Force control of a spiral motor and its application to musculoskeletal biped robot. - Yasutaka Fujimoto; Tsubasa Suenaga; Yuuki Wakayama; Kengo Sawai; Ahmad Zaki Shukor (AMC, 2012)

Evaluation of a surface permanent magnet helical motor with high precision teeth. - Shunsuke Sasaki; Kengo Sawai; Yasutaka Fujimoto (IECON, 2014)