★ April 2024 ～ now
+ Responsible of the class of "Expressive robot control", The University of Tokyo, Graduate School of Engineering.

★ April 2023 ～ now
+　"Mechanical Dynamics　2", The University of Tokyo, 3rd year undergraduate course.

★ October 2023 ～ now
+　"Mechanical Dynamics　1", The University of Tokyo, 2nd year undergraduate course.

★ June 2016 ～ 2021
+　"Robotics", Tokyo University of Agriculture and Technology, School of Mechanical System Engineering, 3d year undergraduate course.

★ June 2016
+ "Advanced Human body dynamics and Robotics", Kyushu Institute of Technology, Kita-Kyushu, Japan.

★ April 2012 ～ 2022
+ Responsible of the class of "Human body dynamics", Tokyo University of Agriculture and Technology, School of Mechanical System Engineering, 3rd year undergraduate course.

★ April 2010 ～ 2020
+ Responsible of the class of "Computer programming I", Tokyo University of Agriculture and Technology, School of Mechanical System Engineering, 2nd and 3rd year undergraduate course.

★ April 2009 ～ 2021
+ Responsible of the class of "Multi-body Dynamics", Tokyo University of Agriculture and Technology, School of Mechanical System Engineering, Master course.

★ April 2009 ～ March 2010
+ Responsible of the class of "Lab. class: Precision Measurements", Tokyo University of Agriculture and Technology, School of Mechanical System Engineering, 2nd year.

★ June 2008
+ "Advanced robotics and redundancy", 2 lectures at the University of Tokyo, School of Engineering, Master course.

★ June 2007
+ "Identification and Application to the Human Body", lecture at the University of Tokyo, School of Engineering, Master course.
+ "Modelling of Mechanical Systems and the Linearity of the Model in the Parameters", lecture at the University of Tokyo, School of Engineering, Undergraduate course.

★ July 2006
"Parametric identification of mechanical systems", lecture at the University of Tokyo, School of Engineering, Master course.

★ September 2003 ～ July 2004
+ In charge of the class of "linear systems: Automatics and Linear Control Theory" for a 2nd year Engineer school at the CNAM in Paris.

+ In charge of the class of "linear systems: Automatics and Linear Control Theory" for a 2nd year Engineer school (Master degree 1st year) at the University of Marne la Vallee.
+ In charge of the class of "Discrete Systems" for a 3d year of Engineer school (Master degree 2nd year) at the University of Marne la Vallee.

★ September 2001 ～ March 2002
Supervision of Lab. class of "Electrical Engineering" at the IUT de Velizy.