PUBLICATIONS
PUBLICATIONS
Journal articles
2025
Hana Ito, Shoma Tanaka, Yunhao Feng, Hiroyuki Nabae, Yasuji Harada, Akira Fukuhara, Koichi Suzumori, A Canine Musculoskeletal Robot for Investigating Biomechanical Functions During Locomotion, Advanced Robotics Research, 21 Nov. 2025.
Amr Marzuq, Yu Kuwajima, Joshua Tan, Yuhei Yamada, Hiroyuki Nabae, Yasuaki Kakehi, Vito Caccuciolo, Shingo Maeda, A Compact, Self-Recovering Wire Electrode Electrohydrodynamic Pump for High-Speed McKibben Artificial Muscle Actuation, Advanced Intelligent Systems, 26 Oct. 2025.
Shoko Miyagawa, Sota Suzuki, Shizuka Watanabe, Zebing Mao, Young Ah Seong, Toshinori Fujie, Tatsuhiro Horii, Kenjiro Tadakuma, Koichi Suzumori, Hiroyuki Nabae, Shingo Maeda, Soft Robotic Excretory Care Simulator for Nursing Education: Functional and Perceptual Biomimetics Approach, Advanced Robotics Research, 12 Sep. 2025.
Sota Suzuki, Shoma Tanaka, Hiroyuki Nabae, Shingo Maeda, McKibben Artificial Muscle Embedded with Stretchable Textile Sensor, Advanced Intelligent Systems, 3 Aug. 2025.
Jan Petrš, Ryota Kobayashi, Fuda van Diggelen, Hiroyuki Nabae, Koichi Suzumori, Dario Floreano, Evolutionary Co-Design and Fabrication of Tensegrity Joints with Integrated Pneumatic Artificial Muscles, Advanced Intelligent Systems, Accepted.
Yuta Ishikawa, Hiroyuki Nabae, Gen Endo, Koichi Suzumori, In-vacuum silicone rubber forming process for soft robots, ROBOMECH Journal, vol. 12, no. 9, Springer Nature, 4 Apr. 2025.
Yu Kuwajima, Amr Marzuq, Soraya Segawa, Yuya Yamaguchi, Yuhei Yamada, Takafumi Morita, Katrene Morozov, Haruto Iwasaki, Sota Suzuki, Hiroyuki Nabae, Vito Cacucciolo, Naoki Hosoya, Yasuaki Kakehi, Shingo Maeda, Resilient and Flexible Electrohydrodynamics Pumps for Human–Machine Interfaces, Advanced Science, Vol. 12, Issue 22, 2416502, Apr. 2025.
Koichi Suzumori, Hiroyuki Nabae, Review of Flexible/Stretchable Sensors for Soft Robot, Journal of Robotics and Mechatronics, Vol. 37, No. 1, pp. 8-12, 20 Feb. 2025.
Daiki Ueda, Koichi Suzumori, Hiroyuki Nabae, Yuta Ishikawa, Teiji Oda, Soft Robotic Heart Formed with a Myocardial Band for Cardiac Functions, Soft Robotics, Mary Ann Liebert, Inc., 5 Feb. 2025.
Ryota Kobayashi, Shoma Tanaka, Hiroyuki Nabae, Gen Endo, Koichi Suzumori, McKibben Muscle with Elastic Thread Embedded in Parallel Extending Range of Motion of Muscle-Driven Robots, IEEE Robotics and Automation Letters, Volume 10, Issue 3, Page 2534-2541, IEEE, 14 Jan. 2025.
Yuta Ishikawa, Hiroyuki Nabae, Megu Gunji, Gen Endo, Koichi Suzumori, Pig tongue soft robot mimicking intrinsic tongue muscle structure, Frontiers in Robotics and AI, vol. 11, Frontiers, 9 Jan. 2025.
2024
Shoma Tanaka, Hiroyuki Nabae, Koichi Suzumori. Serially Coupled Self-Excited Pneumatic Actuator for Environment-Adaptive Steering Robot, IEEE Robotics and Automation Letters, Volume 9, Issue 11, Page 10479 - 10486, Oct. 2024.
Zebing Mao, Ryota Kobayashi, Hiroyuki Nabae, Koichi Suzumori. Multimodal Strain Sensing System for Shape Recognition of Tensegrity Structures by Combining Traditional Regression and Deep Learning Approaches, IEEE Robotics and Automation Letters, IEEE, Volume 9, Issue 11, Page 10050-10056, Nov. 2024.
Ryota Kobayashi, Hiroyuki Nabae, Zebing Mao, Koichi Suzumori, Koichi Suzumori. Enhancement of Thin McKibben Muscle Durability Under Repetitive Actuation in a Bent State, IEEE Robotics and Automation Letters, IEEE, Volume 9, Issue 11, Page 9685 - 9692, Nov. 2024.
Longchuan Li, Shuqian He, Qiukai Qi, Jianing Zeng, Shuai Kang, Gen Endo, Hiroyuki Nabae, Shugen Ma, Koichi Suzumori. PEGrip: A Plant-Tendril-Inspired Passive Entanglement Gripper Enabling Fail-Safe Grasping, IEEE Robotics and Automation Letters, IEEE, Volume 9, Issue 8, pp. 7039-7046, Aug. 2024.
Yunhao Feng, Tohru Ide, Hiroyuki Nabae, Gen Endo, Ryo Sakurai, Shingo Ohno, Koichi Suzumori. Experimental Validation of a 7-DOF Power Soft Robot Driven by Hydraulic Artificial Muscles, IEEE Robotics and Automation Letters, IEEE, Volume 9, Issue 6, pp. 5472-5479, June. 2024.
Mengfei Xie, Yunhao Feng, Hiroyuki Nabae, Koichi Suzumori. A Soft Crawling Robot That Can Self-Repair Material Removal and Deep Lengthwise Cuts, Actuated by Thin McKibben Muscles, IEEE Robotics and Automation Letters, IEEE, Volume 9, Issue 6, pp. 5030-5037, June. 2024.
Yanhong Peng, Hiroyuki Nabae, Yuki Funabora, Koichi Suzumori. Controlling a peristaltic robot inspired by inchworms, Biomimetic Intelligence and Robotics, Mar. 2024.
Hiroto Kodama, Tohru Ide, Yunhao Feng, Hiroyuki Nabae, Koichi Suzumori. Vine-Like, Power Soft Gripper Based on Euler's Belt Theory, IEEE Robotics and Automatoin Letters, IEEE, Volume 9, Issue 4, pp. 3108-3115, Apr. 2024.
2023
Yanhong Peng, Hiroyuki Nabae, Yuki Funabora, Koichi Suzumori. Peristaltic Transporting Device Inspired by Large Intestine Structure, Sensors and Actuators A: Physical, Vol. 365, Nov. 2023.
Yuta Ishikawa, Hiroyuki Nabae, Koichi Suzumori. The effect of muscle path restraint on the stability of a serial-link mechanism driven by antagonistic multi-articular muscles, Journal of Advanced Mechanical Design, Systems, and Manufacturing, The Japan Society of Mechanical Engineers, Vol. 17, No. 6, p. JAMDSM0075, Nov. 2023.
Ryota Kobayashi, Hiroyuki Nabae, Koichi Suzumori. Active-Bending Six-Bar Tensegrity Modular Robot Driven by Thin Artificial Muscles, IEEE Robotics and Automation Letters, IEEE, Volume 8, Issue 11, Page 7400 - 7407, Sept. 2023.
Gihyeok Na, Hiroyuki Nabae, Koichi Suzumori. Braided thin mckibben muscles for musculoskeletal robots, Sensors and Actuators A: Physical, Elsevier, Volume 357, Aug. 2023.
Shoma Tanaka, Hiroyuki Nabae, Koichi Suzumori. Back-Stretchable McKibben Muscles: Expanding the Range of Antagonistic Muscle Driven Joints, IEEE Robotics and Automation Letters, Volume 8, Issue 9, Page 5331 - 5337, July 2023.
Yujin Jang, Hiroyuki Nabae, Koichi Suzumori. Evaluation of Spiral Pneumatic Rubber Actuator Using Finite Element Analysis for Radial Transportation, Actuators, Vol. 12, 5, May. 2023.
Ruby Marshall, Jean-Baptiste R. G. Souppez, Mariya Khan, Ignazio Maria Viola, Hiroyuki Nabae, Koichi Suzumori, Adam A. Stokes, Francesco Giorgio-Serchi. Mechanical Characterisation of Woven Pneumatic Active Textile, IEEE Robotics and Automation Letters, Vol. 8, Issue 5, pp. 2804-2811, Mar. 2023.
Ryota Kobayashi, Hiroyuki Nabae, Koichi Suzumori. Large Torsion Thin Artificial Muscles Tensegrity Structure for Twist Manipulation, IEEE Robotics and Automation Letters, IEEE, Volume 8, Issue 3, pp. 1207-1214, Jan. 2023.
Tatsuhiko Hiramitsu, Koichi Suzumori, Hiroyuki Nabae, Gen Endo. Active textile: woven-cloth-like mechanisms consist of thin McKibben actuators, Advanced Robotics, Vol. 37, Issue 7, pp. 480-494, Jan. 2023.
2022
Hiroyuki Nabae, Eigo Kitamura. Self-Excited Valve Using a Flat Ring Tube: Application to Robotics, Frontiers in Robotics and AI, Nov. 2022.
Yujin Jang, Hiroyuki Nabae, Koichi Suzumori. Effects of Surface Roughness on Direct Plasma Bonding between Silicone Rubbers Fabricated with 3D-Printed Molds, ACS Omega, Vol. 37, Issue 7, pp. 44485-45740, Nov. 2022.
Sarin Kittisares, Yosiharu Hirota, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Alternating pressure control system for hydraulic robots, Mechatronics, Elsevier, Volume 85, May 2022.
Yuta Ishikawa, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Stability analysis of multi serial link mechanism driven by antagonistic multiarticular artificial muscles, ROBOMECH Journal, Springer Nature, Vol. 9, 11, May 2022.
Shoko Miyagawa, Ryohei Yuasa, Hiroyuki Nabae, Hidemitsu Furukawa, Masaru Kawakami. Development of a Soft Robot with Pressure Ulcer Prevention Functions, Journal of Robotics and Mechatronics, Vol. 34, No. 2, pp. 294-297, Apr. 2022.
Tetsuya Horiuchi, Hiroyuki Nabae, Koichi Suzumori. Three-Dimensional Ion Polymer–Metal Composite Soft Robots, Journal of Robotics and Mechatronics, Vol. 34, No. 2, pp. 231-233, Apr. 2022.
Ryota Kobayashi, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Soft Tensegrity Robot Driven by Thin Artificial Muscles for the Exploration of Unknown Spatial Configurations, IEEE Robotics and Automation Letters, IEEE, Volume 7, Issue 2, Page 5349-5356, Feb. 2022.
Atsuhiko Niikura, Hiroyuki Nabae, Gen Endo, Megu Gunji, Kent Mori, Ryuma Niiyama, Koichi Suzumori. Giraffe Neck Robot: First Step toward a Powerful and Flexible Robot Prototyping Based on Giraffe Anatomy, IEEE Robotics and Automation Letters, IEEE, vol. 7, no. 2, pp. 3539-3546, April 2022.
Yunhao Feng, Tohru Ide, Hiroyuki Nabae, Gen Endo, Ryo Sakurai, Shingo Ohno, Koichi Suzumori. Experimental comparison of antagonistic hydraulic muscle actuation under single/dual and zero/overlapped servovalve configurations, Mechatronics, Vol. 83, Feb. 2022.
2021
Yujin Jang, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Analysis of the multi-balloon dielectric elastomer actuator for traveling wave motion, Sensors and Actuators A: Physical, Elsevier, Volume 333, Nov. 2021.
Masayuki Hara, Takahiro Funabashi, Masahito Miki, Hiroyuki Nabae. Application of mass micromanipulations to submillimeter-scale particles in multiple containers on a laterally oscillated stage, Mechatronics, Elsevier, Vol. 77, Aug. 2021.
Atsushi Takata, Hiroyuki Nabae, Koichi Suzumori, Gen Endo. Tension Control Method Utilizing Antagonistic Tension to Enlarge the Workspace of Coupled Tendon-Driven Articulated Manipulator, IEEE Robotics and Automation Letters, IEEE, vol. 6, no. 4, pp. 6647-665, July 2021.
Wen-Yung Li, Atsushi Takata, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Shape Recognition of a Tensegrity With Soft Sensor Threads and Artificial Muscles Using a Recurrent Neural Network, IEEE Robotics and Automation Letters, IEEE, Volume 6, Issue 4, pp. 6228-6234, June 2021.
Eigo Kitamura, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Self-excitation Pneumatic Soft Actuator Inspired by Vocal Cords, Sensors and Actuators A: Physical, June 2021.
Hiroyuki Nabae, Malte Springer, Tugay Alperen Karagüzel. Displacement amplification enhances rapid actuation of electromagnetic actuators: Drive with load of spring–mass–damper system, Sensors and Actuators A: Physical, Apr. 2021.
Yunhao Feng, Tohru Ide, Hiroyuki Nabae, Gen Endo, Ryo Sakurai, Shingo Ohno, Koichi Suzumori. Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles, ROBOMECH Journal, Springer Open, Mar. 2021.
2020
Zhenyu Wang, Gen Endo, Masashi Takahashi, Hiroyuki Nabae, Koichi Suzumori, Nobuyoshi Tsuzuki, Hideharu Takahashi, Kazushi Kimoto, Tomonori Ihara, Hiroshige Kikura. Study of a robotic system to detect water leakage and fuel debris‑System proposal and feasibility study of visual odometry providing intuitive bird’s eye view‑, ROBOMECH Journal, Springer, Oct. 2020.
Hikaru Yamamoto, Takefumi Kanda, Shuichi Wakimoto, Yusuke Ota, Hatuto Takami, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae. A small three-way valve using particle excitation driven by a single piezoelectric transducer for hydraulic actuator, Sensors and Actuators A: Physical, Vol. 316, Oct. 2020.
Yusuke Ueno, Tetsuo Hagiwara, Hiroyuki Nabae, Koichi Suzumori, Gen Endo. Development of Hiryu-II: A Long-Reach Articulated Modular Manipulator Driven by Thrusters, IEEE Robotics and Automation Letters, Vol. 5, No. 3, pp. 4963 - 4969, June 2020.
井手 徹, 山本 明菜, 廣田 善晴, 難波江裕之, 鈴森 康一. 油圧タフ多指ロボットハンドの複腕建設ロボットへの搭載と試験評価, 日本ロボット学会誌, Vol. 38, No. 3, pp. 296-301, May 2020.
Kosuke Tani, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Pneumatic Soft Actuator Using Self-Excitation Based on Automatic-Jet-Switching-Structure, IEEE Robotics and Automation Letters (RAL), IEEE, Vol. 5, Issue 3, pp. 4042-4048, Apr. 2020.
Asuka Ishiki, Hiroyuki Nabae, Akio Kodaira, Koichi Suzumori. PF-IPMC: Paper/Fabric Assisted IPMC Actuators for 3D Crafts, IEEE Robotics and Automation Letters (RAL), IEEE, Vol. 5, No. 3, pp. 4035-4041, Apr. 2020.
Sarin Kittisares, Hiroyuki Nabae, Gen Endo, Koichi Suzumori, Sakurai Ryo. Design of knee support device based on four-bar linkage and hydraulic artificial muscle, ROBOMECH Journal, Springer Open, 7, 16, Mar. 2020.
Wenyung Li, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. New Soft Robot Hand Configuration with Combined Biotensegrity and Thin Artificial Muscle, IEEE Robotics and Automation Letters (RAL), IEEE, Vol. 5, No. 3, pp. 4345-4351, Mar. 2020.
Kosuke Tani, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Proposal and Prototyping of Self-Excited Pneumatic Actuator Using Automatic-Flow-Path-Switching-Mechanism, IEEE Robotics and Automation Letters (RAL), IEEE, Vol. 5, Issue 2, pp. 3058-3065, Feb. 2020.
*Vito Cacucciolo, *Hiroyuki Nabae, Koichi Suzumori, Herbert Shea. Electrically-Driven Soft Fluidic Actuators Combining Stretchable Pumps With Thin McKibben Muscles, Frontiers in Robotics and AI, Vol. 6, Page 146, Jan. 2020.
Before 2019
Shoichiro Koizumi, Shunichi Kurumaya, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Recurrent Braiding of Thin McKibben Muscles to Overcome Their Limitation of Contraction, Soft Robotics, Vol. 7, No. 2, pp. 251-258, Nov. 2019.
Shunichi Kurumaya, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Active Textile Braided in Three Strands with Thin McKibben Muscle, Soft Robotics, Vol. 6, No. 2, pp. 250-262, Apr. 2019.
Tomoki Abe, Shoichiro Koizumi, Hiroyuki Nabae, Gen Endo, Koichi Suzumori, Nao Sato, Michiko Adachi, Fumi Takamizawa. Fabrication of ‘18 Weave’ Muscles and their Application to Soft Power Support Suit for Upper Limbs Using Thin McKibben Muscle, IEEE Robotics and Automation Letters (RAL), Apr. 2019.
Hiroyuki Nabae. Preliminary study on inchworm mechanism using displacement-amplified electromagnetic actuators, International Journal of Applied Electromagnetics and Mechanics, Vol. 59, No. 2, pp. 505-511, Mar. 2019. ([2-45]のextended paper，conferenceのoptionによる)
Gen Endo, Youki Wakabayashi, Hiroyuki Nabae, Koichi Suzumori. Bundled Wire Drive: Proposal and Feasibility Study of a Novel Tendon-Driven Mechanism Using Synthetic Fiber Ropes, IEEE Robotics and Automation Letters (RAL), IEEE, Vol. 4, Issue 2, pp. 966-972, Jan. 2019.
Akio Kodaira, Kinji Asaka, Tetsuya Horiuchi, Gen Endo, Hiroyuki Nabae, Koichi Suzumori. IPMC Monolithic Thin Film Robots Fabricated Through a Multi-Layer Casting Process, IEEE Robotics and Automation Letters (RAL), Vol. 4, No. 2, pp. 1335-1342, Jan. 2019.
平光 立拓, 鈴森 康一, 難波江 裕之, 遠藤 玄. “細径人工筋肉からなる織布状ソフトメカニズムの試作と評価”, 設計工学, 54 巻, 4 号, Nov. 2018.
Hiroyuki Nabae, Koichi Ikeda. Effect of elastic element on self-excited electrostatic actuator, Sensors and Actuators A: Physical, Elsevier, Vol. 279C, pp. 725-732, Jul. 2018.
Shoichiro Koizumi, Shunichi Kurumaya, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. Braiding Thin McKibben Muscles to Enhance their Contracting Abilities, IEEE Robotics and Automation Letters, Jun. 2018.
Hiroyuki Nabae, Morizo Hemmi, Yoshiharu Hirota, Tohru Ide, Koichi Suzumori, Gen Endo. Super-low friction and lightweight hydraulic cylinder using multi-directional forging magnesium alloy and its application to robotic leg, Advanced Robotics, Taylor & Francis, Vol. 32, pp. 524-534, May. 2018.
平光立拓, 難波江裕之, 鈴森康一, 遠藤玄. 人工筋肉の三次元螺旋走行からなる円筒状多繊維筋構造メカニズムの試作, 日本機械学会論文集, Vol. 84, No. 862, May. 2018.
Ryusuke Morita, Hiroyuki Nabae, Gen Endo, Koichi Suzumori. A proposal of a new rotational-compliant joint with oil-hydraulic McKibben artificial muscles, Advanced Robotics, Taylor & Francis, Vol. 32, pp. 511-523, May. 2018.
Hayato Osaki, Takefumi Kanda, Shoki Ofuji, Norihisa Seno, Koichi Suzumori, Takahiro Ukida, Hiroyuki Nabae. A Small Three-Way Valve Using Particle Excitation with Piezoelectric Transducers for Hydraulic Actuators. Advanced Robotics, Advanced Robotics, Taylor & Francis, Vol. 32, No. 9, pp. 500-510, Apr. 2018.
Atsushi Takata, Gen Endo, Koichi Suzumori, Hiroyuki Nabae, Yoshihiro Mizutani, Yoshiro Suzuki. Modeling of Synthetic Fiber Ropes and Frequency Response of Long-distance Cable-Pulley System, IEEE Robotics and Automatoin Letters, IEEE, Volume 3, No. 3, pp. 1743 - 1750, Feb. 2018.
Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki Nabae, Takefumi KANDA. Fabrication and Evaluation of Hydraulic Particle Excitation Valve Vibrated Perpendicularly to Direction of Flow Path, JFPS International Journal of Fluid Power System, Vol. 11, No. 2, p. 9-17, Dec. 2018.
（浮田貴宏, 鈴森康一, 難波江裕之, 神田岳文. 流路に直交方向の加振を利用した油圧微粒子励振型制御弁の試作と評価, 日本フルードパワーシステム学会論文集, Vol. 49, No. 1, p. 10-17, Jan. 2018.）
Shunichi Kurumaya, Hiroyuki Nabae, Gen Endo, Koichi Suzumori, “Design of thin McKibben muscle and multifilament structure”, Sensors and Actuators A: Physical, Volume 261, Page 66-74, Jul. 2017.
M. Takeichi, Koichi Suzumori, Gen Endo, Hiroyuki Nabae. Development of Giacometti Arm With Balloon Body, IEEE Robotics and Automation Letters, Vol. 2, No. 2, 951-957, Jan. 2017.
Takahiro UKIDA, Koichi SUZUMORI, Hiroyuki Nabae, Takefumi KANDA, Shoki OFUJI. Hydraulic Control by Flow Control Valve Using Particle Excitation, JFPS International Journal of Fluid Power System, Vol. 10, No. 3, Page 38-46, Dec. 2017.
（浮田 貴宏, 鈴森康一, 難波江裕之, 神田岳文, 大藤翔輝. 微粒子励振型流量制御弁による油圧制御, 日本フルードパワーシステム学会論文集, Vol. 47, No. 6, p. 1, Nov. 2016.）
Akira Wada, Hiroyuki Nabae, Takaaki Kitamori, Koichi Suzumori. Energy regenerative hose-free pneumatic actuator, Sensors and Actuators A: Physical, Volume 249, pp. 1–7, Oct. 2016.
Shunichi Kurumaya, Koichi Suzumori, Hiroyuki Nabae, Shuichi Wakimoto. Musculoskeletal lower‑limb robot driven by multifilament muscles, Robomech Journal, Springer Open, 3, 18, Sep. 2016.
Masayuki Hara, Hiroyuki Nabae, Akio Yamamoto, Toshiro Higuchi, “A Novel Rubber Hand Illusion Paradigm Allowing Active Self-Touch with Variable Force Feedback Controlled by a Haptic Device”, IEEE Transactions on Human-Machine Systems, IEEE, Vol. 46, No. 1, pp. 78-87, Feb. 2016.
Hiroyuki Nabae, Toshiro Higuchi “A Novel Electromagnetic Actuator Based on Displacement Amplification Mechanism”, IEEE/ASME Transactions on Mechatronics, Vol. 20, 4, pp. 1607-1615, Aug. 2015.
Shinya Hattori, Masayuki Hara, Hiroyuki Nabae, Donghyun Hwang, Toshiro Higuchi“Design of an Impact Drive Actuator Using a Shape Memory Alloy Wire”, Sensors and Actuators A: Physical, Vol. 219, 1, pp. 47-57, Nov. 2014.
Masayuki Hara, Roy Salomon, Wietske van der Zwaag, Tobias Kober, Giulio Rognini, Hiroyuki Nabae, Akio Yamamoto, Olaf Blanke, Toshiro Higuchi, “A novel manipulation method of human body ownership using an fMRI-compatible master–slave system”, Journal of Neuroscience Methods, Vol. 235, 30, pp. 25-34, Sep. 2014
難波江 裕之，李 愿世，樋口 俊郎「繰り返し制御を用いた粘弾性測定」日本AEM学会誌 , Vol. 19, No. 3, pp. 585-590, Sep. 2011.