Ryan J. Farris Hugo A. Quintero Thomas J. Withrow Michael Goldfarb Design and simulation of a joint-coupled orthosis for regulating FES-aided gait. 1916-1922 2009 ICRA https://doi.org/10.1109/ROBOT.2009.5152634 conf/icra/2009 db/conf/icra/icra2009.html#FarrisQWG09