Reviewed Journal Papers
  1. Mizuki Nakamura, Masaki Osawa, Akemi Nakayama, Noriyasu Iwamoto, Seiji Takashima, Ken Masuya, Yoshitake Akiyama ``Enhanced Hill's Muscle Model for Tissue-Engineered Skeletal Muscle and its Application to Reverse-Action Tweezers Actuation,'' Advanced Intelligent Systems, 2025. DOI: 10.1002/aisy.202500292.
  2. Ken Masuya, "Systematic design of the time-independent and computable controller based on zero-division-avoidable smoother for a desired orbit in phase space," IEEE Robotics and Automation Letters, Vol.10, No.9, pp.9272--9279, 2025. DOI: 10.1109/LRA.2025.3592132.
  3. Ken Masuya, Yuta Ide, Masafumi Okada, ``Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion (in Japanese)'', Transactions of the JSME (in Japanese), Vol.91, No.941, 24-00194, 2025. DOI:10.1299/transjsme.24-00194 (Accepted).
  4. Yutaro Yoshida, Ryo Hayashi, Ken Masuya, Kentaro Takagi, Hikaru Arita, Kenji Tahara, ``Antagonistic Total Torque Control of Rotational Straight Twisted Polymeric Fiber Actuator (in Japanese)'', Journal of the Robotics Society of Japan, Vol.41, No.6, pp.573-576, 2023.
  5. Masafumi Okada, Kazuki Watanabe, Ken Masuya, ``Stochastic identification of minimum set of dynamics parameters that has small sensitivity on controlled velocity field in state-space (in Japanese)'', Transactions of the JSME (in Japanese), Vol.88, No.914, 22-00100, 2022. DOI:10.1299/transjsme.22-00100.
  6. Masafumi Okada, Yalun You, Ken Masuya, ``Control of Human-machine cooperative cart by region attractor to achieve both obstacle avoidance and trajectory tracking (in Japanese)'', Transactions of the JSME (in Japanese), Vol.88, No.912, 22-00012, 2022. DOI:10.1299/transjsme.22-00012.
  7. Ken Masuya, Kentaro Takagi, and Kenji Tahara, ``Wire-storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber,'' IEEE Robotics and Automation Letters, Vol.7, No.4, pp.11094--11101, 2022. (IROS2022 presentation option)
  8. Kentaro Takagi, Hiroki Iwai, Chihaya Oiwa, Toshihira Irisawa, Masatoshi Shioya, Ken Masuya, Kenji Tahara, Daichi Sakurai, Haruhiko Watanabe, Kinji Asaka, ``Modeling and characterization for straight twisted polymer fiber actuators in blocked torsion: effect of radial thermal expansion,'' Smart Materials and Structures, Vol.30, No.6, 065023, 2021. DOI: 10.1088/1361-665X/abfc1a.
  9. Ken Masuya and Kenji Tahara, "Novel Twisted and Coiled Polymer Fiber Actuator Fabricated from Polymer-coated Optical Fiber," IEEE Robotics and Automation Letters, Vol.6, No.3, pp.4883--4890, 2021. DOI: 10.1109/LRA.2021.3070247. (RoboSoft2021 presantation option).
  10. Masafumi Okada, Yalun You, Ken Masuya, "Trajectory entrainment with human assistance of wheeled mobile system (in Japanese)", Transactions of the JSME (in Japanese), Vol.86, No.889, 19-00268, 2020. DOI: 10.1299/transjsme.19-00268.
  11. Ken Masuya, "Low-cost Coil-shaped Optical Fiber Displacement Sensor for a Twisted and Coiled Polymer Fiber Actuator Unit," IEEE Robotics and Automation Letters, Vol.5, No.4, pp.6497-6503, 2020. DOI: 10.1109/LRA.2020.3013882. (IROS2020 presantation option).
  12. Masafumi Okada, Yutaka Okamoto, Ken Masuya, "Semi-autonomous control of excavation using model of human operation and state estimation via Extended Kalman Filter (in Japanese)", Transactions of the JSME (in Japanese)，Vol.86, No.884, 19-00320, 2020. DOI: 10.1299/transjsme.19-00320. Certificate of Merit for Excellent Paper in JSME Robotics and Mechatronics Division
  13. Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Rui Fujino, Takuma Yamauchi, Eitaro Tanaka, and Kenji Tahara, "Two-degree-of-freedom Control of The Rotational Angle for a Twisted Polymeric Fiber Actuator by Temperature Estimation," IEEE Robotics and Automation Letters, Vol.4, No.3, pp.2561-2567, 2019. DOI: 10.1109/LRA.2019.2908484. (RoboSoft presantation option).
  14. Kenji Tahara, Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Takuma Yamauchi, and Eitaro Tanaka, "Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback," IEEE Robotics and Automation Letters, Vol.4, No.3, pp.2447-2454, 2019. DOI: 10.1109/LRA.2019.2901982.
  15. Ken Masuya, Shu Ono, Kentaro Takagi, and Kenji Tahara, "Feedforward Control of Twisted and Coiled Polymer Actuator based on a Macroscopic Nonlinear Model Focusing on Energy," IEEE Robotics and Automation Letters, Vol.3, No.3, pp.1824-1831, 2018. DOI: 10.1109/LRA.2018.2801884. (ICRA presantation option).
  16. Ken Masuya, Shu Ono, Kentaro Takagi, and Kenji Tahara, "Modeling Framework for Macroscopic Dynamics of Twisted and Coiled Polymer Actuator Driven by Joule Heating Focusing on Energy and Convective Heat Transfer," Sensors and Actuators A: Physical, Vol.267, pp.443-454, 2017. DOI: 10.1016/j.sna.2017.10.016
  17. Ken Masuya and Tomomichi Sugihara, "COM Motion Estimation of a Biped Robot Based on Kinodynamics and Torque Equilibrium," Advanced Robotics, Vol.30, No.10, pp.691-703, Open access in online, 23, Mar., 2016. DOI: 10.1080/01691864.2016.1150201 [Available at Taylor and Francis Online]
  18. Ken Masuya and Tomomichi Sugihara, "Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation," Advanced Robotics, Vol.29, No.12, pp.785-799, Open access in online, 27, Mar., 2015. DOI: 10.1080/01691864.2015.1011694 [Available at Taylor and Francis Online]
  19. Tomomichi Sugihara, Ken Masuya and Motoji Yamamoto, "A Complementary Filter for High-fidelity Attitude Estimation based on Decoupled Linear / Nonlinear Properties of Inertial Sensors (in Japanese)," Journal of the Robotics Society of Japan, Vol.31, No.3, pp.251-262, 2013. DOI: 10.7210/jrsj.31.251
Reviewed International Conference Proceedings
  1. Yoshitake Akiyama, Mizuki Nakamura, Noriyasu Iwamoto, Ken Masuya, "Towards Mathematical Modeling of Tissue-Engineered Skeletal Muscle Considering Contraction-Induced Stiffness Changes," The 2024 IEEE Int. Conf. on Cyborg and Bionic Systems, ThOrM1T1.3, Nagoya, Japan, (Nov. 2024).
  2. Ken Masuya and Kenji Tahara, "Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane," The 2020 IEEE Int. Conf. on Advanced Intelligent Mechatronics (virtual conference), pp.132-137, Boston, MA, USA, (Jul. 2020).
  3. Hiroki Iwai, Kentaro Takagi, Chihaya Oiwa, Toshihira Irisawa, Masatoshi Shioya, Ken Masuya, Kenji Tahara, Haruhiko Watanabe, Daichi Sakurai, Kinji Asaka, "On the fluctuation phenomenon of axial thermal stress of a torsional fishing-line artificial muscle (twisted polymer fiber) actuator," SPIE 11375, Electroactive Polymer Actuators and Devices (EAPAD) 2020, 11375-45, Anaheim, California, USA, (Apr., 2020).
  4. Hoshito Tanizaki, Kentaro Takagi, Chihaya Oiwa, Ken Masuya, Kenji Tahara, Toshihira Irisawa, Masatoshi Shioya, Kinji Asaka, "Experimental investigation of temperature-dependent hysteresis of fishing-line artificial muscle (twisted and coiled polymer fiber) actuator," SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) 2019, 10966-16, Denver, Colorado, USA, (Mar., 2019).
  5. Shu Ono, Ken Masuya, Kentaro Takagi, and Kenji Tahara, "Trajectory Tracking of a One-DOF Manipulator using Multiple Fishing Line Actuators by Iterative Learning Control," The 2018 IEEE Int. Conf. on Soft Robotics, pp.467-472, ThTT.23, Livorno, Italy, (Apr., 2018).
  6. Chihaya Oiwa, Ken Masuya, Kenji Tahara, Toshihira Irisawa, Kinji Asaka, Kentaro Takagi, "Grey-box modeling and control of torsional fishing-line artificial muscle actuator," SPIE 10594, Electroactive Polymer Actuators and Devices (EAPAD) 2018, 10594-79, Denver, Colorado, USA, (Mar., 2018).
  7. Ken Masuya, Shu Ono, Kentaro Takagi, and Kenji Tahara, "Nonlinear Dynamics of Twisted and Coiled Polymer Actuator made of Conductive Nylon based on the Energy Balance," The 2017 IEEE Int. Conf. on Advanced Intelligent Mechatronics, pp.779-784, WAT5.3, Munich, Germany, (Jul., 2017). [PDF]
  8. Kentaro Takagi, Takeshi Arakawa, Jun Takeda, Ken Masuya, Kenji Tahara, and Kinji Asaka, "Position control of twisted and coiled polymer actuator using a controlled fan for cooling," SPIE 10163, Electroactive Polymer Actuators and Devices (EAPAD) 2017, 10163-103, Portland, Oregon, USA, (Mar., 2017).
  9. Ken Masuya and Tomomichi Sugihara, "A Nonlinear Complementary Filter for Attitude Estimation with Dynamics Compensation of MARG Sensor," The 2016 IEEE Int. Conf. on Advanced Intelligent Mechatronics, pp.976-981, ThCT2.4, Banff, Canada, (Jul., 2016). [PDF]
  10. Ken Masuya and Tomomichi Sugihara, "COM Motion Estimation of a Humanoid Robot Based on a Fusion of Dynamics and Kinematics Information", The 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3975-3980, WeFT10.6, Hamburg, Germany, (Sept., 2015). [PDF]
  11. Ken Masuya and Tomomichi Sugihara, "Dead Reckoning of a Biped Robot on Various Terrain by Kalman Filter Adaptive to Ground Reaction Force", The 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp.1075-1080, ThuI2-3.10, Madrid, Spain, (Nov., 2014). [PDF]
  12. Ken Masuya and Tomomichi Sugihara, "Dead Reckoning of Biped Robots with Estimated Contact Points Based on the Minimum Velocity Criterion", The 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.3637-3642, TuCT13.4, Tokyo, Japan, (Nov., 2013). [PDF]
  13. Ken Masuya and Tomomichi Sugihara, "A Dual-Stage Complementary Filter for Dead Reckoning of a Biped Robot Via Estimated Contact Point", The 2013 IEEE-RAS Int. Conf. on Humanoid Robots, pp.112-117, WedC-T1.12, Atlanta, Georgia, USA, (Oct., 2013). [PDF]
  14. Ken Masuya, Tomomichi Sugihara and Motoji Yamamoto, "Design of Complementary Filter for High-fidelity Attitude Estimation based on Sensor Dynamics Compensation with Decoupled Properties", The 2012 IEEE Int. Conf. on Robotics and Automation, pp.606-611, TuB04.3, St.Paul, Minnesota, USA, (May, 2012). [PDF]
Reviewed Domestic Conference Proceedings
  1. Ken Masuya and Tomomichi Sugihara, "3D-COM Motion Estimation for a Humanoid Robot based on Equilibrium of Reaction Torque (in Japanese)," 20th Robotics Symposia, Karuizawa, pp.190-195, (Mar., 2015). [PDF]
  2. Ken Masuya and Tomomichi Sugihara, "Dead Reckoning for Biped Robots using Estimated Contact Points based on Reaction Force and an Accelerometer (in Japanese)," 18th Robotics Symposia, Kaminoyama, pp.296-301, (Mar., 2013). [PDF]
  3. Ken Masuya, Tomomichi Sugihara, Motoji Yamamoto, "A Comparative Discussion of Accuracy of Complementary Filter and Kalman Filter for the Attitude Estimation (in Japanese)," 17th Robotics Symposia, pp.116-121, Hagi, (Mar., 2012). [PDF]