@CHAPTER{ iet:/content/books/10.1049/pbce108e_ch8, author = {Zhao Guo}, affiliation = {Department of Biomedical Engineering, National University of Singapore}, author = {Gong Chen}, affiliation = {Department of Biomedical Engineering, National University of Singapore}, author = {Haoyong Yu}, affiliation = {Department of Biomedical Engineering, National University of Singapore}, keywords = {gait rehabilitation;synchronous reference trajectories;estimated stride percentage;mechanical design;hidden Markov model;overground gait training;compact series elastic actuator;novel human-robot synchronization method;human-robot interactions;compact portable knee-ankle-foot exoskeleton robot;portable knee-ankle-foot robot;gait event information;gait cycle;}, title = {Gait-event-based synchronization and control of a compact portable knee—ankle—foot exoskeleton robot for gait rehabilitation}, booktitle = Wearable Exoskeleton Systems: Design, control and applications, publisher = {Institution of Engineering and Technology}, year = {2018}, pages = {165-189}, series = {Control, Robotics and Sensors}, doi = {10.1049/PBCE108E_ch8}, url = {https://digital-library.theiet.org/;jsessionid=4pnuocpr1icjn.x-iet-live-01content/books/10.1049/pbce108e_ch8} }