Trajectory Control of an Active and Passive Hybrid Hydraulic Ankle Prosthesis Using an Improved PSO-PID Controller. - Yang Han; Chunbao Liu; Haohua Xiu; Zhennan Li; Shaopeng Shan; Xian Wang; Luquan Ren; Lei Ren 002 (J. Intell. Robotic Syst., 2022)