BRMS: bio-responsive motion system (rehabilitation system for stroke patients). - Ryokichi Hirata; Taisuke Sakaki; Seiichiro Okada; Zenta Nakamoto; Noriaki Hiraki; Yasutomo Okajima; Shigeo Uchida; Yutaka Tomita; Toshio Horiuchi (IROS, 2002)