Xinyu Wu, ; Can Wang, ; Yue Ma, ; Duxin Liu, : 'Real-time gait planning for a lower limb exoskeleton robot' (Control, Robotics and Sensors, 2018), 'Wearable Exoskeleton Systems: Design, control and applications', Chap. 9, pp. 193-217, DOI: 10.1049/PBCE108E_ch9
IET Digital Library, https://digital-library.theiet.org/;jsessionid=bcg64ee9jgpjn.x-iet-live-01content/books/10.1049/pbce108e_ch9