# Design and Hierarchical Force-Position Control of Redundant Pneumatic Muscles-Cable-Driven Ankle Rehabilitation Robot

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 45× · AI/ML

**Wikidata**: [openalex:W3210965427](https://www.wikidata.org/wiki/openalex:W3210965427)  
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