@article{CTT100661247,
  author = {Nicolas Schmit and Masafumi Okada},
  title = {Optimal Design of Nonlinear Springs in Robot Mechanism -Simultaneous Design of Trajectory and Spring Force Profiles-},
  journal = {Advanced Robotics},
  year = 2013,
}

@article{CTT100641208,
  author = {Nicolas SCHMIT and Masafumi OKADA},
  title = {Design and Realization of a Non-Circular Cable Spool to Synthesize a Nonlinear Rotational Spring},
  journal = {Advanced Robotics},
  year = 2012,
}

@inproceedings{CTT100661317,
  author = {ｼﾕﾐﾂﾄﾆｺﾗ and 岡田昌史},
  title = {非円形スプール機構による可変非線形剛性の実現と剛性プロファイルの切り替え軌道の最適設計},
  booktitle = {},
  year = 2013,
}

@inproceedings{CTT100661270,
  author = {Nicolas Schmit and Masafumi Okada},
  title = {Optimal Design of Nonlinear Series Elastic Actuator for Minimization of Actuator Power},
  booktitle = {},
  year = 2012,
}

@inproceedings{CTT100661305,
  author = {ｼﾕﾐﾂﾄﾆｺﾗ and 岡田昌史},
  title = {非円形スプールと差動機構による可変非線形剛性の実現},
  booktitle = {},
  year = 2012,
}

@inproceedings{CTT100661269,
  author = {Nicolas Schmit and Masafumi Okada},
  title = {Simultaneous Optimization of Robot Trajectory and Nonlinear Springs to Minimize Actuator Torque},
  booktitle = {},
  year = 2012,
}

@inproceedings{CTT100641201,
  author = {Nicolas SCHMIT and Masafumi Okada},
  title = {Synthesis of a Non-Circular Cable Spool to Realize a Nonlinear Rotational Spring},
  booktitle = {},
  year = 2011,
}

@inproceedings{CTT100626296,
  author = {Nicolas SCHMIT and Masafumi OKADA},
  title = {Synthesis of Nonlinear Stiffness Profile with a Varying Radius Cable Spool},
  booktitle = {},
  year = 2010,
}