(2005, 보조기) Design of a two degree-of-freedom ankle-foot orthosis for robotic rehabilitation
(2008) SPARKy 3: Design of an active robotic ankle prosthesis with two actuated degrees of freedom using regenerative kinetics
(2013) Myoelectric neural interface enables accurate control of a virtual multiple degree-of-freedom foot-ankle prosthesis
(2014) A 3DOF transtibial robotic prosthetic limb
(2016) Design of a novel three degrees of freedom ankle prosthesis inspired by human anatomy
(2016) Design and Preliminary Evaluation of a Two DOFs Cable-Driven Ankle–Foot Prosthesis with Active Dorsiflexion–Plantarflexion and Inversion–Eversion
(2018) Estimation of the Two Degrees-of-Freedom Time-Varying Impedance of the Human Ankle
(2021) Self-Contained 2-DOF Ankle-Foot Prosthesis With Low-Inertia Extremity for Agile Walking on Uneven Terrain
일단은 8가지 정도를 찾아보았는데 다 읽지는 못했다. 어려운 말들이 많다.