Low-cost wearable rehabilitation devices using flexible pneumatic cylinder with built-in pneumatic driving system. - Tetsuya Akagi; Shujiro Dohta; Yasuko Matsui; Hiroaki Tamaki; Naoki Kato (AIM, 2016)

Development of Flexible Electro-Hydraulic Spherical Actuator. - Wataru Kobayashi; Hiroaki Tamaki; Tetsuya Akagi; Shujiro Dohta; So Shimooka (J. Robotics Mechatronics, 2022)