Robotic Fruits with Tunable Stiffness and Sensing: Towards a Methodology for Developing Realistic Physical Twins of Fruits.

Shinichi Hirai Ritsumeikan University, Department of Robotics, Soft Robotics Laboratory, Kusatsu, Japan Kyoto University, Japan https://www.ritsumei.ac.jp/~hirai/hirai/index-j.html https://orcid.org/0000-0001-6076-0237 https://www.wikidata.org/entity/Q64214528 https://www.scopus.com/authid/detail.uri?authorId=35562104800 https://d-nb.info/gnd/1233337165 https://ieeexplore.ieee.org/author/37280572900

Saitarun Nadipineni Keshav Pandiyan Kaspar Althoefer Shinichi Hirai Thilina Dulantha Lalitharatne Robotic Fruits with Tunable Stiffness and Sensing: Towards a Methodology for Developing Realistic Physical Twins of Fruits. 2026 February abs/2602.18661 CoRR https://doi.org/10.48550/arXiv.2602.18661 db/journals/corr/corr2602.html#abs-2602-18661 streams/journals/corr

Tetsuyou Watanabe Jane Li Gojiro Nakagami Misako Dai Yuka Miura Maya Torii Thrishantha Nanayakkara Shinichi Hirai Special issue on nursing robotics (Part I). 935 2025 August 39 Adv. Robotics 15 https://doi.org/10.1080/01691864.2025.2544255 db/journals/ar/ar39.html#WatanabeLNDMTNH25 streams/journals/ar

Kazuyoshi Wada Shinichi Hirai Kensuke Harada Máximo A. Roa Pablo Valdivia y Alvarado Special Issue on Technology for Food Handling Automation. 1053 2025 September 39 Adv. Robotics 17 https://doi.org/10.1080/01691864.2025.2551448 db/journals/ar/ar39.html#WadaHHRA25 streams/journals/ar

Takahiro Matsuno Shinichi Hirai Food samples with built-in sensors for evaluating robot grippers that can estimate the success or failure of pick-and-place. 1085-1092 2025 September 39 Adv. Robotics 17 https://doi.org/10.1080/01691864.2025.2509271 db/journals/ar/ar39.html#MatsunoH25 streams/journals/ar

Yoshiki Mori Hiroki Fukada Emika Kameda Taichi Matsuo Wenjie Shen Tadashi Matsuo Zhongkui Wang Shinichi Hirai Hisako Masuoka Chiharu Sugimoto Nobutaka Shimada ROS2-based robot system with quantitative granular food handling using a regression coefficient estimation-based deep learning model. 1093-1104 2025 September 39 Adv. Robotics 17 https://doi.org/10.1080/01691864.2025.2528824 db/journals/ar/ar39.html#MoriFKMSMWHMSS25 streams/journals/ar

Tetsuyou Watanabe Jane Li Gojiro Nakagami Misako Dai Yuka Miura Maya Torii Thrishantha Nanayakkara Shinichi Hirai Special issue on nursing robotics (Part II). 1481 2025 December 39 Adv. Robotics 23 https://doi.org/10.1080/01691864.2025.2603142 db/journals/ar/ar39.html#WatanabeLNDMTNH25a streams/journals/ar

Tetsuyou Watanabe Jane Li Maya Grace Torii Yuka Miura Misako Dai Gojiro Nakagami Shinichi Hirai Current state and future perspectives on robotic technology for improving efficiency of nursing care. 1482-1505 2025 December 39 Adv. Robotics 23 https://doi.org/10.1080/01691864.2025.2561630 db/journals/ar/ar39.html#WatanabeLTMDNH25 streams/journals/ar

Takahiro Matsuno Atsushi Mitani Shinichi Hirai Probing simulator capable of independently measuring probing force and resting force. 1540-1548 2025 December 39 Adv. Robotics 23 https://doi.org/10.1080/01691864.2025.2580292 db/journals/ar/ar39.html#MatsunoMH25 streams/journals/ar

Sota Katsuno Zhongkui Wang Shinichi Hirai Modeling of Food Shapes with Variations Based on Spherical Harmonics for Food Manipulation Experiments. 467-472 2025 RCAR https://doi.org/10.1109/RCAR65431.2025.11139797 conf/rcar/2025 db/conf/rcar/rcar2025.html#KatsunoWH25 streams/conf/rcar Kanta Yamauchi Takahiro Matsuno Ryuma Niiyama Shinichi Hirai A Snap Mechanism Imitating the Thoracic Joint of a Click Beetle. 769-774 2025 RCAR https://doi.org/10.1109/RCAR65431.2025.11139521 conf/rcar/2025 db/conf/rcar/rcar2025.html#YamauchiMNH25 streams/conf/rcar Hiroki Aoyama Zhongkui Wang Shinichi Hirai Demolding-Free Casting for Fabricating Inflatable Soft-Rigid Structures. 1-7 2025 RoboSoft https://doi.org/10.1109/RoboSoft63089.2025.11020916 conf/robosoft/2025 db/conf/robosoft/robosoft2025.html#AoyamaWH25 streams/conf/robosoft

Yuki Satake Hiroyuki Ishii Shinichi Hirai On-Demand Branching Mechanism Using Heat Cutting for Soft Inflatable Growing Robot. 10105-10112 2024 November 9 IEEE Robotics Autom. Lett. 11 https://doi.org/10.1109/LRA.2024.3469817 db/journals/ral/ral9.html#SatakeIH24 streams/journals/ral

Issei Nate Shinichi Hirai Passive Underwater Robot Hand Utilizing Water Resistance. 13584-13591 2024 IROS https://doi.org/10.1109/IROS58592.2024.10802745 conf/iros/2024 db/conf/iros/iros2024.html#NateH24 Takahiri Matsuno Zhongkui Wang Shinichi Hirai Gluing-Free Soft Robotic Hands for Cake Topping. 54-59 2024 SII https://doi.org/10.1109/SII58957.2024.10417199 conf/sii/2024 db/conf/sii/sii2024.html#MatsunoWH24 Kenta Hanamura Zhongkui Wang Shinichi Hirai Fabric Manipulation by Pulling-Driven Soft Hand with Closing-Approaching Coupling. 239-244 2024 SII https://doi.org/10.1109/SII58957.2024.10417554 conf/sii/2024 db/conf/sii/sii2024.html#HanamuraWH24 Issei Nate Zhongkui Wang Shinichi Hirai Origami-Based Robotic Gripper for Transporting Solids with Liquids. 251-256 2024 SII https://doi.org/10.1109/SII58957.2024.10417497 conf/sii/2024 db/conf/sii/sii2024.html#NateWH24 Yitong Xue Zhe Qiu Huayan Zhang Zhongkui Wang Shinichi Hirai A Synthetic Dataset for Robotic Food Handling System. 410-415 2024 SII https://doi.org/10.1109/SII58957.2024.10417293 conf/sii/2024 db/conf/sii/sii2024.html#XueQZWH24 Shengyang Zhang Yoshiki Mori Zhe Qiu Zhongkui Wang Shinichi Hirai An Empirical Model of Soft Bellows Actuator. 435-440 2024 SII https://doi.org/10.1109/SII58957.2024.10417331 conf/sii/2024 db/conf/sii/sii2024.html#ZhangMQWH24 Yuki Mimori Zhongkui Wang Shinichi Hirai Fiber- Reinforced Membrane Modeling Based on Constant Edge-Length Constraints. 573-578 2024 SII https://doi.org/10.1109/SII58957.2024.10417309 conf/sii/2024 db/conf/sii/sii2024.html#MimoriWH24 Issei Nate Zhongkui Wang Shinichi Hirai Passive robotic gripper using a contact-based locking mechanism. 10303-10309 2023 ICRA https://doi.org/10.1109/ICRA48891.2023.10160922 conf/icra/2023 db/conf/icra/icra2023.html#NateWH23 Hiroki Fukada Tadashi Matsuo Nobutaka Shimada Honda Atsushi Ryuichi Yoshiura Zhongkui Wang Shinichi Hirai Uncertainty-Aware Quantitative Grasping Control of Granular Foodstuff Based on a Deep Model that Outputs Regression Coefficients. 1-4 2023 IWIS https://doi.org/10.1109/IWIS58789.2023.10284697 conf/iwis/2023 db/conf/iwis/iwis2023.html#FukadaMSAYWH23 Oki Morikage Zhongkui Wang Shinichi Hirai Akira Nonaka A Soft Gripper for Automating Split Operation of Silkworm. 1-5 2023 RoboSoft https://doi.org/10.1109/RoboSoft55895.2023.10122050 conf/robosoft/2023 db/conf/robosoft/robosoft2023.html#MorikageWHN23

Takahiro Matsuno Shinichi Hirai Analysis of Soft Contact in Force Sensing and Elastic Jumping. 285-287 2022 34 J. Robotics Mechatronics 2 https://doi.org/10.20965/jrm.2022.p0285 db/journals/jrm/jrm34.html#MatsunoH22

Sachin Sachin Zhongkui Wang Takahiro Matsuno Shinichi Hirai Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper. 10359-10366 2022 7 IEEE Robotics Autom. Lett. 4 https://doi.org/10.1109/LRA.2022.3183794 db/journals/ral/ral7.html#SachinWMH22

Sachin Sachin Zhongkui Wang Shinichi Hirai Analytical Modeling of a Soft Pneu-Net Actuator Subjected to Planar Tip Contact. 2720-2733 2022 38 IEEE Trans. Robotics 5 https://doi.org/10.1109/TRO.2022.3160048 db/journals/trob/trob38.html#SachinWH22

Issei Nate Zhongkui Wang Masanari Kameoka Yosuke Watanabe Shiblee MD. Nahin Islam Masaru Kawakami Hidemitsu Furukawa Shinichi Hirai Jellyfish Grasping and Transportation with a Wire-Driven Gripper and Deep Learning Based Recognition. 1018-1023 2022 AIM https://doi.org/10.1109/AIM52237.2022.9863266 conf/aimech/2022 db/conf/aimech/aim2022.html#NateWKWIKFH22 Hiroki Aoyama Zhongkui Wang Shinichi Hirai Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product. 90-95 2022 Humanoids https://doi.org/10.1109/Humanoids53995.2022.10000125 conf/humanoids/2022 db/conf/humanoids/humanoids2022.html#AoyamaWH22 Hannibal Paul Zhe Qiu Zhongkui Wang Shinichi Hirai Sadao Kawamura A ROS 2 Based Robotic System to Pick-and-Place Granular Food Materials. 99-104 2022 ROBIO https://doi.org/10.1109/ROBIO55434.2022.10011782 conf/robio/2022 db/conf/robio/robio2022.html#PaulQWHK22 Takahiro Matsuno Rikuya Miyagoshi Keita Shimizu Mana Ishihara Shuya Watanabe Jun Shintake Kaspar Althoefer Shinichi Hirai Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor. 903-910 2022 RoboSoft https://doi.org/10.1109/RoboSoft54090.2022.9762078 conf/robosoft/2022 db/conf/robosoft/robosoft2022.html#MatsunoMSIWSAH22

Takahiro Matsuno Takehiro Yabushita Atsushi Mitani Shinichi Hirai Measurement algorithm for oral care simulator using a single force sensor. 723-732 2021 35 Adv. Robotics 11 https://doi.org/10.1080/01691864.2021.1925587 db/journals/ar/ar35.html#MatsunoYMH21

Zhongkui Wang Haruki Furuta Shinichi Hirai Sadao Kawamura A Scooping-Binding Robotic Gripper for Handling Various Food Products. 640805 2021 8 Frontiers Robotics AI https://doi.org/10.3389/frobt.2021.640805 db/journals/firai/firai8.html#WangFHK21

Zhongkui Wang Shinichi Hirai Sadao Kawamura Challenges and Opportunities in Robotic Food Handling: A Review. 789107 2021 8 Frontiers Robotics AI https://doi.org/10.3389/frobt.2021.789107 db/journals/firai/firai8.html#WangHK21

Zhongkui Wang Yui Makiyama Shinichi Hirai A Soft Needle Gripper Capable of Grasping and Piercing for Handling Food Materials. 935-943 2021 33 J. Robotics Mechatronics 4 https://doi.org/10.20965/jrm.2021.p0935 db/journals/jrm/jrm33.html#WangMH21

Takahiro Matsuno Shinichi Hirai Reducing the Influence of the Contact Area on a Soft Capacitive Force Sensor. 5824-5831 2021 6 IEEE Robotics Autom. Lett. 3 https://doi.org/10.1109/LRA.2021.3086429 db/journals/ral/ral6.html#MatsunoH21

Mizuho Shibata Kosei Demura Shinichi Hirai Akihiro Matsumoto Comparative Study of Robotics Curricula. 283-291 2021 64 IEEE Trans. Educ. 3 https://doi.org/10.1109/TE.2020.3041667 db/journals/te/te64.html#ShibataDHM21

Sachin Sachin Zhongkui Wang Shinichi Hirai Analytical Modeling of a Soft Pneu-net Actuator Based on Finite Strain Beam Theory. 632-638 2021 IROS https://doi.org/10.1109/IROS51168.2021.9635996 conf/iros/2021 db/conf/iros/iros2021.html#SachinWH21 Oki Morikage Zhongkui Wang Shinichi Hirai Multi-Fingered Soft Gripper Driven by Bellows Actuator for Handling Food Materials. 363-368 2021 M2VIP https://doi.org/10.1109/M2VIP49856.2021.9665096 conf/m2vip/2021 db/conf/m2vip/m2vip2021.html#MorikageWH21 Mana Ishihara Takahiro Matsuno Kaspar Althoefer Shinichi Hirai Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor. 87-92 2021 SII https://doi.org/10.1109/IEEECONF49454.2021.9382706 conf/sii/2021 db/conf/sii/sii2021.html#IshiharaMAH21

Muhammad Hisyam Rosle Ryo Kojima Keung Or Zhongkui Wang Shinichi Hirai Soft Tactile Fingertip to Estimate Orientation and the Contact State of Thin Rectangular Objects. 159-166 2020 5 IEEE Robotics Autom. Lett. 1 https://doi.org/10.1109/LRA.2019.2950118 db/journals/ral/ral5.html#RosleKOWH20

Zhongkui Wang Keung Or Shinichi Hirai A dual-mode soft gripper for food packaging. 103427 2020 125 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2020.103427 https://www.wikidata.org/entity/Q126360494 db/journals/ras/ras125.html#WangOH20

Muhammad Hisyam Rosle Koji Shiratsuchi Shinichi Hirai Failure State Estimation Using Soft Tactile Fingertip in Insertion Tasks. 910-915 2020 AIM https://doi.org/10.1109/AIM43001.2020.9158971 conf/aimech/2020 db/conf/aimech/aim2020.html#RosleSH20 Takahiro Matsuno Shinichi Hirai Deformed Shape Estimation of an Asymmetric Conductive Pattern Printed Plate without using Resistance Model. 87-92 2020 RCAR https://doi.org/10.1109/RCAR49640.2020.9303254 conf/rcar/2020 db/conf/rcar/rcar2020.html#MatsunoH20 Yui Makiyama Zhongkui Wang Shinichi Hirai A Pneumatic Needle Gripper for Handling Shredded Food Products. 183-187 2020 RCAR https://doi.org/10.1109/RCAR49640.2020.9303279 conf/rcar/2020 db/conf/rcar/rcar2020.html#MakiyamaWH20 Ryo Kanegae Zhongkui Wang Shinichi Hirai Easily Fabricatable Shell Gripper for Packaging Multiple Cucumbers Simultaneously. 188-192 2020 RCAR https://doi.org/10.1109/RCAR49640.2020.9303297 conf/rcar/2020 db/conf/rcar/rcar2020.html#KanegaeWH20 Takahiro Matsuno Tatsuro Katsuma Zhongkui Wang Shinichi Hirai Novel Quick Return Mechanism and Dish Shape Deformable Body Structure for Circular Jumping Robot. 210-215 2020 RCAR https://doi.org/10.1109/RCAR49640.2020.9303033 conf/rcar/2020 db/conf/rcar/rcar2020.html#MatsunoKWH20 Takahiro Matsuno Shinichi Hirai Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot. 58-63 2020 RoboSoft https://doi.org/10.1109/RoboSoft48309.2020.9116037 conf/robosoft/2020 db/conf/robosoft/robosoft2020.html#MatsunoH20 Maryam Tebyani Ash Robbins William Asper Sri Kurniawan Mircea Teodorescu Zhongkui Wang Shinichi Hirai 3D Printing an Assembled Biomimetic Robotic Finger. 526-532 2020 UR https://doi.org/10.1109/UR49135.2020.9144774 conf/urai/2020 db/conf/urai/urai2020.html#TebyaniRAKTWH20

Qiukai Qi Shinichi Hirai Van Anh Ho Wrinkled Soft Sensor With Variable Afferent Morphology. 1908-1915 2019 4 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2019.2898712 https://www.wikidata.org/entity/Q128420890 db/journals/ral/ral4.html#QiHH19

Takahiro Matsuno Zhongkui Wang Kaspar Althoefer Shinichi Hirai Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin. 2212-2219 2019 4 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2019.2901991 db/journals/ral/ral4.html#MatsunoWAH19

Muhammad Hisyam Rosle Zhongkui Wang Shinichi Hirai Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects. 4056 2019 19 Sensors 18 https://doi.org/10.3390/s19184056 https://www.wikidata.org/entity/Q90227308 db/journals/sensors/sensors19.html#RosleWH19

Shinichi Hirai Takahiro Matsuno Morphological Design of Soft Capacitive Force Sensor. 1-4 2019 MHS https://doi.org/10.1109/MHS48134.2019.9249299 conf/mhs/2019 db/conf/mhs/mhs2019.html#HiraiM19 Yoshiyuki Kuriyama Yuusuke Okino Zhongkui Wang Shinichi Hirai A Wrapping Gripper for Packaging Chopped and Granular Food Materials. 114-119 2019 RoboSoft https://doi.org/10.1109/ROBOSOFT.2019.8722745 conf/robosoft/2019 db/conf/robosoft/robosoft2019.html#KuriyamaOWH19 Yuki Mimori Zhongkui Wang Shinichi Hirai A Novel Binding Hand with Closed Loop Thread Capable of Grasping Small-Diameter Objects. 310-315 2019 RoboSoft https://doi.org/10.1109/ROBOSOFT.2019.8722733 conf/robosoft/2019 db/conf/robosoft/robosoft2019.html#MimoriWH19 Ikumi Okada Zhongkui Wang Shinichi Hirai Gripping Force Modeling of a Binding Hand. 671-676 2019 RoboSoft https://doi.org/10.1109/ROBOSOFT.2019.8722808 conf/robosoft/2019 db/conf/robosoft/robosoft2019.html#OkadaWH19 Takahiro Matsuno Shinichi Hirai Numerical Analysis of Contact Area Influence in a Capacitive Soft Force Sensor. 725-730 2019 RoboSoft https://doi.org/10.1109/ROBOSOFT.2019.8722765 conf/robosoft/2019 db/conf/robosoft/robosoft2019.html#MatsunoH19 Takahiro Matsuno Shinichi Hirai Grasping Force Measurable Soft Finger using Electro Conductive Material. 683-688 2019 SII https://doi.org/10.1109/SII.2019.8700361 conf/sii/2019 db/conf/sii/sii2019.html#MatsunolH19

Van Anh Ho Hongbin Liu 0001 Liyu Wang Fumiya Iida Shinichi Hirai Special issue on 'Morphological computation in soft robotics'. 339 2018 32 Adv. Robotics 7 https://doi.org/10.1080/01691864.2018.1454287 https://www.wikidata.org/entity/Q58027136 db/journals/ar/ar32.html#HoLWIH18

Zhongkui Wang Shouta Yamae Masamitsu Kido Kan Imai Kazuya Ikoma Shinichi Hirai A Plug-In for Automating the Finite Element Modeling of Flatfoot. 248-259 2018 IIMSS https://doi.org/10.1007/978-3-319-92231-7_26 conf/iimss/2018 db/conf/iimss/iimss2018.html#WangYKIIH18 Anh Van Ho Shinichi Hirai Mechanical and Perceptual Characterizations of the Localized Shearing using a Novel Haptic Display. 1636-1642 2018 IROS https://doi.org/10.1109/IROS.2018.8593958 conf/iros/2018 db/conf/iros/iros2018.html#HoH18 Zhongkui Wang Shinichi Hirai A Soft Gripper with Adjustable Stiffness and Variable Working Length for Handling Food Material. 25-29 2018 RCAR https://doi.org/10.1109/RCAR.2018.8621676 conf/rcar/2018 db/conf/rcar/rcar2018.html#WangH18 Zhongkui Wang Shinichi Hirai Geometry and Material Optimization of a Soft Pneumatic Gripper for Handling Deformable Object. 612-617 2018 ROBIO https://doi.org/10.1109/ROBIO.2018.8665234 conf/robio/2018 db/conf/robio/robio2018.html#WangH18 Muhammad Hisyam bin Rosie Ryo Kojima Zhongkui Wang Shinichi Hirai Soft Fingertip with Tactile Sensation for Detecting Grasping Orientation of Thin Object. 1304-1309 2018 ROBIO https://doi.org/10.1109/ROBIO.2018.8664795 conf/robio/2018 db/conf/robio/robio2018.html#RosieKWH18 Takahiro Matsuno Shinichi Hirai Estimating deformation of a thin flexible plate using a minimum number of angular measurement. 126-131 2018 RoboSoft https://doi.org/10.1109/ROBOSOFT.2018.8404908 conf/robosoft/2018 db/conf/robosoft/robosoft2018.html#MatsunoH18 Zhongkui Wang Shinichi Hirai Chamber dimension optimization of a bellow-type soft actuator for food material handling. 382-387 2018 RoboSoft https://doi.org/10.1109/ROBOSOFT.2018.8404949 conf/robosoft/2018 db/conf/robosoft/robosoft2018.html#WangH18

Van Anh Ho Shinichi Hirai Design and Analysis of a Soft-Fingered Hand With Contact Feedback. 491-498 2017 2 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2016.2645120 db/journals/ral/ral2.html#HoH17

Zhongkui Wang Shinichi Hirai Soft Gripper Dynamics Using a Line-Segment Model With an Optimization-Based Parameter Identification Method. 624-631 2017 2 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2017.2650149 db/journals/ral/ral2.html#WangH17

Zhongkui Wang Yuuki Torigoe Shinichi Hirai A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling. 1909-1916 2017 2 IEEE Robotics Autom. Lett. 4 https://doi.org/10.1109/LRA.2017.2714141 db/journals/ral/ral2.html#WangTH17

Van Anh Ho Hideyasu Yamashita Zhongkui Wang Shinichi Hirai Koji Shibuya Wrin'Tac: Tactile Sensing System With Wrinkle's Morphological Change. 2496-2506 2017 13 IEEE Trans. Ind. Informatics 5 https://doi.org/10.1109/TII.2017.2718660 db/journals/tii/tii13.html#HoYWHS17

Javier Molina Shinichi Hirai Pruning tree-branches close to electrical power lines using a skew-gripper and a multirotor helicopter. 1123-1128 2017 AIM https://doi.org/10.1109/AIM.2017.8014169 conf/aimech/2017 db/conf/aimech/aim2017.html#MolinaH17 Javier Molina Shinichi Hirai Kinematic Analysis of a Novel Skew-gripper for Aerial Pruning Tasks. 134-138 2017 ICMRE https://doi.org/10.1145/3068796.3068802 conf/icmre/2017 db/conf/icmre/icmre2017.html#MolinaH17 Van Anh Ho Hideyasu Yamashita Zhongkui Wang Shinichi Hirai Koji Shibuya Morphological computation in tactile sensing: The role of wrinkle. 4977-4984 2017 ICRA https://doi.org/10.1109/ICRA.2017.7989579 conf/icra/2017 db/conf/icra/icra2017.html#HoYWHS17 Mingzhu Zhu Zhongkui Wang Shinichi Hirai Sadao Kawamura Design and fabrication of a soft-bodied gripper with integrated curvature sensors. 1-6 2017 M2VIP https://doi.org/10.1109/M2VIP.2017.8211521 conf/m2vip/2017 db/conf/m2vip/m2vip2017.html#ZhuWHK17 Takahiro Matsuno Zhongkui Wang Shinichi Hirai Real-time curvature estimation of printable soft gripper using electro-conductive yarn. 5-10 2017 RCAR https://doi.org/10.1109/RCAR.2017.8311827 conf/rcar/2017 db/conf/rcar/rcar2017.html#MatsunoWH17 Zhongkui Wang Mingzhu Zhu Sadao Kawamura Shinichi Hirai Fabrication and performance comparison of different soft pneumatic actuators for lunch box packaging. 22-27 2017 RCAR https://doi.org/10.1109/RCAR.2017.8311830 conf/rcar/2017 db/conf/rcar/rcar2017.html#WangZKH17 Javier Molina Shinichi Hirai Aerial pruning mechanism, initial real environment test. 127-132 2017 RCAR https://doi.org/10.1109/RCAR.2017.8311847 conf/rcar/2017 db/conf/rcar/rcar2017.html#MolinaH17 Takahiro Matsuno Shinichi Hirai Deformation estimation of a plate spring using asymmetric and symmetric conductive patterns. 368-373 2017 SII https://doi.org/10.1109/SII.2017.8279240 conf/sii/2017 db/conf/sii/sii2017.html#MatsunoH17

Takahiro Inoue Ryuichi Miyata Shinichi Hirai Antagonistically Twisted Round Belt Actuator System for Robotic Joints. 842-853 2016 28 J. Robotics Mechatronics 6 https://doi.org/10.20965/jrm.2016.p0842 db/journals/jrm/jrm28.html#InoueMH16

Van Anh Ho Hisayoshi Honda Shinichi Hirai Development of a Novel Slip Haptic Display Device Based on the Localized Displacement Phenomenon. 585-592 2016 1 IEEE Robotics Autom. Lett. 1 https://doi.org/10.1109/LRA.2016.2524068 db/journals/ral/ral1.html#HoHH16

Mizuho Shibata Shinichi Hirai A Pinching Strategy for Fabrics Using Wiping Deformation. 2016 5 Robotics 2 https://doi.org/10.3390/robotics5020010 db/journals/robotics/robotics5.html#ShibataH16 10

Van Anh Ho Shinichi Hirai Koki Naraki Fabric interface with proximity and tactile sensation for human-robot interaction. 238-245 2016 IROS https://doi.org/10.1109/IROS.2016.7759061 conf/iros/2016 db/conf/iros/iros2016.html#HoHN16 Takahiro Inoue Ryuichi Miyata Shinichi Hirai Force control on antagonistic Twist-drive Actuator robot. 3830-3835 2016 IROS https://doi.org/10.1109/IROS.2016.7759563 conf/iros/2016 db/conf/iros/iros2016.html#InoueMH16 Damith Suresh Chathuranga Zhongkui Wang Yohan Noh D. P. Thrishantha Nanayakkara Shinichi Hirai A soft three axis force sensor useful for robot grippers. 5556-5563 2016 IROS https://doi.org/10.1109/IROS.2016.7759817 conf/iros/2016 db/conf/iros/iros2016.html#ChathurangaWNNH16 Van Anh Ho Shinichi Hirai From Localized Shearing to Localized Slippage Perception. 443-453 2016 ISER https://doi.org/10.1007/978-3-319-50115-4_39 conf/iser/2016 db/conf/iser/iser2016.html#HoH16 Zhongkui Wang Damith Suresh Chathuranga Shinichi Hirai 3D printed soft gripper for automatic lunch box packing. 503-508 2016 ROBIO https://doi.org/10.1109/ROBIO.2016.7866372 conf/robio/2016 db/conf/robio/robio2016.html#WangCH16 Takahiro Inoue Shinichi Hirai Static and dynamic performances of a round-belt Twist Actuator mechanism. 702-707 2016 ROBIO https://doi.org/10.1109/ROBIO.2016.7866405 conf/robio/2016 db/conf/robio/robio2016.html#InoueH16 Van Anh Ho Hideyasu Yamashita Koji Shibuya Zhongkui Wang Shinichi Hirai Junya Nagase Kazuyoshi Tsutsumi Function-selectable tactile sensing system with morphological change. 415-420 2016 SII https://doi.org/10.1109/SII.2016.7844034 conf/sii/2016 db/conf/sii/sii2016.html#HoYSWHNT16 Zhongkui Wang Shinichi Hirai A 3D printed soft gripper integrated with curvature sensor for studying soft grasping. 629-633 2016 SII https://doi.org/10.1109/SII.2016.7844069 conf/sii/2016 db/conf/sii/sii2016.html#WangH16

Takahiro Inoue Ryuichi Miyata Shinichi Hirai Fictitious Target-Trajectory Forming Control for Redundant Manipulator and Active Regulation of Impulsive Forces. 552-562 2015 27 J. Robotics Mechatronics 5 https://doi.org/10.20965/jrm.2015.p0552 db/journals/jrm/jrm27.html#InoueMH15

Van Anh Ho Shinichi Hirai A novel model for assessing sliding mechanics and tactile sensation of human-like fingertips during slip action. 253-267 2015 63 Robotics Auton. Syst. https://doi.org/10.1016/j.robot.2014.09.009 db/journals/ras/ras63.html#HoH15

Hoai Phuong Le Zhongkui Wang Shinichi Hirai Origami structure toward floating aerial robot. 1565-1569 2015 AIM https://doi.org/10.1109/AIM.2015.7222765 conf/aimech/2015 db/conf/aimech/aim2015.html#LeWH15 Damith Suresh Chathuranga Zhongkui Wang Yohan Noh D. P. Thrishantha Nanayakkara Shinichi Hirai Disposable soft 3 axis force sensor for biomedical applications. 5521-5524 2015 EMBC https://doi.org/10.1109/EMBC.2015.7319642 https://www.wikidata.org/entity/Q87026189 conf/embc/2015 db/conf/embc/embc2015.html#ChathurangaWNNH15 Zhongkui Wang Damith Suresh Chathuranga Shinichi Hirai Study on the human perception of incipient and overall slippages using a 2D FE fingertip model. 5764-5767 2015 EMBC https://doi.org/10.1109/EMBC.2015.7319702 https://www.wikidata.org/entity/Q87026294 conf/embc/2015 db/conf/embc/embc2015.html#WangCH15 Helge A. Wurdemann Sina Sareh Ali Shafti Yohan Noh Angela Faragasso Damith Suresh Chathuranga Hongbin Liu 0001 Shinichi Hirai Kaspar Althoefer Embedded electro-conductive yarn for shape sensing of soft robotic manipulators. 8026-8029 2015 EMBC https://doi.org/10.1109/EMBC.2015.7320255 https://www.wikidata.org/entity/Q53333503 conf/embc/2015 db/conf/embc/embc2015.html#WurdemannSSNFCL15 Hisashi Iwamasa Shinichi Hirai Binding of food materials with a tension-sensitive elastic thread. 4298-4303 2015 ICRA https://doi.org/10.1109/ICRA.2015.7139792 conf/icra/2015 db/conf/icra/icra2015.html#IwamasaH15 Syohei Shimahara Robert Ladig Leewiwatwong Suphachart Shinichi Hirai Kazuhiro Shimonomura Aerial manipulation for the workspace above the airframe. 1453-1458 2015 IROS https://doi.org/10.1109/IROS.2015.7353559 conf/iros/2015 db/conf/iros/iros2015.html#ShimaharaLSHS15 Takahiro Inoue Sizuka Yamamoto Ryuichi Miyata Shinichi Hirai Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts. 1751-1756 2015 IROS https://doi.org/10.1109/IROS.2015.7353604 conf/iros/2015 db/conf/iros/iros2015.html#InoueYMH15 Damith Suresh Chathuranga Zhongkui Wang Yohan Noh D. P. Thrishantha Nanayakkara Shinichi Hirai Robust real time material classification algorithm using soft three axis tactile sensor: Evaluation of the algorithm. 2093-2098 2015 IROS https://doi.org/10.1109/IROS.2015.7353655 conf/iros/2015 db/conf/iros/iros2015.html#ChathurangaWNNH15 Van Anh Ho Shinichi Hirai Measuring McKibben actuator shrinkage using fiber sensor. 628-633 2015 RO-MAN https://doi.org/10.1109/ROMAN.2015.7333585 conf/ro-man/2015 db/conf/ro-man/ro-man2015.html#HoH15 Shinichi Hirai Kazuhiro Kato Micro pneumatic valves for wearable robotic systems. 652-657 2015 RO-MAN https://doi.org/10.1109/ROMAN.2015.7333584 conf/ro-man/2015 db/conf/ro-man/ro-man2015.html#HiraiK15 Anh Van Ho Shinichi Hirai Mechanics of Localized Slippage in Tactile Sensing - And Application to Soft Sensing Systems 2014 1-182 Springer Springer Tracts in Advanced Robotics 99 978-3-319-04122-3 https://doi.org/10.1007/978-3-319-04123-0 Zhongkui Wang Kan Imai Masamitsu Kido Kazuya Ikoma Shinichi Hirai A finite element model of flatfoot (Pes Planus) for improving surgical plan. 844-847 2014 EMBC https://doi.org/10.1109/EMBC.2014.6943723 https://www.wikidata.org/entity/Q41607742 conf/embc/2014 db/conf/embc/embc2014.html#WangIKIH14 Van Anh Ho Sho Imai Shinichi Hirai Multimodal flexible sensor for healthcare systems. 5976-5979 2014 EMBC https://doi.org/10.1109/EMBC.2014.6944990 https://www.wikidata.org/entity/Q86496332 conf/embc/2014 db/conf/embc/embc2014.html#HoIH14 Wenjuan Du Shugen Ma Bin Li 0001 Minghui Wang Shinichi Hirai Dynamic simulation for 6-strut tensegrity robots. 870-875 2014 ICIA https://doi.org/10.1109/ICInfA.2014.6932774 conf/icinfa/2014 db/conf/icinfa/icinfa2014.html#DuM0WH14 Takahiro Inoue Shinichi Hirai Why Humans can Manipulate Objects Despite a Time Delay in the Nervous System. 289-313 2014 The Human Hand as an Inspiration for Robot Hand Development https://doi.org/10.1007/978-3-319-03017-3_14 series/star/2014-95 db/series/star/star95.html#InoueH14

Junko Sato Kouji Kozaki Susumu Handa Takashi Ikeda Ryotaro Saka Kohei Tomizuka Yugo Nishiyama Toshiyuki Okumura Shinichi Hirai Tadashi Ohno Mamoru Ohta Susumu Date Haruki Nakamura Protein Experimental Information Management System (PREIMS) Based on Ontology: Development and Applications. 875-883 2013 8 Inf. Media Technol. 3 https://doi.org/10.11185/imt.8.875 db/journals/imt/imt8.html#SatoKHISTNOHOODN13 streams/journals/imt

Shinichi Hirai Yuusuke Koizumi Mizuho Shibata Minghui Wang Bin Li 0001 Active shaping of a tensegrity robot via pre-pressure. 19-25 2013 AIM https://doi.org/10.1109/AIM.2013.6584062 conf/aimech/2013 db/conf/aimech/aim2013.html#HiraiKSW013 P. H. Le Thien Xuan Dinh Atsushi Mitani Shinichi Hirai Simulation model for sub-millimeter part feeding on the asymmetrical saw-tooth surface with air drag. 608-611 2013 AIM https://doi.org/10.1109/AIM.2013.6584159 conf/aimech/2013 db/conf/aimech/aim2013.html#LeDMH13 Atsushi Mitani Hoai Phuong Le Yasutaka Matsuo Shinichi Hirai Improvement of sawtooth shape generated by anisotropic etching process of single-crystal silicon for microparts feeding using horizontal and symmetric vibrations. 967-972 2013 AIM https://doi.org/10.1109/AIM.2013.6584219 conf/aimech/2013 db/conf/aimech/aim2013.html#MitaniLMH13 Damith Suresh Chathuranga Van Anh Ho Shinichi Hirai Investigation of a biomimetic fingertip's ability to discriminate fabrics based on surface textures. 1667-1674 2013 AIM https://doi.org/10.1109/AIM.2013.6584336 conf/aimech/2013 db/conf/aimech/aim2013.html#ChathurangaHH13 Zhongkui Wang Juho Pokki Olgaç Ergeneman Bradley J. Nelson Shinichi Hirai Viscoelastic interaction between intraocular microrobots and vitreous humor: A finite element approach. 4937-4940 2013 EMBC https://doi.org/10.1109/EMBC.2013.6610655 https://www.wikidata.org/entity/Q51153939 conf/embc/2013 db/conf/embc/embc2013.html#WangPENH13 Damith Suresh Chathuranga Zhongkui Wang Van Anh Ho Atsushi Mitani Shinichi Hirai A biomimetic soft fingertip applicable to haptic feedback systems for texture identification. 29-33 2013 HAVE https://doi.org/10.1109/HAVE.2013.6679606 conf/have/2013 db/conf/have/have2013.html#ChathurangaWHMH13 Jorge Armendariz Vicente Parra-Vega Rodolfo García-Rodríguez Shinichi Hirai Sergio Rosales Felipe Alberto Machorro-Fernández Regressor-free tracking of robots with self-tuning PD-like control. 1956-1962 2013 ICRA https://doi.org/10.1109/ICRA.2013.6630837 conf/icra/2013 db/conf/icra/icra2013.html#ArmendarizPGHRM13 Van Anh Ho Zhongkui Wang Shinichi Hirai Beam bundle model of human-like fingertip for investigation of tactile mechanism. 4491-4498 2013 IROS https://doi.org/10.1109/IROS.2013.6697002 conf/iros/2013 db/conf/iros/iros2013.html#HoWH13 Anh Van Ho Shinichi Hirai Toward a Platform of Human-Like Fingertip Model in Haptic Environment for Studying Sliding Tactile Mechanism. 2013 Robotics: Science and Systems http://www.roboticsproceedings.org/rss09/p41.html https://doi.org/10.15607/RSS.2013.IX.041 conf/rss/2013 db/conf/rss/rss2013.html#HoH13

Zhongkui Wang Lijuan Wang Van Anh Ho Shigehiro Morikawa Shinichi Hirai A 3-D Nonhomogeneous FE Model of Human Fingertip Based on MRI Measurements. 3147-3157 2012 61 IEEE Trans. Instrum. Meas. 12 https://doi.org/10.1109/TIM.2012.2205102 db/journals/tim/tim61.html#WangWHMH12

Mizuho Shibata Shinichi Hirai Fabric manipulation utilizing contacts with the environment. 442-447 2012 CASE https://doi.org/10.1109/CoASE.2012.6386350 conf/case/2012 db/conf/case/case2012.html#ShibataH12 Hidefumi Wakamatsu Masayuki Aoki Eiji Morinaga Eiji Arai Shinichi Hirai Property identification of a deformable belt object from its static images toward its manipulation. 448-453 2012 CASE https://doi.org/10.1109/CoASE.2012.6386360 conf/case/2012 db/conf/case/case2012.html#WakamatsuAMAH12 Van Anh Ho Tatsuya Nagatani Akio Noda Shinichi Hirai What can be inferred from a tactile arrayed sensor in autonomous in-hand manipulation? 461-468 2012 CASE https://doi.org/10.1109/CoASE.2012.6386384 conf/case/2012 db/conf/case/case2012.html#HoNNH12 Jorge Armendariz Vicente Parra-Vega Rodolfo García-Rodríguez Shinichi Hirai Dynamic self-tuning PD control for tracking of robot manipulators. 1172-1179 2012 CDC https://doi.org/10.1109/CDC.2012.6426562 conf/cdc/2012 db/conf/cdc/cdc2012.html#ArmendarizPGH12 Yuusuke Koizumi Mizuho Shibata Shinichi Hirai Rolling tensegrity driven by pneumatic soft actuators. 1988-1993 2012 ICRA https://doi.org/10.1109/ICRA.2012.6224834 conf/icra/2012 db/conf/icra/icra2012.html#KoizumiSH12 Paul Umbanhowar Thomas H. Vose Atsushi Mitani Shinichi Hirai Kevin M. Lynch The effect of anisotropic friction on vibratory velocity fields. 2584-2591 2012 ICRA https://doi.org/10.1109/ICRA.2012.6225273 conf/icra/2012 db/conf/icra/icra2012.html#UmbanhowarVMHL12 Hidefumi Wakamatsu Eiji Morinaga Eiji Arai Shinichi Hirai Path planning for belt object manipulation. 4334-4339 2012 ICRA https://doi.org/10.1109/ICRA.2012.6224624 conf/icra/2012 db/conf/icra/icra2012.html#WakamatsuMAH12 Jorge Armendariz Felipe Alberto Machorro-Fernández Vicente Parra-Vega Rodolfo García-Rodríguez Shinichi Hirai Improving physical human-robot interaction through viscoelastic soft fingertips. 2977-2984 2012 IROS https://doi.org/10.1109/IROS.2012.6386054 conf/iros/2012 db/conf/iros/iros2012.html#ArmendarizMPGH12 Van Anh Ho Takahiro Araki Masaaki Makikawa Shinichi Hirai Experimental investigation of surface identification ability of a low-profile fabric tactile sensor. 4497-4504 2012 IROS https://doi.org/10.1109/IROS.2012.6385538 conf/iros/2012 db/conf/iros/iros2012.html#HoAMH12 Lijuan Wang Zhongkui Wang Shinichi Hirai Modeling and simulation of friction forces during needle insertion using Local Constraint Method. 4926-4932 2012 IROS https://doi.org/10.1109/IROS.2012.6385756 conf/iros/2012 db/conf/iros/iros2012.html#WangWH12 Shinichi Hirai Ryo Imuta Dynamic simulation of six-strut tensegrity robot rolling. 198-204 2012 ROBIO https://doi.org/10.1109/ROBIO.2012.6490966 conf/robio/2012 db/conf/robio/robio2012.html#HiraiI12 K. V. D. S. Chathuranga Van Anh Ho Shinichi Hirai A bio-mimetic fingertip that detects force and vibration modalities and its application to surface identification. 575-581 2012 ROBIO https://doi.org/10.1109/ROBIO.2012.6491028 conf/robio/2012 db/conf/robio/robio2012.html#ChathurangaHH12

Van Anh Ho Shinichi Hirai Modeling and Analysis of a Frictional Sliding Soft Fingertip, and Experimental Validations. 291-311 2011 25 Adv. Robotics 3 https://doi.org/10.1163/016918610X552123 https://www.wikidata.org/entity/Q58025848 db/journals/ar/ar25.html#HoH11

Van Anh Ho Dzung Viet Dao Susumu Sugiyama Shinichi Hirai Development and Analysis of a Sliding Tactile Soft Fingertip Embedded With a Microforce/Moment Sensor. 411-424 2011 27 IEEE Trans. Robotics 3 https://doi.org/10.1109/TRO.2010.2103470 https://www.wikidata.org/entity/Q62599260 db/journals/trob/trob27.html#HoDSH11

Zhongkui Wang Yoshiyuki Abe Shinichi Hirai Shigehiro Morikawa A 3D FE dynamic model of human fingertip based on MRI data. 8-12 2011 HAVE https://doi.org/10.1109/HAVE.2011.6088383 conf/have/2011 db/conf/have/have2011.html#WangAHM11 Lijuan Wang Shinichi Hirai A local constraint method for needle insertion modeling and simulation. 39-44 2011 HAVE https://doi.org/10.1109/HAVE.2011.6088389 conf/have/2011 db/conf/have/have2011.html#WangH11 Yuuki Kataoka Shinichi Hirai Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points. 496-508 2011 ICIRA (1) https://doi.org/10.1007/978-3-642-25486-4_50 conf/icira/2011-1 db/conf/icira/icira2011-1.html#KataokaH11 Zhongkui Wang Shinichi Hirai Green strain based FE modeling of rheological objects for handling large deformation and rotation. 4762-4767 2011 ICRA https://doi.org/10.1109/ICRA.2011.5979732 conf/icra/2011 db/conf/icra/icra2011.html#WangH11 Van Anh Ho Shinichi Hirai Three-dimensional modeling and simulation of the sliding motion of a soft fingertip with friction, focusing on stick-slip transition. 5233-5239 2011 ICRA https://doi.org/10.1109/ICRA.2011.5979901 conf/icra/2011 db/conf/icra/icra2011.html#HoH11 Van Anh Ho Daisuke Kondo Shima Okada Takahiro Araki Emi Fujita Masaaki Makikawa Shinichi Hirai Development of a low-profile sensor using electro-conductive yarns in recognition of slippage. 1946-1953 2011 IROS https://doi.org/10.1109/IROS.2011.6094497 conf/iros/2011 db/conf/iros/iros2011.html#HoKOAFMH11 Xubing Zhang Shinichi Hirai TPS-SURF-SAC matching approach of feature point applied to deformation measurement of nonrigid tissues from MR images. 551-556 2011 ROBIO https://doi.org/10.1109/ROBIO.2011.6181344 conf/robio/2011 db/conf/robio/robio2011.html#ZhangH11 Masayuki Tatsumi Kazuhiro Izusawa Shinichi Hirai Miniaturized unconstrained valves with pressure control for driving a robot finger. 1528-1533 2011 ROBIO https://doi.org/10.1109/ROBIO.2011.6181506 conf/robio/2011 db/conf/robio/robio2011.html#TatsumiIH11 Van Anh Ho Shinichi Hirai Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon. 2011 Robotics: Science and Systems http://www.roboticsproceedings.org/rss07/p19.html https://doi.org/10.15607/RSS.2011.VII.019 conf/rss/2011 db/conf/rss/rss2011.html#HoH11

Sumadi Jien Shinichi Hirai Kenshin Honda Miniaturization Design of Piezoelectric Vibration-Driven Pneumatic Unconstrained Valves. 91-99 2010 22 J. Robotics Mechatronics 1 https://doi.org/10.20965/jrm.2010.p0091 db/journals/jrm/jrm22.html#JienHH10

Yujiro Yamazaki Takahiro Inoue Shinichi Hirai Two-phased controller for a pair of 2-DOF soft fingertips based on the qualitative relationship between joint angles and object location. 4294-4301 2010 ICRA https://doi.org/10.1109/ROBOT.2010.5509253 conf/icra/2010 db/conf/icra/icra2010.html#YamazakiIH10 Van Anh Ho Shinichi Hirai Two-dimensional dynamic modeling of a sliding motion of a soft fingertip focusing on stick-to-slip transition. 4315-4321 2010 ICRA https://doi.org/10.1109/ROBOT.2010.5509330 conf/icra/2010 db/conf/icra/icra2010.html#HoH10 Van Anh Ho Dzung Viet Dao Susumu Sugiyama Shinichi Hirai Design of a small-scale tactile sensor with three sensing points for using in robotic fingertips. 4855-4860 2010 ICRA https://doi.org/10.1109/ROBOT.2010.5509134 https://www.wikidata.org/entity/Q62599273 conf/icra/2010 db/conf/icra/icra2010.html#HoDSH10 Zhongkui Wang Shinichi Hirai Modeling and property estimation of japanese sweets for their manufacturing simulation. 3536-3541 2010 IROS https://doi.org/10.1109/IROS.2010.5649833 conf/iros/2010 db/conf/iros/iros2010.html#WangH10 Yuya Asano Hidefumi Wakamatsu Eiji Morinaga Eiji Arai Shinichi Hirai Deformation path planning for manipulation of flexible circuit boards. 5386-5391 2010 IROS https://doi.org/10.1109/IROS.2010.5651132 conf/iros/2010 db/conf/iros/iros2010.html#AsanoWMAH10 Takahiro Inoue Daisuke Takizawa Shinichi Hirai Modelless and grasping-forceless control by robotic fingers capable of mechanically coupled movement. 5875-5879 2010 IROS https://doi.org/10.1109/IROS.2010.5652829 conf/iros/2010 db/conf/iros/iros2010.html#InoueTH10 Shugen Ma Shinichi Hirai Welcome message. 1 2010 ROBIO https://doi.org/10.1109/ROBIO.2010.5723292 conf/robio/2010 db/conf/robio/robio2010.html#MaH10 Penglin Zhang Shinichi Hirai A local geometric preserving approach for interior deformation fields measurement from MR volumetric images of human tissues. 437-441 2010 ROBIO https://doi.org/10.1109/ROBIO.2010.5723366 conf/robio/2010 db/conf/robio/robio2010.html#ZhangS10 Xubing Zhang Shinichi Hirai Penglin Zhang SURF and Spatial Association Correspondence applied in extraction and matching of feature points from MR images of deformed tissues. 448-453 2010 ROBIO https://doi.org/10.1109/ROBIO.2010.5723368 conf/robio/2010 db/conf/robio/robio2010.html#ZhangHZ10 Zhongkui Wang Shinichi Hirai Contact modeling and parameter switching for simultaneous reproduction of rheological force and deformation. 726-731 2010 ROBIO https://doi.org/10.1109/ROBIO.2010.5723416 conf/robio/2010 db/conf/robio/robio2010.html#WangH10

Atsushi Mitani Shinichi Hirai Submillimeter Micropart Feeding Along an Asymmetric Femtosecond-Laser-Microfabricated Surface. 151-156 2009 3 Int. J. Autom. Technol. 2 https://doi.org/10.20965/ijat.2009.p0151 db/journals/ijat/ijat3.html#MitaniH09

Jeff Trinkle Shinichi Hirai Editorial: Selected Papers from Robotics: Science and Systems 2008. 931-932 2009 28 Int. J. Robotics Res. 8 db/journals/ijrr/ijrr28.html#TrinkleH09 https://doi.org/10.1177/0278364909342447

Mizuho Shibata Tsuyoshi Ota Shinichi Hirai Wiping motion for deformable object handling. 134-139 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152448 conf/icra/2009 db/conf/icra/icra2009.html#ShibataOH09 Hidefumi Wakamatsu Eiji Morinaga Eiji Arai Shinichi Hirai Deformation modeling of belt object with angles. 606-611 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152257 conf/icra/2009 db/conf/icra/icra2009.html#WakamatsuMAH09 Van Anh Ho Dzung Viet Dao Susumu Sugiyama Shinichi Hirai Analysis of sliding of a soft fingertip embedded with a novel micro force/moment sensor: Simulation, experiment, and application. 889-894 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152458 https://www.wikidata.org/entity/Q62599291 conf/icra/2009 db/conf/icra/icra2009.html#HoDSH09 Zhongkui Wang Kazuki Namima Shinichi Hirai Physical parameter identification of rheological object based on measurement of deformation and force. 1238-1243 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152345 conf/icra/2009 db/conf/icra/icra2009.html#WangNH09 Takahiro Inoue Shinichi Hirai Parallel-distributed model in three-dimensional soft-fingered grasping and manipulation. 2092-2097 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152451 conf/icra/2009 db/conf/icra/icra2009.html#InoueH09 Mizuho Shibata Fumio Saijyo Shinichi Hirai Crawling by body deformation of tensegrity structure robots. 4375-4380 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152752 conf/icra/2009 db/conf/icra/icra2009.html#ShibataSH09 Zhongkui Wang Shinichi Hirai Modeling and parameter identification of rheological object based on FE method and nonlinear optimization. 1968-1973 2009 IROS https://doi.org/10.1109/IROS.2009.5354630 conf/iros/2009 db/conf/iros/iros2009.html#WangH09 Takahiro Yoshimura Mizuho Shibata Shinichi Hirai Stochastic static analysis of link driven by actuator bundles. 5685-5690 2009 IROS https://doi.org/10.1109/IROS.2009.5354217 conf/iros/2009 db/conf/iros/iros2009.html#YoshimuraSH09 Yujiro Yamazaki Takahiro Inoue Shinichi Hirai Two-phased force and coordinates controller for a pair of 2-DOF soft fingers. 931-937 2009 ROBIO https://doi.org/10.1109/ROBIO.2009.5420495 conf/robio/2009 db/conf/robio/robio2009.html#YamazakiIH09 Kazuki Namima Zhongkui Wang Shinichi Hirai Simulation of soft fingertip deformation under contact and rolling constraints using FEM and CSM. 1585-1590 2009 ROBIO https://doi.org/10.1109/ROBIO.2009.5420393 conf/robio/2009 db/conf/robio/robio2009.html#NamimaWH09 Atsushi Mitani Shinichi Hirai Analysis of contact between feeder surface and microparts based on measurements for microparts feeder using an asymmetric surface. 720-725 2008 CASE https://doi.org/10.1109/COASE.2008.4626469 conf/case/2008 db/conf/case/case2008.html#MitaniH08 Mizuho Shibata Tsuyoshi Ota Yoshimasa Endo Shinichi Hirai Handling of hemmed fabrics by a single-armed robot. 882-887 2008 CASE https://doi.org/10.1109/COASE.2008.4626476 conf/case/2008 db/conf/case/case2008.html#ShibataOEH08 Van Anh Ho Dzung Viet Dao Susumu Sugiyama Shinichi Hirai Force/moment sensing during sliding motion using a micro sensor embedded in a soft fingertip. 161-166 2008 ICARCV https://doi.org/10.1109/ICARCV.2008.4795510 https://www.wikidata.org/entity/Q62599328 conf/icarcv/2008 db/conf/icarcv/icarcv2008.html#HoDSH08 Atsushi Mitani Hideya Tsuji Toshiatsu Yoshimura Shinichi Hirai Feeding of submillimeter-sized microparts along an asymmetric surface using only horizontal vibration: Evaluation of micro-fabricated surface using femtosecond laser process. 4201 2008 IROS https://doi.org/10.1109/IROS.2008.4651256 conf/iros/2008 db/conf/iros/iros2008.html#MitaniTYH08 Huynh Quang Huy Viet Shinichi Hirai Yoshiaki Shirai Satoshi Yamaguchi Hiromi T. Tanaka Hiroshi Kawasaki Yukiko Kawai On the problem of determination of spring stiffness parameters for spring-mesh models. 180-182 2008 MMVR conf/mmvr/2008 db/conf/mmvr/mmvr2008.html#VietHSYTKK08 Takahiro Inoue Shinichi Hirai Parallel-distributed model of soft fingertips in three-dimensional grasping and manipulation. 895-902 2008 ROBIO https://doi.org/10.1109/ROBIO.2009.4913118 conf/robio/2008 db/conf/robio/robio2008.html#InoueH08

Atsushi Mitani Toshiatsu Yoshimura Shinichi Hirai Feeding Submillimeter Microparts Along a Saw-Tooth Surface Using Only Horizontal Vibration: Effects of Saw-Tooth Pitch, Vibration Frequency, and Humidity. 27-34 2007 1 Int. J. Autom. Technol. 1 https://doi.org/10.20965/ijat.2007.p0027 db/journals/ijat/ijat1.html#MitaniYH07

Atsushi Mitani Toshiatsu Yoshimura Shinichi Hirai Feeding of Submillimeter-sized Microparts along a Saw-tooth Surface Using Only Horizontal Vibration: Analysis of Convexities on the Surface of Microparts. 69-76 2007 CASE https://doi.org/10.1109/COASE.2007.4341707 conf/case/2007 db/conf/case/case2007.html#MitaniYH07 Takahiro Inoue Shinichi Hirai Dynamic Stable Manipulation via Soft-fingered Hand. 586-591 2007 conf/icra/2007 ICRA https://doi.org/10.1109/ROBOT.2007.363050 db/conf/icra/icra2007.html#InoueH07 Kazuhiro Shimizu Shinichi Hirai Realtime and Robust Motion Tracking by Matched Filter on CMOS+FPGA Vision System. 788-793 2007 conf/icra/2007 ICRA https://doi.org/10.1109/ROBOT.2007.363082 db/conf/icra/icra2007.html#ShimizuH07 Yoshinari Matsuyama Shinichi Hirai Analysis of Circular Robot Jumping by Body Deformation. 1968-1973 2007 conf/icra/2007 ICRA https://doi.org/10.1109/ROBOT.2007.363610 db/conf/icra/icra2007.html#MatsuyamaH07 Mizuho Shibata Takahiro Yoshimura Shinichi Hirai Loosely Coupled Joint Driven by SMA Coil Actuators. 4460-4465 2007 conf/icra/2007 ICRA https://doi.org/10.1109/ROBOT.2007.364166 db/conf/icra/icra2007.html#ShibataYH07 Mizuho Shibata Takahiro Yoshimura Shinichi Hirai Angle control of a loosely coupled mechanism in 3D space using length sensors. 1178-1183 2007 IROS https://doi.org/10.1109/IROS.2007.4399093 conf/iros/2007 db/conf/iros/iros2007.html#ShibataYH07 Takahiro Inoue Shinichi Hirai A two-phased object orientation controller on soft finger operations. 2528-2533 2007 IROS https://doi.org/10.1109/IROS.2007.4399136 conf/iros/2007 db/conf/iros/iros2007.html#InoueH07 Takahiro Inoue Shinichi Hirai Two-stage control via virtual desired values in soft-fingered manipulation with time delay. 577-583 2007 ROBIO https://doi.org/10.1109/ROBIO.2007.4522226 conf/robio/2007 db/conf/robio/robio2007.html#InoueH07 Hidefumi Wakamatsu Eiji Arai Shinichi Hirai Fishbone Model for Belt Object Deformation. 2007 Robotics: Science and Systems http://www.roboticsproceedings.org/rss03/p12.html https://doi.org/10.15607/RSS.2007.III.012 conf/rss/2007 db/conf/rss/rss2007.html#WakamatsuAH07

Hidefumi Wakamatsu Eiji Arai Shinichi Hirai Knotting/Unknotting Manipulation of Deformable Linear Objects. 371-395 2006 25 Int. J. Robotics Res. 4 https://doi.org/10.1177/0278364906064819 db/journals/ijrr/ijrr25.html#WakamatsuAH06

Yuuta Sugiyama Shinichi Hirai Crawling and Jumping by a Deformable Robot. 603-620 2006 25 Int. J. Robotics Res. 5-6 https://doi.org/10.1177/0278364906065386 db/journals/ijrr/ijrr25.html#SugiyamaH06

Mizuho Shibata Shinichi Hirai Modeling and Stability Analysis of Dynamic Control Through a Soft Interface. 242-248 2006 18 J. Robotics Mechatronics 3 https://doi.org/10.20965/jrm.2006.p0242 db/journals/jrm/jrm18.html#ShibataH06

Tatsuhiko Tsuboi Shinichi Hirai Detection of planar motion objects using Radon transform and one-dimensional phase-only matched filtering. 56-66 2006 37 Syst. Comput. Jpn. 5 https://doi.org/10.1002/scj.20398 db/journals/scjapan/scjapan37.html#TsuboiH06

Takahiro Inoue Shinichi Hirai Elastic Model of Deformable Fingertip for Soft-Fingered Manipulation. 1273-1279 2006 22 IEEE Trans. Robotics 6 https://doi.org/10.1109/TRO.2006.886274 db/journals/trob/trob22.html#InoueH06

Junji Muramatsu Takashi Ikuta Shinichi Hirai Shigehiro Morikawa Validation of FE Deformation Models using Ultrasonic and MR Images. 1-6 2006 ICARCV https://doi.org/10.1109/ICARCV.2006.345449 conf/icarcv/2006 db/conf/icarcv/icarcv2006.html#MuramatsuIHM06 Hidefumi Wakamatsu Tatsuya Yamasaki Shinichi Hirai Akira Tsumaya Eiji Arai Dynamic Modeling of Linear Object Deformation Considering Contact with Obstacles. 1-6 2006 ICARCV https://doi.org/10.1109/ICARCV.2006.345300 conf/icarcv/2006 db/conf/icarcv/icarcv2006.html#WakamatsuYHTA06 Kazuhiro Shimizu Shinichi Hirai CMOS+FPGA Vision System for Visual Feedback of Mechanical Systems. 2060-2065 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#ShimizuH06 https://doi.org/10.1109/ROBOT.2006.1642008 Takahiro Inoue Shinichi Hirai Study on Hemispherical Soft-fingered Handling for fine Manipulation by Minimum D.O.F. Robotic Hand. 2454-2459 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#InoueH06 https://doi.org/10.1109/ROBOT.2006.1642070 Mizuho Shibata Shinichi Hirai Soft Object Manipulation by Simultaneous Control of Motion and Deformation. 2460-2465 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#ShibataH06 https://doi.org/10.1109/ROBOT.2006.1642071 Hidefumi Wakamatsu Akira Tsumaya Eiji Arai Shinichi Hirai Manipulation Planning for Unraveling Linear Objects. 2485-2490 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#WakamatsuTAH06 https://doi.org/10.1109/ROBOT.2006.1642075 Kazuhiro Shimizu Shinichi Hirai Implementing Planar Motion Tracking Algorithms on CMOS+FPGA Vision System. 1366-1371 2006 IROS https://doi.org/10.1109/IROS.2006.281924 conf/iros/2006 db/conf/iros/iros2006.html#ShimizuH06 Hidefumi Wakamatsu Akira Tsumaya Eiji Arai Shinichi Hirai Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States. 3873-3878 2006 IROS https://doi.org/10.1109/IROS.2006.281796 conf/iros/2006 db/conf/iros/iros2006.html#WakamatsuTAH06 Takahiro Inoue Shinichi Hirai Experimental Investigation of Mechanics in Soft-Fingered Grasping and Manipulation. 13-22 2006 ISER https://doi.org/10.1007/978-3-540-77457-0_2 conf/iser/2006 db/conf/iser/iser2006.html#InoueH06

Shinichi Hirai Masakazu Zakouji Akihiro Masubuchi Tatsuhiko Tsuboi Realtime FPGA-Based Vision System. 401-409 2005 17 J. Robotics Mechatronics 4 https://doi.org/10.20965/jrm.2005.p0401 db/journals/jrm/jrm17.html#HiraiZMT05

Atsushi Mitani Naoto Sugano Shinichi Hirai Micro-Parts Feeding by a Saw-tooth Surface. 825-831 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#MitaniSH05 https://doi.org/10.1109/ROBOT.2005.1570219 Hidefumi Wakamatsu Kousaku Takahashi Shinichi Hirai Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates. 1028-1033 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#WakamatsuTH05 https://doi.org/10.1109/ROBOT.2005.1570251 Takahiro Inoue Shinichi Hirai Quasi-Static Manipulation with Hemispherical Soft Fingertip via Two Rotational Fingers. 1935-1940 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#InoueH05 https://doi.org/10.1109/ROBOT.2005.1570396 Takahiro Inoue Shinichi Hirai Local Minimum of Elastic Potential Energy on Hemispherical Soft Fingertip. 2308-2313 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#InoueH05a https://doi.org/10.1109/ROBOT.2005.1570457 Hidefumi Wakamatsu Akira Tsumaya Eiji Arai Shinichi Hirai Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects. 2505-2510 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#WakamatsuTAH05 https://doi.org/10.1109/ROBOT.2005.1570489 Yuuta Sugiyama Ayumi Shiotsu Masashi Yamanaka Shinichi Hirai Circular/Spherical Robots for Crawling and Jumping. 3595-3600 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#SugiyamaSYH05 https://doi.org/10.1109/ROBOT.2005.1570667 Mizuho Shibata Shinichi Hirai Stability analysis for dynamic control on contact with soft interface in continuous-discrete time system. 1684-1689 2005 IROS https://doi.org/10.1109/IROS.2005.1545211 conf/iros/2005 db/conf/iros/iros2005.html#ShibataH05

Hidefumi Wakamatsu Shinichi Hirai Static Modeling of Linear Object Deformation Based on Differential Geometry. 293-311 2004 23 Int. J. Robotics Res. 3 https://doi.org/10.1177/0278364904041882 https://www.wikidata.org/entity/Q115242504 db/journals/ijrr/ijrr23.html#WakamatsuH04

Hidefumi Wakamatsu Akira Tsumaya Eiji Arai Shinichi Hirai Planning of one-handed Knotting/Raveling Manipulation of Linear Objects. 1719-1725 2004 conf/icra/2004 ICRA https://doi.org/10.1109/ROBOT.2004.1308072 db/conf/icra/icra2004-2.html#WakamatsuTAH04 Byoung-Ho Kim Shinichi Hirai Characterizing the Dynamic Deformation of Soft Fingertips and Analyzing its Significance for Multi-fingered Operations. 2944-2950 2004 conf/icra/2004 ICRA https://doi.org/10.1109/ROBOT.2004.1307508 db/conf/icra/icra2004-3.html#KimH04 Takahiro Inoue Shinichi Hirai Rotational Contact Model of Soft Fingertip for Tactile Sensing. 2957-2962 2004 conf/icra/2004 ICRA https://doi.org/10.1109/ROBOT.2004.1307510 db/conf/icra/icra2004-3.html#InoueH04 Nak Young Chong Hiroshi Hongu Manabu Miyazaki Koji Takemura Kenichi Ohara Kohtaro Ohba Shinichi Hirai Kazuo Tanie Robots on Self-organizing Knowledge Networks. 3494-3499 2004 conf/icra/2004 ICRA db/conf/icra/icra2004-4.html#ChongHMTOOHT04 https://doi.org/10.1109/ROBOT.2004.1308794 Naoki Ueda Shinichi Hirai Hiromi T. Tanaka Extracting Rheological Properties of Deformable Objects with Haptic Vision. 3902-3907 2004 conf/icra/2004 ICRA db/conf/icra/icra2004-4.html#UedaHT04 https://doi.org/10.1109/ROBOT.2004.1308876 Shinya Yamamoto Shinichi Hirai Robust and Video-frame Rate Tracking of Planar Motion by Matched Filtering on FPGA. 4707-4711 2004 conf/icra/2004 ICRA https://doi.org/10.1109/ROBOT.2004.1302460 db/conf/icra/icra2004-5.html#YamamotoH04 Byoung-Ho Kim Shinichi Hirai Deformational features of soft-fingertips applied to object manipulations: theoretical and experimental analyses. 94-99 2004 IROS https://doi.org/10.1109/IROS.2004.1389335 conf/iros/2004 db/conf/iros/iros2004.html#KimH04 Yuuta Sugiyama Shinichi Hirai Crawling and jumping of deformable soft robot. 3276-3281 2004 IROS https://doi.org/10.1109/IROS.2004.1389922 conf/iros/2004 db/conf/iros/iros2004.html#SugiyamaH04 Mizuho Shibata Shinichi Hirai Stability and graspability analysis in grasping task taking fingertip dynamics into consideration. 3686-3691 2004 IROS https://doi.org/10.1109/IROS.2004.1389988 conf/iros/2004 db/conf/iros/iros2004.html#ShibataH04 Ryo Nogami Hiroshi Noborio Seiji Tomokuni Shinichi Hirai A comparative study of rheology MSD models whose structures are lattice and truss. 3809-3816 2004 IROS https://doi.org/10.1109/IROS.2004.1390008 conf/iros/2004 db/conf/iros/iros2004.html#NogamiNTH04 Yuuta Sugiyama Shinichi Hirai Crawling and Jumping by a Deformable Robot. 281-291 2004 ISER https://doi.org/10.1007/11552246_27 conf/iser/2004 db/conf/iser/iser2004.html#SugiyamaH04 Joseph Anand Vaz Shinichi Hirai A simplified model for a biomechanical joint with soft cartilage. 756-761 2004 conf/smc/2004 SMC (1) https://doi.org/10.1109/ICSMC.2004.1398393 db/conf/smc/smc2004-1.html#VazH04 Kwi-Ho Oark Byoung-Ho Kim Shinichi Hirai Development of a soft-fingertip and its modeling based on force distribution. 3169-3174 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#OarkKH03 https://doi.org/10.1109/ROBOT.2003.1242078 Hiromi T. Tanaka Kiyotaka Kushihama Naoki Ueda Shinichi Hirai A vision-based haptic exploration. 3441-3448 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#TanakaKUH03 https://doi.org/10.1109/ROBOT.2003.1242122 Masafumi Kimura Yuuta Sugiyama Seiji Tomokuni Shinichi Hirai Constructing rheologically deformable virtual objects. 3737-3743 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#KimuraSTH03 https://doi.org/10.1109/ROBOT.2003.1242170 Joseph Anand Vaz Shinichi Hirai Actuation of a thumb prosthesis using remaining natural fingers. 1998-2003 2003 IROS https://doi.org/10.1109/IROS.2003.1248946 conf/iros/2003 db/conf/iros/iros2003.html#VazH03 Takahiro Inoue Shinichi Hirai Modeling of soft fingertip for object manipulation using tactile sensing. 2654-2659 2003 IROS https://doi.org/10.1109/IROS.2003.1249271 conf/iros/2003 db/conf/iros/iros2003.html#InoueH03 Hidefumi Wakamatsu Akira Tsumaya Keiichi Shirase Eiji Arai Shinichi Hirai Knotting/raveling manipulation of linear objects. 3156-3161 2003 IROS https://doi.org/10.1109/IROS.2003.1249642 conf/iros/2003 db/conf/iros/iros2003.html#WakamatsuTSAH03 Byoung-Ho Kim Shinichi Hirai Takahiro Inoue Analysis on the fundamental deformation effect of soft fingertips for soft-fingered object manipulations. 3698-3704 2003 IROS https://doi.org/10.1109/IROS.2003.1249730 conf/iros/2003 db/conf/iros/iros2003.html#KimHI03 Joseph Anand Vaz Shinichi Hirai Modeling contact interaction of a hand prosthesis with soft tissue at the interface. 4508-4513 2003 SMC https://doi.org/10.1109/ICSMC.2003.1245694 conf/smc/2003 db/conf/smc/smc2003.html#VazH03 Shinichi Hirai Tatsuhiko Tsuboi Masakazu Zakouji Mizuho Shibata Handling of randomly located moving parts using FPGA-based realtime vision. 1150-1155 2002 ICARCV https://doi.org/10.1109/ICARCV.2002.1234935 conf/icarcv/2002 db/conf/icarcv/icarcv2002.html#HiraiTZS02 Shinichi Hirai Masamitsu Ukai Ken Yamada Koji Sugita Spreading and Isolating Multiple Stacked Cards using Absorptive Hole Array. 1445-1450 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#HiraiUYS02 https://doi.org/10.1109/ROBOT.2002.1014747 Shinichi Tokumoto Shinichi Hirai Deformation Control of Rheological Food Dough using a Forming Process Model. 1457-1464 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#TokumotoH02 https://doi.org/10.1109/ROBOT.2002.1014749 Shinichi Hirai Kiyoto Shimizu Sadao Kawamura Vision-Based Motion Control of Pneumatic Group Actuators. 2842-2847 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#HiraiSK02 https://doi.org/10.1109/ROBOT.2002.1013663 Tatsuhiko Tsuboi Masakazu Zakouji Akihiro Masubuchi Shinichi Hirai Parallel Processing of One-Sided Radon Transform for the Realtime Detection of Position and Orientation of Planar Motion Objects. 2925-2930 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#TsuboiZMH02 https://doi.org/10.1109/ROBOT.2002.1013676 Toshiko Iguchi Noriyuki Katsuyama Hiroshi Noborio Shinichi Hirai Computing and calibrating collision impulses and its application for air hockey game. 2219-2226 2002 IROS https://doi.org/10.1109/IRDS.2002.1041597 conf/iros/2002 db/conf/iros/iros2002.html#IguchiKNH02

Takahiro Wada Brenan J. McCarragher Hidefumi Wakamatsu Shinichi Hirai Modeling of shape bifurcation phenomena in manipulations of deformable string objects. 833-846 2001 15 Adv. Robotics 8 https://doi.org/10.1163/156855301317198151 https://www.wikidata.org/entity/Q58027883 db/journals/ar/ar15.html#WadaMWH01

Takahiro Wada Shinichi Hirai Sadao Kawamura Norimasa Kamiji Robust Manipulation of Deformable Objects By A Simple PID Feedback. 85-90 2001 conf/icra/2001 ICRA db/conf/icra/icra2001.html#WadaHKK01 https://doi.org/10.1109/ROBOT.2001.932534 Shinichi Tokumoto Takuya Saito Shinichi Hirai Vision-based Automatic Forming of Rheological Objects Using Deformation Transition Graphs. 812-817 2001 conf/icra/2001 ICRA db/conf/icra/icra2001.html#TokumotoSH01 https://doi.org/10.1109/ROBOT.2001.932650 Tatsuhiko Tsuboi Akihiro Masubuchi Shinichi Hirai Shinya Yamamoto Kazuhiko Ohnishi Suguru Arimoto Video-frame Rate Detection of Position and Orientation of Planar Motion Objects using One-sided Radon Transform. 1233-1238 2001 conf/icra/2001 ICRA db/conf/icra/icra2001.html#TsuboiMHYOA01 https://doi.org/10.1109/ROBOT.2001.932779 Shinichi Hirai Tomohiro Masui Sadao Kawamura Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes. 3807-3812 2001 conf/icra/2001 ICRA db/conf/icra/icra2001.html#HiraiMK01 https://doi.org/10.1109/ROBOT.2001.933211

Shinichi Hirai Takahiro Wada Indirect simultaneous positioning of deformable objects with multi-pinching fingers based on an uncertain model. 3-11 2000 18 Robotica 1 https://doi.org/10.1017/s0263574799002362 db/journals/robotica/robotica18.html#HiraiW00

Takahiro Wada Shinichi Hirai H. Mori Sadao Kawamura Robust Manipulation of Deformable Objects Using Model Based Technique. 1-14 2000 conf/amdo/2000 AMDO db/conf/amdo/amdo2000.html#WadaHMK00 https://doi.org/10.1007/10722604_1 Shinichi Tokumoto Yoshiaki Fujita Shinichi Hirai Deformation Transition Graphs in Forming Operations of Rheological Objects. 3071-3076 2000 conf/icra/2000 ICRA db/conf/icra/icra2000.html#TokumotoFH00 https://doi.org/10.1109/ROBOT.2000.845135 Shinichi Hirai Pierre Cusin Hiroki Tanigawa Tomohiro Masui Satoshi Konishi Sadao Kawamura Qualitative synthesis of deformable cylindrical actuators through constraint topology. 197-202 2000 IROS https://doi.org/10.1109/IROS.2000.894604 conf/iros/2000 db/conf/iros/iros2000.html#HiraiCTMKK00 Takahiro Wada Brenan J. McCarragher Hidefumi Wakamatsu Shinichi Hirai Takeshi Yonezawa Shinichi Tokumoto Modeling of hysteresis in deformation of rodlike objects toward their manipulation. 203-208 2000 IROS https://doi.org/10.1109/IROS.2000.894605 conf/iros/2000 db/conf/iros/iros2000.html#WadaMWHYT00 Shinichi Tokumoto Yoshiaki Fujita Shinichi Hirai Deformation Modeling of Viscoelastic Objects for Their Shape Control. 767-772 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-1.html#TokumotoFH99 https://doi.org/10.1109/ROBOT.1999.770067 Takahiro Wada Shinichi Hirai Sadao Kawamura Planning and Control of Indirect Simultaneous Positioning Operation of Deformable Objects. 2572-2577 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-4.html#WadaHK99 https://doi.org/10.1109/ROBOT.1999.773984 Shinichi Hirai Masaaki Niwa Sadao Kawamura Development of Impulsive Object Sorting Device with Air Floating. 3065-3070 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-4.html#HiraiNK99 https://doi.org/10.1109/ROBOT.1999.774064

Tatsuhiko Tsuboi Shinichi Hirai Reconfigurable mechanisms: an approach to the rapid prototyping of multi-link mechanisms. 255-256 1998 13 Adv. Robotics 3 https://doi.org/10.1163/156855399X00469 https://www.wikidata.org/entity/Q58026348 db/journals/ar/ar13.html#TsuboiH98

Shinichi Hirai Transferring Human Motion to Mechanical Manipulator in Insertion of Deformable Tubes. 209-213 1998 10 J. Robotics Mechatronics 3 https://doi.org/10.20965/jrm.1998.p0209 db/journals/jrm/jrm10.html#Hirai98

Takahiro Wada Shinichi Hirai Sadao Kawamura Indirect simultaneous positioning operations of extensionally deformable objects. 1333-1338 1998 IROS https://doi.org/10.1109/IROS.1998.727484 conf/iros/1998 db/conf/iros/iros1998.html#WadaHK98 Takahiro Wada Shinichi Hirai Tatsuya Hirano Sadao Kawamura Modeling of plain knitted fabrics for their deformation control. 1960-1965 1997 ICRA https://doi.org/10.1109/ROBOT.1997.619085 conf/icra/1997 db/conf/icra/icra1997.html#WadaHHK97 Shinichi Hirai Hideaki Noguchi Kazuaki Iwata Human-demonstration based approach to the recognition of process state transitions in insertion of deformable tubes. 2006-2011 1996 ICRA https://doi.org/10.1109/ROBOT.1996.506166 conf/icra/1996 db/conf/icra/icra1996.html#HiraiNI96 Hidefumi Wakamatsu Shinichi Hirai Kazuaki Iwata Static analysis of deformable object grasping based on bounded force closure. 3324-3329 1996 ICRA https://doi.org/10.1109/ROBOT.1996.509219 conf/icra/1996 db/conf/icra/icra1996.html#WakamatsuHI96 Shinichi Hirai Takashi Inatsugi Kazuaki Iwata Learning of admittance matrix elements for manipulative operations. 763-768 1996 IROS https://doi.org/10.1109/IROS.1996.571048 conf/iros/1996 db/conf/iros/iros1996.html#HiraiII96 Hidefumi Wakamatsu Shinichi Hirai Kazuaki Iwata Modeling of Linear Objects Considering Bend, Twist, and Extensional Deformations. 433-438 1995 conf/icra/1995 ICRA db/conf/icra/icra1995-1.html#WakamatsuHI95 https://doi.org/10.1109/ROBOT.1995.525322 Shinichi Hirai Hideaki Noguchi Kazuaki Iwata Transplantation of Human Skillful Motion to Mnipulators in Insertion of Deformable Tubes. 1900-1905 1995 conf/icra/1995 ICRA db/conf/icra/icra1995-2.html#HiraiNI95 https://doi.org/10.1109/ROBOT.1995.525542 Shinichi Hirai Hidefumi Wakamatsu Kazuaki Iwata Modeling of Deformable Thin Parts for Their Manipulation. 2955-2960 1994 conf/icra/1994 ICRA db/conf/icra/icra1994-4.html#HiraiWI94 https://doi.org/10.1109/ROBOT.1994.350890

Shinichi Hirai Identification of contact states based on a geometric model for manipulative operations. 139-155 1993 8 Adv. Robotics 2 https://doi.org/10.1163/156855394X00428 https://www.wikidata.org/entity/Q58026417 db/journals/ar/ar8.html#Hirai93

Shinichi Hirai Haruhiko Asada Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones. 434-447 1993 12 Int. J. Robotics Res. 5 https://doi.org/10.1177/027836499301200504 db/journals/ijrr/ijrr12.html#HiraiA93

Shinichi Hirai Kazuaki Iwata Derivation of Damping Control Parameters Based on Geometric Model. 87-92 1993 conf/icra/1993 ICRA (2) db/conf/icra/icra1993-2.html#HiraiI93 https://doi.org/10.1109/ROBOT.1993.292129 Shinichi Hirai Kazuaki Iwata Recognition of contact state based on geometric model. 1507-1512 1992 ICRA https://doi.org/10.1109/ROBOT.1992.220038 https://doi.ieeecomputersociety.org/10.1109/ROBOT.1992.220038 conf/icra/1992 db/conf/icra/icra1992.html#HiraiI92 Shinichi Hirai Kazuaki Iwata A Model-based Generation Of Damping Control Law For Part-mat Ing. 494-499 1992 IROS https://doi.org/10.1109/IROS.1992.587380 conf/iros/1992 db/conf/iros/iros1992.html#HiraiI92 Shinichi Hirai Haruhiko Asada Hidekatsu Tokumaru Kinematics of Manipulation Using the Theory of Polyhedral Convex Cones and Its Applications to Grasping and Assembly Operations. 451-456 1988 IROS https://doi.org/10.1109/IROS.1988.593639 conf/iros/1988 db/conf/iros/iros1988.html#HiraiAT88 Yoshiyuki Abe Kaspar Althoefer Pablo Valdivia y Alvarado Masayuki Aoki Hiroki Aoyama Eiji Arai Takahiro Araki Suguru Arimoto Jorge Armendariz H. Harry AsadaHaruhiko Asada Yuya Asano William Asper Honda Atsushi Damith Suresh ChathurangaK. V. D. S. Chathuranga Nak Young Chong Pierre Cusin Misako Dai Dzung Viet Dao Susumu Date Kosei Demura Thien Xuan Dinh Wenjuan Du Yoshimasa Endo Olgaç Ergeneman Angela Faragasso Emi Fujita Yoshiaki Fujita Hiroki Fukada Hidemitsu Furukawa Haruki Furuta Rodolfo García-Rodríguez Kenta Hanamura Susumu Handa Kensuke Harada Tatsuya Hirano Anh Van Ho Van Anh Ho Hisayoshi Honda Kenshin Honda Hiroshi Hongu Toshiko Iguchi Fumiya Iida Takashi Ikeda Kazuya Ikoma Takashi Ikuta Kan Imai Sho Imai Ryo Imuta Takashi Inatsugi Takahiro Inoue Mana Ishihara Hiroyuki Ishii Hisashi Iwamasa Kazuaki Iwata Kazuhiro Izusawa Sumadi Jien Emika Kameda Masanari Kameoka Norimasa Kamiji Ryo Kanegae Yuuki Kataoka Kazuhiro Kato Tatsuro Katsuma Sota Katsuno Noriyuki Katsuyama Yukiko Kawai Masaru Kawakami Sadao Kawamura Hiroshi Kawasaki Masamitsu Kido Byoung-Ho Kim Masafumi Kimura Yuusuke Koizumi Ryo Kojima Daisuke Kondo Satoshi Konishi Kouji Kozaki Yoshiyuki Kuriyama Sri Hastuti KurniawanSri Kurniawan Kiyotaka Kushihama Robert Ladig Thilina Dulantha Lalitharatne Hoai Phuong Le P. H. Le Bin Li 0001 Jane Li Hongbin Liu 0001 Kevin M. Lynch Shugen Ma Felipe Alberto Machorro-Fernández Masaaki Makikawa Yui Makiyama Akihiro Masubuchi Tomohiro Masui Hisako Masuoka Akihiro Matsumoto Takahiri Matsuno Takahiro Matsuno Tadashi Matsuo Taichi Matsuo Yasutaka Matsuo Yoshinari Matsuyama Brenan J. McCarragher Yuki Mimori Atsushi Mitani Yuka Miura Rikuya Miyagoshi Ryuichi Miyata Manabu Miyazaki Javier Molina H. Mori Yoshiki Mori Oki Morikage Shigehiro Morikawa Eiji Morinaga Junji Muramatsu Saitarun Nadipineni Junya Nagase Tatsuya Nagatani Gojiro Nakagami Haruki Nakamura Kazuki Namima D. P. Thrishantha NanayakkaraThrishantha Nanayakkara Koki Naraki Issei Nate Bradley J. Nelson Ryuma Niiyama Yugo Nishiyama Masaaki Niwa Hiroshi Noborio Akio Noda Ryo Nogami Hideaki Noguchi Yohan Noh Akira Nonaka Kwi-Ho Oark Kenichi Ohara Kohtaro Ohba Kazuhiko Ohnishi Tadashi Ohno Mamoru Ohta Ikumi Okada Shima Okada Yuusuke Okino Toshiyuki Okumura Keung Or Tsuyoshi Ota Keshav Pandiyan Vicente Parra-Vega Hannibal Paul Juho Pokki Qiukai Qi Zhe Qiu Máximo A. Roa Ash Robbins Sergio Rosales Muhammad Hisyam bin Rosie Muhammad Hisyam Rosle Sachin Sachin Fumio Saijyo Takuya Saito Ryotaro Saka Sina Sareh Yuki Satake Junko Sato Ali Shafti Wenjie Shen Mizuho Shibata MD Nahin Islam ShibleeShiblee MD. Nahin Islam Koji Shibuya Nobutaka Shimada Syohei Shimahara Kazuhiro Shimizu Keita Shimizu Kiyoto Shimizu Kazuhiro Shimonomura Jun Shintake Ayumi Shiotsu Yoshiaki Shirai Keiichi Shirase Koji Shiratsuchi Naoto Sugano Chiharu Sugimoto Koji Sugita Susumu Sugiyama Yuuta Sugiyama Leewiwatwong Suphachart Kousaku Takahashi Koji Takemura Daisuke Takizawa Hiromi T. Tanaka Kazuo Tanie Hiroki Tanigawa Masayuki Tatsumi Maryam Tebyani Mircea Teodorescu Hidekatsu Tokumaru Shinichi Tokumoto Kohei Tomizuka Seiji Tomokuni Yuuki Torigoe Maya ToriiMaya Grace Torii Jeffrey C. TrinkleJeff Trinkle Tatsuhiko Tsuboi Hideya Tsuji Akira Tsumaya Kazuyoshi Tsutsumi Naoki Ueda Masamitsu Ukai Paul Umbanhowar Joseph Anand Vaz Huynh Quang Huy Viet Thomas H. Vose Kazuyoshi Wada Takahiro Wada Hidefumi Wakamatsu Lijuan Wang Liyu Wang Minghui Wang Zhongkui Wang Shuya Watanabe Tetsuyou Watanabe Yosuke Watanabe Helge A. Wurdemann Yitong Xue Takehiro Yabushita Ken Yamada Shouta Yamae Satoshi Yamaguchi Shinya Yamamoto Sizuka Yamamoto Masashi Yamanaka Tatsuya Yamasaki Hideyasu Yamashita Kanta Yamauchi Yujiro Yamazaki Takeshi Yonezawa Takahiro Yoshimura Toshiatsu Yoshimura Ryuichi Yoshiura Masakazu Zakouji Huayan Zhang Penglin Zhang Shengyang Zhang Xubing Zhang Mingzhu Zhu