RD Gregg, LV Ge. US Patent App. 16/615,495, 2020. 1: 2020: Energy Shaping Control of Powered Lower-Limb Exoskeletons for Assistance of Human Locomotion. G Lv. University of Texas at Dallas, 2019. 1: 2019: Soft Robotics for Fall Mitigation: Preliminary Design and Evaluation of a Wearable System using Continuum Robots.