Y. Loskutov, A. Kapustin, A. Kudryavtsev, A. Nasibullin, and A. Lebedeva, “SYNTHESIS OF EXOSKELETON CONTROL ALGORITHMS BASED ON KINEMATIC ANALYSIS OF LOCOMOTIONS AND HUMAN GAIT MODELLING”, JAES, vol. 16, no. 4, Dec. 2018, doi: 10.5937/jaes16-17230.