vi-RABT: Virtually Interfaced Robotic Ankle and Balance Trainer. - Amir B. Farjadian; Sean Suri; Ally Bugliari; Paul Doucot; Nate Lavins; Alex Mazzotta; Jan P. Valenzuela; Patrick Murphy; Qingchao Kong; Maureen K. Holden; Constantinos Mavroidis (ICRA, 2014)