Hiroaki Hirai, Taiki Iimura, Keita Inoue, and Fumio Miyazaki：Identifying the Building Blocks of a Human Walking based on the EMG Ratio of Agonist-antagonist Muscle Pairs
Journal of Robotics Society of Japan, Vol. 30, No. 5, pp. 524-533, 2012 (in Japanese).
Hiroaki Hirai, Kazuhiro Matsui, Taiki Iimura, Keigo Mitsumori, and Fumio Miyazaki：Modular Control of Limb Kinematics during Human Walking
Proceedings of 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2010), pp. 716-721, 2010.
Taiki Iimura, Keita Inoue, Hang T. T. Pham, Hiroaki Hirai, and Fumio Miyazaki：A Preliminary Experiment for Transferring Human Motion to a Musculoskeletal Robot – Decomposition of Human Running based on Muscular Coordination
Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011), pp. 4496-4501, 2011.
Fumio Miyazaki, Hiroaki Hirai, Syohei Kawagoe, Kazuhiro Matsui, and Takayuki Nakano：Muscle Synergy Analysis Method, Muscle Synergy Analyzer, and Muscle Synergy Interface
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