Walsh, Conor J.: 'Soft wearable robots' (Control, Robotics and Sensors, 2018), 'Wearable Exoskeleton Systems: Design, control and applications', Chap. 3, pp. 51-65, DOI: 10.1049/PBCE108E_ch3
IET Digital Library, https://digital-library.theiet.org/;jsessionid=6gjjeb2dv5tfc.x-iet-live-01content/books/10.1049/pbce108e_ch3