@techreport{oai:soar-ir.repo.nii.ac.jp:00014534,
 author = {河村,  隆 and 小林,  俊一},
 month = {Mar},
 note = {The spindle type hand spinning method was popular before the Industrial Revolution. We are focusing this easy and simple spinning method on automation by robotics. Fiber model in the spinning was investigated analytically and experimentally. After a short time training human is able to spin using spindle method, but the mechanism and acquisition of hand spinning skill ware not cleared. This study is aim to recognize the mechanism of this spinning method and realize hand spinning by robot. Human arm moving while spinning was observed and robot manipulator traces the trajectory in this study., Article, 先進ファイバー工学研究教育拠点研究成果報告書 11: 141-141(2005)},
 title = {15-6-9 : スピンドル式事紡ぎ機の制御構造と技能の取得},
 year = {2005}
}