'Section 3 - Devices' (Control, Robotics and Sensors, 2018), 'Wearable Exoskeleton Systems: Design, control and applications', Chap. sec3, pp. 191-192, DOI: 10.1049/PBCE108E_sec3
IET Digital Library, https://digital-library.theiet.org/;jsessionid=32282n3co332b.x-iet-live-01content/books/10.1049/pbce108e_sec3