Kyoungchul Kong Hyosang Moon Beomsoo Hwang Doyoung Jeon Masayoshi Tomizuka Robotic rehabilitation treatments: Realization of aquatic therapy effects in exoskeleton systems. 1923-1928 2009 ICRA http://dx.doi.org/10.1109/ROBOT.2009.5152842 conf/icra/2009 db/conf/icra/icra2009.html#KongMHJT09