Development of Closed-Fitting-Type Walking Assistance Device for Legs with Self-Contained Control System. - Tadaaki Ikehara; Eiichirou Tanaka; Kazuteru Nagamura; Takanobu Tamiya; Takurou Ushida; Kenichi Hashimoto; Sho Kojima; Kiyotaka Ikejo; Louis Yuge (J. Robotics Mechatronics, 2010)