@article{CTT100576955,
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  title = {構造的特異性を利用した零/極高剛性を実現するトルク伝達機構とそのロボット関節への応用},
  journal = {日本ロボット学会誌},
  year = 2009,
}

@inproceedings{CTT100562139,
  author = {Masafumi Okada and Shintaro Kino},
  title = {Nonlinear Passive Stiffness using Mechanical Singularity and Its application for Four-legged Robot},
  booktitle = {Proc. of the Seventeenth CISM-IFToMM Symposium (Romansy17)},
  year = 2008,
}

@inproceedings{CTT100562140,
  author = {Masafumi Okada and Shintaro Kino},
  title = {Torque Transmission Mechanism with Nonlinear Passive Stiffness using Mechanical Singularity},
  booktitle = {Proc. of the IEEE International Conference on Robotics and Automation (ICRA'08)},
  year = 2008,
}