Tarsusmeter: Development of a wearable device for ankle joint impedance estimation. - Modar Hassan; Keisuke Yagi; Kaiwen Hsiao; Hiromi Mochiyama; Kenji Suzuki 002 (EMBC, 2017)

A wire-driven continuum manipulator model without assuming shape curvature constancy. - Kaiwen Hsiao; Hiromi Mochiyama (IROS, 2017)