Walking on Uneven Ground with VariLeg Variable Stiffness Lower Limb Exoskeleton

References:
Schrade, S.O., Devittori, G., Easthope, C.A., Shirota, C., Lambercy, O. and Gassert, R., 2019. Exoskeleton Knee Compliance Improves Gait Velocity and Stability in a Spinal Cord Injured User: A Case Report. arXiv preprint arXiv:1911.04316.
Schrade, S.O., Menner, M., Shirota, C., Winiger, P., Stutz, A., Zeilinger, M., Lambercy, O. and Gassert, R., 2020. Knee compliance reduces peak swing phase collision forces in a lower-limb exoskeleton leg: A test bench evaluation. IEEE Transactions on Biomedical Engineering. doi: 10.1109/TBME.2020.3006787.