Experimental Verification of Nonlinear Characteristics with Hysteresis in Variable Stiffness Robotic Joint. - Tatsuya Ohe; Jae Hoon Lee; Shingo Okamoto (UR, 2019)

Mechanical Design and Torque Estimation Model of a Variable Stiffness Joint with Hysteresis Characteristics. - Tatsuya Ohe; Jae Hoon Lee; Shingo Okamoto (ICMRE, 2021)

Feedforward operational stiffness modulation and external force estimation of planar robots equipped with variable stiffness actuators. - Tatsuya Ohe; Tsige Tadesse Alemayoh; Jae Hoon Lee; Shingo Okamoto (Intell. Serv. Robotics, 2022)