Sanghyun Joung Hongen Liao Etsuko Kobayashi Mamoru Mitsuishi Yoshikazu Nakajima Nobuhiko Sugano Masahiko Bessho Satoru Ohashi Takuya Matsumoto Isao Ohnishi Ichiro Sakuma Hazard analysis of fracture-reduction robot and its application to safety design of fracture-reduction assisting robotic system. 1554-1561 2010 ICRA http://dx.doi.org/10.1109/ROBOT.2010.5509681 conf/icra/2010 db/conf/icra/icra2010.html#JoungLKMNSBOMOS10