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  ______     ___       _____     ___      _____   
 /_____//   / _ \\    / ___//   / _ \\   /  ___|| 
 `____ `   | / \ ||   \___ \\  / //\ \\ | // __   
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 `__ `      \___//   /____//  |_||  |_|| \____//  
 /_//       `---`   `-----`   `-`   `-`   `---`   
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Text this: Modeling and control of a lower-limb rehabilitation robot