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Toward Gait Symmetry Enhancement via a Cable-Driven Exoskel..:

Zhong, Bin ; Guo, Kaiqi ; Yu, Haoyong.
IEEE Robotics and Automation Letters.  7 (2022)  2 - p. 786-793 , 2022
Link: https://doi.org/10.1109/lra.2021.3130639