Mechanism and characteristics of direct drive motors. - Takanobu Iwakane; Junji Hirai; Yasuhiro Miyamoto (Adv. Robotics, 1987)

Impedance Control of a Multi-D.O.F. Direct-Drive Manipulator. - Yasuyuki Inoue; Taisuke Sakaki; Toshio Matsumoto; Takanobu Iwakane (J. Robotics Mechatronics, 1990)