On a high-backdrivable direct-drive actuator for musculoskeletal bipedal robots. - Yasutaka Fujimoto; Yuuki Wakayama; Hiroko Omori; Issam A. Smadi (AMC, 2010)

Force control of a spiral motor and its application to musculoskeletal biped robot. - Yasutaka Fujimoto; Tsubasa Suenaga; Yuuki Wakayama; Kengo Sawai; Ahmad Zaki Shukor (AMC, 2012)