For citations:

Lavrovsky E.K., Pismennaya E.V. Control of Walking for an Exoskeleton with the Use of Information about the Programmatic Torques. Mekhatronika, Avtomatizatsiya, Upravlenie. 2017;18(3):173-179. (In Russ.) https://doi.org/10.17587/mau.18.173-179