| Design of a bending mechanism for automated cystoscope | 0 | 0.34 | 2012 |
| Reconstruction of surface texture based on spatial information measured with a pen-type texture sensor | 1 | 0.41 | 2010 |
| Incremental reconstruction of texture based on spatial information | 1 | 0.38 | 2009 |
| Pen-type sensor for surface roughness perception | 1 | 0.42 | 2007 |
| Pen-type Sensor for Surface Texture Perception | 1 | 0.43 | 2007 |
