Yokota, S., A. Matsumoto, D. Chugo, y H. Hashimoto. Assistive Wheelchair Caster Unit - Improvement of Step Detection Method -. Memorias De Congresos UTP, Vol. 1, n.ยบ 1, Sept. 2018, pp. 71-78, https://revistas.utp.ac.pa/index.php/memoutp/article/view/1879.