# Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain

> Research article (IEEE Transactions on Robotics, 2023) · cited 73× · AI/ML

**Wikidata**: [openalex:W4317795008](https://www.wikidata.org/wiki/openalex:W4317795008)  
**Source**: https://4ort.xyz/entity/real-time-gait-phase-and-task-estimation-for-controlling-a-powered-ankle-exoskeleton-on-extremely-uneven-terrain