Robotic diagnosis of directional force control performance at an end-effector of a limb toward physiotherapeutic support. - Naoya Tojo; Ippei Toyomasu; Tomoyuki Shimono; Shinichiro Ishii (IECON, 2015)

Estimation of mechanical impedance at end effector of arm based on frequency analysis. - Ippei Toyomasu; Naoya Tojo; Tomoyuki Shimono; Takahiro Mizoguchi (AMC, 2016)