Pilot study on quantitative assessment of muscle imbalance: Differences of muscle synergies, equilibrium-point trajectories, and endpoint stiffness in normal and pathological upper-limb movements. - Takanori Oku; Kanna Uno; Tomoki Nishi; Masayuki Kageyama; Pipatthana Phatiwuttipat; Keitaro Koba; Yuto Yamashita; Kenta Murakami; Mitsunori Uemura; Hiroaki Hirai; Fumio Miyazaki; Hiroaki Naritomi (EMBC, 2014)

Effects of partial body-weight support and functional electrical stimulation on gait characteristics during treadmill locomotion: Pros and cons of saddle-seat-type body-weight support. - Natsumi Kataoka; Hiroaki Hirai; Taya Hamilton; Fumiaki Yoshikawa; Akira Kuroiwa; Yuma Nagakawa; Eichi Watanabe; Yudai Ninomaru; Yuri Saeki; Mitsunori Uemura; Fumio Miyazaki; Hiroshi Nakata; et al. (ICORR, 2017)

Exploiting the Invariant Structure for Controlling Multiple Muscles in Anthropomorphic Legs: III. Reproducing Hemiparetic Walking from Equilibrium Point- Based Synergies. - Eichi Watanabe; Kohei Kozasa; Ryo Fujihara; Hiroaki Hirai; Keishi Yoshida; Hiroaki Naritomi; Hermano Igo Krebs (ICORR, 2019)