Gray Cortright Thomas Jeremiah M. Coholich Luis Sentis Compliance Shaping for Control of Strength Amplification Exoskeletons with Elastic Cuffs. 1199-1206 2019 AIM https://doi.org/10.1109/AIM.2019.8868484 conf/aimech/2019 db/conf/aimech/aim2019.html#ThomasCS19