Gentiane Venture Katsu Yamane Yoshihiko Nakamura Masaya Hirashima Estimating viscoelastic properties of human limb joints based on motion capture and robotic Identification Technologies. 624-629 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4398958 conf/iros/2007 db/conf/iros/iros2007.html#VentureYNH07