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藤井文武·和田憲造:「ユーザの扱いやすさを考慮した電動車椅子制御系の構築」, ロボット学誌, 19, 6, pp. 760-765 (2001-9)
(3) H. Kitagawa, T. Beppu, Y. Ohno, T. Miyoshi, and K. Terashima: “Motion Control of Omni-directional Mobile Wheelchair Considering User's Comfort”, J. of RSJ, Vol. 22, No. 7, pp. 933-939 (2004-7) (in Japanese)