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Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control

Huihua Zhao, Jonathan Horn, Jacob Reher, Victor Paredes, Aaron D. Ames. Multicontact Locomotion on Transfemoral Prostheses via Hybrid System Models and Optimization-Based Control. IEEE T. Automation Science and Engineering, 13(2):502-513, 2016. [doi]

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