Bostelman, Roger; Tsai Hong, : 'Test methods for exoskeletons—lessons learned from industrial and response robotics' (Control, Robotics and Sensors, 2018), 'Wearable Exoskeleton Systems: Design, control and applications', Chap. 13, pp. 335-361, DOI: 10.1049/PBCE108E_ch13
IET Digital Library, https://digital-library.theiet.org/;jsessionid=lvb209107e1x.x-iet-live-01content/books/10.1049/pbce108e_ch13