@article {257,
	title = {Encouraging Volitional Pedaling in FES-Assisted Cycling Using Barrier Functions},
	journal = {Frontiers in Robotics and AI},
	volume = {8},
	year = {2021},
	month = {November},
	author = {A. Isaly and B.C. Allen and R. G. Sanfelice and W. Dixon}
}
