Zhao Guo, ; Gong Chen, ; Haoyong Yu, : 'Gait-event-based synchronization and control of a compact portable knee—ankle—foot exoskeleton robot for gait rehabilitation' (Control, Robotics and Sensors, 2018), 'Wearable Exoskeleton Systems: Design, control and applications', Chap. 8, pp. 165-189, DOI: 10.1049/PBCE108E_ch8 IET Digital Library, https://digital-library.theiet.org/;jsessionid=vdk2quubvxsi.x-iet-live-01content/books/10.1049/pbce108e_ch8