6Agrawal S K,Banala S K,Fattah A.Assessment of motion of a swing leg and gait rehabilitation with a gravity balancing exoskeleton[J] .IEEE Transactions on Neural Systems and Rehabilitation Engineering,2007,(3):410-420.
7Chu A,Kazerooni H,Zoss A.On the biomimetic design of the (BLEEX)[C] .IEEE Conference on Robotics and Automation,2005(4):4345-4352.
8Pratt,G.,Wi lliamson,M..Series elastic actuators[C] .Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,Human Robot Interaction and Cooperative Robots,1995(1):399-406.
9Robinson,D..Design and analysis of series elasticity in closed-loop actuator force control[D] .Ph.D.thesis,Massachusetts Institute of Technology,Cambridge,MA.2000:25-35.
10Gordon Wyeth.Demonstrating the safety and performance of a velocity sourced series elastic actuator[C] .IEEE International Conference on Robotics and Automation,2008:3642-3647.
