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Physical human-robot interface for lower limb exoskeletons to affect internal joint forces
LI Yinbo, TANG Zihan, JI Linhong, MENG Kuilin, LI Zhibin, GUAN Xinyu
Journal of Tsinghua University(Science and Technology) . 2019, (7): 544 -550 .  DOI: 10.16511/j.cnki.qhdxxb.2019.21.019

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