Michael Oluwatosin Ajayi Karim Djouani Yskandar Hamam Bounded control of a full-exoskeleton device with four (4) Degree of Freedom. 2425-2430 2015 ROBIO https://doi.org/10.1109/ROBIO.2015.7419702 conf/robio/2015 db/conf/robio/robio2015.html#AjayiDH15