Design of Programmable Passive Compliance for Humanoid Shoulder. - Masafumi Okada; Yoshihiko Nakamura; Shigeki Ban (ISER, 2000)

Design of Programmable Passive Compliance Shoulder Mechanism. - Masafumi Okada; Yoshihiko Nakamura; Shigeki Ban (ICRA, 2001)

Skill of Compliance with Controlled Charging/Discharging of Kinetic Energy. - Masafumi Okada; Shigeki Ban; Yoshihiko Nakamura (ICRA, 2002)

Double spherical joint and backlash clutch for lower limbs of humanoids. - Masafumi Okada; Tetsuya Shinohara; Tatsuya Gotoh; Shigeki Ban; Yoshihiko Nakamura (ICRA, 2003)