# Cadence-Insensitive Soft Exoskeleton Design With Adaptive Gait State Detection and Iterative Force Control

> Research article (IEEE Transactions on Automation Science and Engineering, 2021) · cited 34× · AI/ML

**Wikidata**: [openalex:W3149428510](https://www.wikidata.org/wiki/openalex:W3149428510)  
**Source**: https://4ort.xyz/entity/cadence-insensitive-soft-exoskeleton-design-with-adaptive-gait-state-detection-and-iterative-force-control