Passive-type intelligent walking support system "RT Walker". - Yasuhisa Hirata; Asami Hara; Kazuhiro Kosuge (IROS, 2004)

Motion Control of Passive-type Walking Support System based on Environment Information. - Yasuhisa Hirata; Asami Hara; Kazuhiro Kosuge (ICRA, 2005)

Motion Control of Passive Intelligent Walker Using Servo Brakes. - Yasuhisa Hirata; Asami Hara; Kazuhiro Kosuge (IEEE Trans. Robotics, 2007)