Active Steering Wheel System for Ultra-Compact Mobility Vehicles: Operability Evaluation with Steering Burden in Various Drivers. - Daigo Uchino; Takamasa Hirai; Shugo Arai; Keigo Ikeda; Taro Kato; Xiaojun Liu; Ayato Endo; Hideaki Kato; Takayoshi Narita (J. Robotics Mechatronics, 2021)