Takahiro Endo Haruhisa Kawasaki Tetsuya Mouri Yasutoshi Doi Tetsunori Yoshida Yasuhiko Ishigure Hisayuki Shimomura Masato Matsumura Kazumi Koketsu Five-fingered haptic interface robot: HIRO III. 458-463 2009 WHC http://doi.ieeecomputersociety.org/10.1109/WHC.2009.4810812 conf/haptics/2009 db/conf/haptics/whc2009.html#EndoKMDYISMK09