A five-wheel wheelchair with an active-caster drive system. - Yu Munakata; Aki Tanaka; Masayoshi Wada (ICORR, 2013)

Modeling and analysis of static wheelie of a five-wheeled wheelchair for climbing over a step. - Yu Munakata; Masayoshi Wada (AIM, 2014)

An active-caster add-on drive for manual wheelchairs with a drive mode change function. - Yu Munakata; Masayoshi Wada (Int. J. Mechatronics Autom., 2014)

A novel step climbing strategy for a wheelchair with active-caster add-on mechanism. - Yu Munakata; Masayoshi Wada (IROS, 2015)