1. Akiyama, Y., Yamada, Y., Ito, K., Oda, S., Okamoto, S. and Hara, S., Test method for contact safety assessment of a wearable robot -analysis of load caused by a misalignment of the knee joint, Proceedings of IEEE International Symposium on Robot and Human Interactive Communication (2012), pp. 539–544.
2. Akiyama, Y., Okamoto, S., Yamada, Y. and Ishiguro, K., Measurement of contact behavior including slippage of cuff when using wearable physical assistant robot, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 24, no. 7 (2015), pp. 1–11.
3. Akiyama, Y., Yamada, Y. and Okamoto, S., Interaction forces beneath cuffs of physical assistant robots and their motionbased estimation, Advanced Robotics, vol. 29, no. 20 (2015), pp. 1–15.
4. Barnett, C. H. and Napier, J. R., The axis of rotation at the ankle joint in man. Its influence upon the form of the talus and the mobility of the fibula, Journal of Anatomy, vol. 86, no. Pt 1 (1952), pp. 1–9.
5. Bressel, E. and McNair, P. J., The effect of prolonged static and cyclic stretching on ankle joint stiffness, torque relaxation, and gait in people with stroke, Physical Therapy, vol. 82, no. 9 (2002), pp. 880–887.