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Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance

Tzu-Hao Huang, Sainan Zhang, Shuangyue Yu, Mhairi MacLean, Junxi Zhu, Antonio Di Lallo, Chunhai Jiao, Thomas C. Bulea, Minghui Zheng, Hao Su. Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance. IEEE Transactions on Robotics, 38(3):1442-1459, 2022. [doi]

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