Internal model control for assisting unit of wheeled walking frames. - Masashi Tani; Ryoichi Suzuki; Shigehiko Furuya; Shinroku Kobayshi (CCA, 2004)

Extended Internal Model Control Scheme for Sensorless Force Control on Uneven Surfaces. - Ryoichi Suzuki; Nobuaki Fujiki; Shigehiko Furuya; Nobuaki Kobayashi (CCA, 2007)