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A cable-driven leg exoskeleton, CDLE, presents a lightweight, flexible, and redundantly actuated architecture that enables the possibility of system parameters modulation to alter human\u2013robot interaction while applying the desired forces. In this work, multi-joint stiffness performance of CDLE is formulated to systematically analyze human\u2013CDLE interaction. Further, potential alterations in CDLE architecture are presented to tune human\u2013CDLE interaction that favors the desired human leg movement during a gait rehabilitation paradigm.<\/jats:p>","DOI":"10.1017\/s0263574721000242","type":"journal-article","created":{"date-parts":[[2021,4,28]],"date-time":"2021-04-28T09:37:44Z","timestamp":1619602664000},"page":"2172-2192","source":"Crossref","is-referenced-by-count":8,"title":["Stiffness modulation of a cable-driven leg exoskeleton for effective human\u2013robot interaction"],"prefix":"10.1017","volume":"39","author":[{"given":"N. S. 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