# Design of a 2DoF Ankle Exoskeleton with a Polycentric Structure and a Bi-Directional Tendon-Driven Actuator Controlled Using a PID Neural Network

> Research article (Actuators, 2021) · cited 33× · AI/ML

**Wikidata**: [openalex:W3120695705](https://www.wikidata.org/wiki/openalex:W3120695705)  
**Source**: https://4ort.xyz/entity/design-of-a-2dof-ankle-exoskeleton-with-a-polycentric-structure-and-a-bi-directional-tendon-driven-actuator-controlled-u