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IEEE Transactions on Robotics > 2017 > 33 > 2 > 298 - 312
IEEE Journal of Biomedical and Health Informatics > 2015 > 19 > 3 > 794 - 802
IEEE/ASME Transactions on Mechatronics > 2014 > 19 > 4 > 1374 - 1383
IEEE Transactions on Robotics > 2014 > 30 > 4 > 986 - 993
2012 Proceedings of SICE Annual Conference (SICE) > 1219 - 1222
IEEE/ASME Transactions on Mechatronics > 2011 > 16 > 2 > 310 - 320