K. Miura, A. Matsui, and S. Katsura :
"Synthesis of Motion-Reproduction Systems Based on Motion-Copying System Considering Control Stiffness,"
IEEE/ASME Transactions on Mechatronics, vol. 21, No. 2, Apr., 2016.

Y. Nagatsu and S. Katsura :
"Design Strategies for Motion Reproduction Based on Environmental Disturbance Compensation,"
IEEE Transactions on Industrial Electronics, vol. 62, No. 9, Sep., 2015.