Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism. Journal of Mechanisms and Robotics 6, 041009 (2014).
Mechanical Design of A Wearable Robot for Upper Body Rehabilitation. International Workshop on Wearable Robotics (WeRob) (2014).
Impedance Control Based on a Position Sensor in a Rehabilitation Robot. ASME Dynamic Systems and Control Conference (DSCC) (2014).