Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Rui Fujino, Takuma Yamauchi, Eitaro Tanaka, and Kenji Tahara,
"Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback,"
IEEE Robotics and Automation Letters, Vol.4, No.3, pp.2561-2567, 2019. DOI: 10.1109/LRA.2019.2908484. (RoboSoft presantation option).
Kenji Tahara, Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Takuma Yamauchi, and Eitaro Tanaka,
"Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback,"
IEEE Robotics and Automation Letters, Vol.4, No.3, pp.2447-2454, 2019. DOI: 10.1109/LRA.2019.2901982.
Ken Masuya, Shu Ono, Kentaro Takagi, and Kenji Tahara,
"Feedforward Control of Twisted and Coiled Polymer Actuator based on a Macroscopic Nonlinear Model Focusing on Energy,"
IEEE Robotics and Automation Letters, Vol.3, No.3, pp.1824-1831, 2018. DOI: 10.1109/LRA.2018.2801884. (ICRA2018 presantation option).
Ken Masuya, Shu Ono, Kentaro Takagi, and Kenji Tahara,
"Modeling Framework for Macroscopic Dynamics of Twisted and Coiled Polymer Actuator Driven by Joule Heating Focusing on Energy and Convective Heat Transfer,"
Sensors and Actuators A: Physical, Vol.267, pp.443-454, 2017. DOI: 10.1016/j.sna.2017.10.016.
Ken Masuya and Tomomichi Sugihara,
"COM Motion Estimation of a Biped Robot Based on Kinodynamics and Torque Equilibrium,"
Advanced Robotics, Vol.30, No.10, pp.691-703, Open access in online, 23, Mar., 2016. DOI: 10.1080/01691864.2016.1150201 [Available at
Taylor and Francis Online]
Ken Masuya and Tomomichi Sugihara,
"Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation,"
Advanced Robotics, Vol.29, No.12, pp.785-799, Open access in online, 27, Mar., 2015. DOI: 10.1080/01691864.2015.1011694 [Available at
Taylor and Francis Online]
Ken Masuya and Kenji Tahara,
"Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane,"
The 2020 IEEE Int. Conf. on Advanced Intelligent Mechatronics (virtual conference), pp.132-137, Boston, MA, USA, (Jul. 2020).
Hiroki Iwai, Kentaro Takagi, Chihaya Oiwa, Toshihira Irisawa, Masatoshi Shioya, Ken Masuya, Kenji Tahara, Haruhiko Watanabe, Daichi Sakurai, and Kinji Asaka,
"On the fluctuation phenomenon of axial thermal stress of a torsional fishing-line artificial muscle (twisted polymer fiber) actuator,"
SPIE 11375, Electroactive Polymer Actuators and Devices (EAPAD) 2020, 113751H, Anaheim, California, USA, (Apr., 2020).
Hoshito Tanizaki, Kentaro Takagi, Chihaya Oiwa, Ken Masuya, Kenji Tahara, Toshihira Irisawa, Masatoshi Shioya, Kinji Asaka,
"Experimental investigation of temperature-dependent hysteresis of fishing-line artificial muscle (twisted and coiled polymer fiber) actuator,"
SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) 2019, 109660U, Denver, Colorado, USA, (Mar., 2019).
Shu Ono, Ken Masuya, Kentaro Takagi, and Kenji Tahara,
"Trajectory Tracking of a One-DOF Manipulator using Multiple Fishing Line Actuators by Iterative Learning Control,"
The 2018 IEEE Int. Conf. on Soft Robotics, pp.467-472, ThTT.23, Livorno, Italy, (Apr., 2018).
Chihaya Oiwa, Ken Masuya, Kenji Tahara, Toshihira Irisawa, Kinji Asaka, Kentaro Takagi,
"Grey-box modeling and control of torsional fishing-line artificial muscle actuator,"
SPIE 10594, Electroactive Polymer Actuators and Devices (EAPAD) 2018, 1059428, Denver, Colorado, USA, (Mar., 2018).
Ken Masuya, Shu Ono, Kentaro Takagi, and Kenji Tahara,
"Nonlinear Dynamics of Twisted and Coiled Polymer Actuator made of Conductive Nylon based on the Energy Balance,"
The 2017 IEEE Int. Conf. on Advanced Intelligent Mechatronics, pp.779-784, WAT5.3, Munich, Germany, (Jul., 2017).
[PDF]
Kentaro Takagi, Takeshi Arakawa, Jun Takeda, Ken Masuya, Kenji Tahara, and Kinji Asaka,
"Position control of twisted and coiled polymer actuator using a controlled fan for cooling,"
SPIE 10163, Electroactive Polymer Actuators and Devices (EAPAD) 2017, 101632V, Portland, Oregon, USA, (Mar., 2017).
Ken Masuya and Tomomichi Sugihara,
"A Nonlinear Complementary Filter for Attitude Estimation with Dynamics Compensation of MARG Sensor,"
The 2016 IEEE Int. Conf. on Advanced Intelligent Mechatronics, pp.976-981, ThCT2.4, Banff, Canada, (Jul., 2016).
[PDF]
Ken Masuya and Tomomichi Sugihara,
"COM Motion Estimation of a Humanoid Robot Based on a Fusion of Dynamics and Kinematics Information",
The 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3975-3980, WeFT10.6, Hamburg, Germany, (Sept., 2015).
[PDF]
Ken Masuya and Tomomichi Sugihara,
"Dead Reckoning of a Biped Robot on Various Terrain by Kalman Filter Adaptive to Ground Reaction Force",
The 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp.1075-1080, ThuI2-3.10, Madrid, Spain, (Nov., 2014).
[PDF]
Ken Masuya and Tomomichi Sugihara,
"Dead Reckoning of Biped Robots with Estimated Contact Points Based on the Minimum Velocity Criterion",
The 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3637-3642, TuCT13.4, Tokyo, Japan, (Nov., 2013).
[PDF]
Ken Masuya and Tomomichi Sugihara,
"A Dual-Stage Complementary Filter for Dead Reckoning of a Biped Robot Via Estimated Contact Point",
The 2013 IEEE-RAS Int. Conf. on Humanoid Robots, pp.112-117, WedC-T1.12, Atlanta, Georgia, USA, (Oct., 2013).
[PDF]
Ken Masuya, Tomomichi Sugihara and Motoji Yamamoto,
"Design of Complementary Filter for High-fidelity Attitude Estimation based on Sensor Dynamics Compensation with Decoupled Properties",
The 2012 IEEE Int. Conf. on Robotics and Automation, pp.606-611, TuB04.3, St.Paul, Minnesota, USA, (May, 2012).
[PDF]
Ken Masuya and Ko Ayusawa,
"A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench",
Advanced Robotics, Vol. 34, No. 21-22, pp. 1380-1389, 2020.
K. Takagi, N. Kamamichi, K. Masuya, K. Tahara, T. Irisawa and K. Asaka,
"Chapter 32: Modeling and Control of Fishing-line/Sewing-thread Artificial Muscles (Twisted and Coiled Polymer Fibers, TCPFs),"
K. Asaka and H. Okuzaki (Eds.): Soft Actuators: Materials, Modeling, Applications, and Future Perspectives, 2nd Ed.
Springer, 2019.8