Performance of Ankle Exoskeletons on Irregular Terrains: Key Design Principles and Benchmarking Tests - Liguori, L; Mariani, G; Taborri, J; Mileti, I; Torricelli, D; Mattioli, L; Palermo, E; Patane, F; Rossi, S (Ieee Transactions On Neural Systems And Rehabilitation Engineering, 2025)