System design and field-testing of the walk training system. - Tomoyuki Tani; Atsushi Koseki; Akihiko Sakai; Shizuko Hattori; Atsushi Ouchi (IROS, 1996)

Walk training system: improvement of the ability of postural control. - Tomoyuki Tani; Akihiko Sakai; Toshiro Fujimoto; Masakatsu G. Fujie (IROS, 1997)