K. Hori

Development of ultra-small sized servo actuator with brushless DC motor, planetary gear drive and optical rotary encoder

Toyomi Miyagawa, Kenichi Ito, Kohei Hori, 1997 .

A direct-drive pneumatic stepping motor for robots: designs for pipe-inspection microrobots and for human-care robots

Koichi Suzumori, Toyomi Miyagawa, Kohei Hori, 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).