The following publications are possibly variants of this publication:
- Experimental study on torque control using harmonic drive built-in torque sensorsMinoru Hashimoto, Toshiaki Shimono, Ken-ichi Koreyeda, Hideho Tanaka, Y. Koyosawa, Hideki Hirabayashi. icra 1992: 2026-2031 [doi]
- Harmonic Drive with a Built-in Torque Sensor and Its Application to Torque ControlMinoru Hashimoto, Hideki Hirabayashi, Toshihide Kiyosawa. jrm, 3(4):306-313, 1991. [doi]
- Harmonic Drive Built-in Torque SensorMinoru Hashimoto, Masakatsu Sasahara. jrm, 2(3):217-218, 1990. [doi]
- Improved performance of built-in torque sensing for harmonic drivesIvan Godler, Tamotsu Ninomiya, Masashi Horiuchi, Minoru Hashimoto. iros 2000: 1249-1254 [doi]