Knee Compliance Reduces Peak Swing Phase Collision Forces in a Lower-Limb Exoskeleton Leg: A Test Bench Evaluation. - Stefan O. Schrade; Marcel Menner; Camila Shirota; Peter Winiger; Alex Stutz; Melanie N. Zeilinger; Olivier Lambercy; Roger Gassert (IEEE Trans. Biomed. Eng., 2021)