Equivalence of resonance ratio and I-PD controllers in zero stiffness torque control for soft robot. - Yusuke Kawai; Yuki Yokokura; Kiyoshi Ohishi; Kotaro Saito; Atsushi Shimamoto (IECON, 2015)

Verification of load-side acceleration control for a 2-inertia resonant system with a torsion torque sensor. - Yuki Yokokura; Kiyoshi Ohishi; Kotaro Saito; Atsushi Shimamoto; Yu Yamamoto (SII, 2015)

High back-drivable pseudo I-PD torque control using load-side torque observer with torsion torque sensor. - Yusuke Kawai; Yuki Yokokura; Kiyoshi Ohishi; Kotaro Saito; Atsushi Shimamoto (AMC, 2016)