# Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance

> Research article (IEEE Transactions on Robotics, 2022) · cited 83× · AI/ML

**Wikidata**: [openalex:W4285191973](https://www.wikidata.org/wiki/openalex:W4285191973)  
**Source**: https://4ort.xyz/entity/modeling-and-stiffness-based-continuous-torque-control-of-lightweight-quasi-direct-drive-knee-exoskeletons-for-versatile