Towards balance recovery control for lower body exoskeleton robots with Variable Stiffness Actuators: Spring-loaded flywheel model. - Corinne Doppmann; Barkan Ugurlu; Masashi Hamaya; Tatsuya Teramae; Tomoyuki Noda; Jun Morimoto (ICRA, 2015)

Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller. - Barkan Ugurlu; Paolo Forni; Corinne Doppmann; Jun Morimoto (IROS, 2015)

Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles. - Barkan Ugurlu; Paolo Forni; Corinne Doppmann; Emre Sariyildiz; Jun Morimoto (IEEE Trans. Ind. Informatics, 2019)