Novel robot arm with bi-articular driving system using a planetary gear system and disturbance observer. - Yasuto Kimura; Sehoon Oh; Yoichi Hori (AMC, 2010)

Force control based on biarticular muscle system and its application to novel robot arm driven by planetary gear system. - Sehoon Oh; Yasuto Kimura; Yoichi Hori (IROS, 2010)

Experimental verification of infinity norm approach for force maximization of manipulators driven by bi-articular actuators. - Valerio Salvucci; Yasuto Kimura; Sehoon Oh; Yoichi Hori (ACC, 2011)

Leg space observer on biarticular actuated two-link manipulator for realizing spring loaded inverted pendulum model. - Yasuto Kimura; Sehoon Oh; Yoichi Hori (AMC, 2012)

Non-linear phase different control for precise output force of bi-articularly actuated manipulators. - Valerio Salvucci; Yasuto Kimura; Sehoon Oh; Yoichi Hori (Adv. Robotics, 2013)