Takeshi Tsuruga Shuichi Ino Tohru Ifukube Mitsuru Sato Toshiaki Tanaka Takashi Izumi Masahiko Muro A basic study for a robotic transfer aid system based on human motion analysis. 579-595 2001 14 Advanced Robotics 7 http://dx.doi.org/10.1163/156855301742021 db/journals/ar/ar14.html#TsurugaIISTIM01