| 2003 | ICRA | Assistance of self-transfer of patients using a power-assisting device. | Kiyoshi Nagai, Isao Nakanishi, Hideo Hanafusa |
| 2002 | IROS | Development of a power assistive device for self-supported transfer motion. | Kiyoshi Nagai, Hideo Hanafusa, Yoko Takahashi, Hitomi Bunki, Isao Nakanishi, Takuma Yoshinaga, Toshiya Ehara |
| 1998 | ICRA | Development of an 8 DOF Robotic Orthosis for Assisting Human Upper Limb Motion. | Kiyoshi Nagai, Isao Nakanishi, Hideo Hanafusa, Sadao Kawamura, Masaaki Makikawa, Noriyuki Tejima |
| 1995 | IROS | Controlling the contact compliance via internal forces on objects held by dual-arm robots. | Mehmet Arif Adli, Koji Ito, Hideo Hanafusa |
| 1995 | IROS | Cooperative control of dual-arm robots for reasonable motion distribution. | Kiyoshi Nagai, Seisaku Iwasa, Koichi Watanabe, Hideo Hanafusa |
| 1991 | IROS | Apparent structural stiffness of closed mechanisms under the effect of internal forces during dynamic motion. | Mehmet Arif Adli, Kiyoshi Nagai, Keiichiro Miyata, Hideo Hanafusa |
| 1989 | ICRA | PI type hierarchical feedback control scheme for pneumatic robots. | Sadao Kawamura, Keiichiro Miyata, Hideo Hanafusa, Kiminari Isida |