Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton. - Jiefu Zhang; Jianping Lin; Vamsi Peddinti; Robert D. Gregg (ACC, 2023)

A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons. - Jianping Lin; Gray C. Thomas; Nikhil V. Divekar; Vamsi Peddinti; Robert D. Gregg (IEEE Trans. Control. Syst. Technol., 2024)