Human-will-oriented techniques constructed for cooperative motions between a human and a power assisting robot. - Yoji Yamada; Haruyoshi Daitoh; Yasuhiro Hirasawa; Takayuki Sakai; Yoji Umetani (Adv. Robotics, 1998)

Construction of a human/robot coexistence system based on a model of human will-intention and desire. - Yoji Yamada; Yoji Umetani; Haruyoshi Daitoh; Takayuki Sakai (ICRA, 1999)