1. Rule-based control for FES using firmware transitional logic;Kirkwood,1988
2. Hybrid FES orthosis incorporating closed loop control and sensory feedback;Andrews;J Biomed Eng,1988
3. Rule-based control of a hybrid orthosis for assisting paraplegic locomotion;Andrews;Automedica,1989
4. Describing movement control at two levels of abstraction;Jagacinski,1987
5. Finite state control of planar bipeds;Hemami;J Bioeng,1978