# Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton

> Research article (IEEE Robotics and Automation Letters, 2017) · cited 84× · AI/ML

**Wikidata**: [openalex:W2587945178](https://www.wikidata.org/wiki/openalex:W2587945178)  
**Source**: https://4ort.xyz/entity/hierarchical-cascade-controller-for-assistance-modulation-in-a-soft-wearable-arm-exoskeleton