Closing the Loop on Exoskeleton Motor Controllers: Benefits of Regression-Based Open-Loop Control. - Greg Orekhov; Jason Luque; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2020)

Design and Electromechanical Performance Evaluation of a Powered Parallel-Elastic Ankle Exoskeleton. - Greg Orekhov; Zachary F. Lerner (IEEE Robotics Autom. Lett., 2022)

Improving the Energy Cost of Incline Walking and Stair Ascent With Ankle Exoskeleton Assistance in Cerebral Palsy. - Ying Fang; Greg Orekhov; Zachary F. Lerner (IEEE Trans. Biomed. Eng., 2022)