Yoshiyuki Tanaka Teruyuki Onishi Toshio Tsuji Naoki Yamada Yusaku Takeda Ichiro Masamori Analysis and Modeling of Human Impedance Properties for Designing a Human-Machine Control System. 3627-3632 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.364034 db/conf/icra/icra2007.html#TanakaOTYTM07