Force control of a spiral motor and its application to musculoskeletal biped robot. - Yasutaka Fujimoto; Tsubasa Suenaga; Yuuki Wakayama; Kengo Sawai; Ahmad Zaki Shukor (AMC, 2012)

Force control of musculoskeletal manipulator. - Ahmad Zaki Shukor; Yasutaka Fujimoto (AMC, 2012)

Load disturbance and environment effect on biarticular manipulator driven by spiral motors. - Ahmad Zaki Shukor; Yasutaka Fujimoto (ICM, 2013)

Direct-Drive Position Control of a Spiral Motor as a Monoarticular Actuator. - Ahmad Zaki Shukor; Yasutaka Fujimoto (IEEE Trans. Ind. Electron., 2014)