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. 2022 Jul 15;3:e15. doi: 10.1017/wtc.2022.11

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© The Author(s) 2022

This is an Open Access article, distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives licence (http://creativecommons.org/licenses/by-nc-nd/4.0), which permits non-commercial re-use, distribution, and reproduction in any medium, provided that no alterations are made and the original article is properly cited. The written permission of Cambridge University Press must be obtained prior to any commercial use and/or adaptation of the article.

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Figure 7. — Diagrams for various assist torque generation algorithms. (a) Database (Seo et al., 2016). (b,c) Function with adjustable parameters (Lim et al., 2019; Yang et al., 2021). (d) Human-in-the-loop optimization (Zhang et al., 2017).