A self-contained and terrain-adaptive active cord mechanism. - Gen Endo; Keiji Togawa; Shigeo Hirose (Adv. Robotics, 1998)

Study on self-contained and terrain adaptive active cord mechanism. - Gen Endo; Keiji Togawa; Shigeo Hirose (IROS, 1999)

Study on three-dimensional active cord mechanism: development of ACM-R2. - Keiji Togawa; Makoto Mori; Shigeo Hirose (IROS, 2000)

Design of Active Cord Mechanism ACM-R2 to Realize 3-D Motions. - Keiji Togawa; Shigeo Hirose (J. Robotics Mechatronics, 2001)