Walking-Assistance Apparatus as a Next-Generation Vehicle and Movable Neuro-Rehabilitation Training Appliance. - Eiichirou Tanaka; Tadaaki Ikehara; Hirokazu Yusa; Yusuke Sato; Tomohiro Sakurai; Shozo Saegusa; Kazuhisa Ito; Louis Yuge (J. Robotics Mechatronics, 2012)