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0123456789 Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator Yuji YAMAKAWA∗, Akio NAMIKI∗∗ and Masatoshi ISHIKAWA∗ ∗Graduate School of Information Science and Technology, The University of Tokyo 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan E-mail: Yuji Yamakawa@ipc.i.u-tokyo.ac.jp ∗∗Graduate School of Engineering, Chiba University 1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba, 263-8522, Japan