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- Compliance Control Method of Exoskeleton Robot Assisted by Lower Limb Knee Joint Based on Gait RecognitionDingan Song, Ligang Qiang, Yali Liu, Yangyang Li, Lin Li. icira 2021: 759-768 [doi]
- Lower-limb multi-joint stiffness of knee and ankleSang-Hoon Kang, Yupeng Ren, Dali Xu, Li-Qun Zhang. embc 2014: 4009-4012 [doi]