This is cool: Modulating ankle exoskeleton torque in response to fore-aft deviations in center-of-mass movement can reduce the effect of disturbances. Afschrift, Van Asseldonk, Van Der Kooij, De Groote and teams, in preprint:

https://www.biorxiv.org/content/10.1101/2022.10.19.512851v1.full.pdf