On effective movement in CPM for shoulder joint. - Shota Miyaguchi; Kousei Nojiri; Nobutomo Matsunaga; Shigeyasu Kawaji (SMC, 2008)

Control scheme of two d.o.f. CPM device to suppress the extension of ligament of the elbow. - Shota Miyaguchi; Nobutomo Matsunaga; Shigeyasu Kawaji (Biomed. Signal Process. Control., 2009)

Trajectory Generation of CPM Device for Upper Limbs Considering Constraint Caused by Joint Disorder. - Shota Miyaguchi; Nobutomo Matsunaga; Shigeyasu Kawaji (J. Robotics Mechatronics, 2010)

Impedance Control of Two d.o.f. CPM Device for Elbow Joint. - Nobutomo Matsunaga; Shota Miyaguchi; Hiroshi Okajima; Shigeyasu Kawaji (J. Robotics Mechatronics, 2014)