JOURNAL OF BIOMECHANICAL ENGINEERING, vol. 15, no. 6, page. 497 - 504, 1993-11
LABORATORY ROBOTICS AND AUTOMATION, vol. 6, no. 6, page. 301 - 311, 1994-12
ROBOTICA, vol. 13, page. 351 - 362, 1995-07
JOURNAL OF MECHANICAL DESIGN, vol. 116, no. 3, page. 967 - 969, 1994-09
JOURNAL OF ROBOTIC SYSTEMS, vol. 11, no. 2, page. 117 - 128, 1994-01
ROBOTICA, vol. 10, page. 255 - 262, 1992-05
JOURNAL OF ROBOTIC SYSTEMS, vol. 10, no. 6, page. 811 - 833, 1993-09
IEEE CONTROL SYSTEMS MAGAZINE, vol. 14, no. 5, page. 10 - 19, 1994-10