# Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 153× · AI/ML

**Wikidata**: [openalex:W3135449185](https://www.wikidata.org/wiki/openalex:W3135449185)  
**Source**: https://4ort.xyz/entity/real-time-gait-phase-estimation-for-robotic-hip-exoskeleton-control-during-multimodal-locomotion