Fusaomi Nagata Takanori Mizobuchi Sho Yoshitake Hitoshi Suzukawa Hiroto Ishihara Keigo Watanabe A Workmanlike Orthogonal-Type Robot with a Force Input Device. 888-895 2011 15 JACIII 7 http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=JACII001500070018.xml db/journals/jaciii/jaciii15.html#NagataMYSIW11