛屋 賢 and 岡田 昌史},
  title = {アトラクタの要素分割に基づく掘削の軌道と速度のハイブリッド自律制御},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100799563,
  author = {葛谷光平 and 高木賢太郎 and 谷嵜星斗 and 大岩千隼 and 田原健二 and 舛屋賢 and 入澤寿平 and 安積欣志},
  title = {加熱と空冷ファンを用いた釣糸人工筋アクチュエータのPWM制御について},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100799566,
  author = {岩野 航平 and 岡本 裕 and 舛屋 賢 and 岡田 昌史},
  title = {マスタスレーブ系での可変アドミッタンスによる力覚伝達と掘削作業への応用},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100799567,
  author = {ユウ アレン and 舛屋 賢 and 岡田 昌史},
  title = {人間支援による車輪移動系の軌道収束制御},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100799568,
  author = {中塚 大輝 and 舛屋 賢 and 岡田 昌史},
  title = {人の動力特性に基づく力と速度のアシストシステムの設計},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100792000,
  author = {舛屋 賢 and 田原 健二},
  title = {曲面上の柔軟転がり接触を有する平面腱駆動関節のPTP制御},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100793946,
  author = {Hoshito Tanizaki and Kentaro Takagi and Chihaya Oiwa and Ken Masuya and Kenji Tahara and Toshihira Irisawa and Masatoshi Shioya and Kinji Asaka},
  title = {Experimental investigation of temperature-dependent hysteresis of fishing-line artificial muscle (twisted and coiled polymer fiber) actuator},
  booktitle = {},
  year = 2019,
}

@inproceedings{CTT100785087,
  author = {谷嵜 星斗 and 大岩 千隼 and 高木 賢太郎 and 入澤 寿平 and 塩谷 正俊 and 舛屋 賢 and 田原 健二 and 安積 欣志},
  title = {釣糸人工筋アクチュエータの温度依存ひずみ履歴現象のモデル化に向けて},
  booktitle = {第19回計測自動制御学会システムインテグレーション部門講演会予稿集},
  year = 2018,
}

@inproceedings{CTT100785086,
  author = {林 亮 and 舛屋 賢 and 入澤 寿平 and 高木 賢太郎 and 藤野 瑠依 and 山内 拓磨 and 田中 栄太郎 and 田原 健二},
  title = {回転型釣糸人工筋肉アクチュエータを用いた温度推定による２自由度回転角度制御},
  booktitle = {第19回計測自動制御学会システムインテグレーション部門講演会予稿集},
  year = 2018,
}

@inproceedings{CTT100785085,
  author = {林 亮 and 舛屋 賢 and 入澤 寿平 and 高木 賢太郎 and 山内 拓磨 and 田中 栄太郎 and 田原 健二},
  title = {ねじり型ナイロンアクチュエータを用いた温度フィードバックによる角度制御},
  booktitle = {第36回日本ロボット学術講演会予稿集},
  year = 2018,
}

@inproceedings{CTT100784148,
  author = {岡本 裕 and 舛屋 賢 and 岡田昌史},
  title = {拡張カルマンフィルタを用いた人モデルの推定と半自律制御},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100785084,
  author = {舛屋 賢 and 田原 健二},
  title = {柔軟転がり接触を有する1関節筋骨格システムのPTP制御},
  booktitle = {第36回日本ロボット学術講演会予稿集},
  year = 2018,
}

@inproceedings{CTT100770302,
  author = {Shu Ono and Ken Masuya and Kentaro Takagi and Kenji Tahara},
  title = {Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100770731,
  author = {舛屋 賢 and 小野 秀 and 高木 賢太郎 and 田原 健二},
  title = {複数の釣糸アクチュエータを用いた面状筋の開発},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100770732,
  author = {谷嵜 星斗 and 大岩 千隼 and 舛屋 賢 and 田原 健二 and 入澤 寿平 and 塩谷 正俊 and 安積 欣志 and 高木 賢太郎},
  title = {収縮型釣糸人工筋アクチュエータの温度・ひずみ履歴依存性について},
  booktitle = {},
  year = 2018,
}

@inproceedings{CTT100785088,
  author = {土井 玄太 and 入澤 寿平 and 田邊 靖博 and 高木 賢太郎 and 田中 栄太郎 and 山内 拓磨 and 田原 健二 and 舛屋 賢 and 塩谷 正俊},
  title = {撚糸状高分子繊維アクチュエータの作製条件の検討},
  booktitle = {平成30年度繊維学会年次大会予稿集},
  year = 2018,
}

@inproceedings{CTT100761369,
  author = {Ken Masuya and Shu Ono and Kentaro Takagi and Kenji Tahara},
  title = {Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance},
  booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM},
  year = 2017,
}

@inproceedings{CTT100761394,
  author = {舛屋 賢 and 小野 秀 and 高木 賢太郎 and 田原 健二},
  title = {対流熱伝達の温度・速度依存性に基づく釣糸人工筋肉の変位モデリング},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2017,
}

@inproceedings{CTT100761392,
  author = {小野 秀 and 舛屋 賢 and 高木 賢太郎 and 田原 健二},
  title = {複数の釣糸アクチュエータを用いた２自由度マニピュレータの位置・剛性制御},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2017,
}

@inproceedings{CTT100761393,
  author = {舛屋 賢 and 小野 秀 and 高木 賢太郎 and 田原 健二},
  title = {釣糸人工筋肉の束を利用したアクチュエータユニットの開発},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2017,
}

@inproceedings{CTT100761395,
  author = {大岩 千隼 and 荒川 武士 and 舛屋 賢 and 田原 健二 and 入澤 寿平 and 安積 欣志 and 高木 賢太郎},
  title = {ねじり型釣糸人工筋アクチュエータのトルク制御},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2017,
}

@inproceedings{CTT100761349,
  author = {Kentaro Takagi and Takeshi Arakawa and Jun Takeda and Ken Masuya and Kenji Tahara and Kinji Asaka},
  title = {Position control of twisted and coiled polymer actuator using a controlled fan for cooling},
  booktitle = {Proceedings of SPIE - The International Society for Optical Engineering},
  year = 2017,
}

@inproceedings{CTT100761371,
  author = {Ken Masuya and Tomomichi Sugihara},
  title = {A nonlinear complementary filter for attitude estimation with dynamics compensation of MARG sensor},
  booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM},
  year = 2016,
}

@inproceedings{CTT100761374,
  author = {Ken Masuya and Tomomichi Sugihara},
  title = {COM motion estimation of a Humanoid robot based on a fusion of dynamics and kinematics information},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems},
  year = 2015,
}

@inproceedings{CTT100761396,
  author = {東田 直樹 and 舛屋 賢 and 杉原 知道},
  title = {膝と足首の連動により変速する人型ロボットの下腿機構},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2015,
}

@inproceedings{CTT100761376,
  author = {Ken Masuya and Tomomichi Sugihara},
  title = {Dead reckoning of a biped robot on various terrain by Kaiman filter adaptive to ground reaction force},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year = 2014,
}

@inproceedings{CTT100761398,
  author = {舛屋 賢 and 杉原 知道},
  title = {反力情報への観測誤差モデル適応による二脚ロボットの位置推定カルマンフィルタ},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2014,
}

@inproceedings{CTT100761397,
  author = {鹿田 憲吾 and 舛屋 賢 and 杉原 知道},
  title = {2方向に大傾斜が可能な零自由度3-UUパラレルメカニズム},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2014,
}

@inproceedings{CTT100761346,
  author = {Ken Masuya and Tomomichi Sugihara},
  title = {Dead reckoning of biped robots with estimated contact points based on the minimum velocity criterion},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems},
  year = 2013,
}

@inproceedings{CTT100761373,
  author = {Ken Masuya and Tomomichi Sugihara},
  title = {A dual-stage complementary filter for dead reckoning of a biped robot via estimated contact point},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year = 2013,
}

@inproceedings{CTT100761399,
  author = {舛屋 賢 and 杉原 知道},
  title = {接触点の運動推定に基づく二脚ロボットのデッドレコニング(ヒューマノイド)},
  booktitle = {ロボティクス・メカトロニクス講演会講演概要集},
  year = 2013,
}

@inproceedings{CTT100761379,
  author = {Ken Masuya and Tomomichi Sugihara and Motoji Yamamoto},
  title = {Design of complementary filter for high-fidelity attitude estimation based on sensor dynamics compensation with decoupled properties},
  booktitle = {Proceedings - IEEE International Conference on Robotics and Automation},
  year = 2012,
}

@misc{CTT100840422,
  author = {舛屋賢},
  title = {釣糸アクチュエータのモデリングと制御},
  year = 2020,
}

@misc{CTT100840421,
  author = {Ken Masuya and Ko Ayusawa},
  title = {A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench},
  year = 2020,
}

@misc{CTT100766700,
  author = {舛屋 賢},
  title = {人型ロボットの状態推定},
  year = 2018,
}

@misc{CTT100766699,
  author = {杉原 知道 and 小澤 隆太 and 神永 拓 and 田崎 勇一 and 野沢 峻一 and 橋本 健二 and 舛屋 賢 and 森澤 光晴 and 山本 江},
  title = {ヒューマノイド・ロボティクス2016夏の学校開催の経緯},
  year = 2018,
}

@misc{CTT100907815,
  author = {舛屋賢 and 窪田晃稀 and 岡田昌史},
  title = {関節装具},
  howpublished = {公開特許},
  year = 2023,
  month  = {},
  note   = {特願2022-031605(2022/03/02), 特開2023-127736(2023/09/14)}
}


@misc{CTT100882399,
  author = {舛屋賢 and 田原　健二},
  title = {高分子繊維多機能アクチュエータ及び高分子繊維多機能アクチュエータユニット},
  howpublished = {公開特許},
  year = 2022,
  month  = {},
  note   = {特願2020-202811(2020/12/07), 特開2022-090418(2022/06/17)}
}