@article{yu2012design,
 title={Design of an under-actuated exoskeleton system for walking assist while load carrying},
 author={Yu, SN and Lee, HD and Lee, SH and Kim, WS and Han, JS and Han, Chang-Soo},
 journal={Advanced Robotics},
 volume={26},
 number={5-6},
 pages={561--580},
 year={2012},
 doi = {10.1163/156855311X617506},
 publisher={Taylor \& Francis}
}

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