Actuator with Non Linear Elastic System (ANLES) For Controlling Joint Stiffness on Antagonistic Driving. - Koichi Koganezawa; Y. Shimizu; Hiroshi Inomata; Toshiki Nakazawa (ROBIO, 2004)

Antagonistic Control of Multi-DOF Joint by using the Actuator with Non-linear Elasticity. - Koichi Koganezawa; Toshiki Nakazawa; Tomoya Inaba (ICRA, 2006)