The common 3-level structure (high, middle, and low levels) is first used to separate the continuous behavior (mid-level) from the implementation of position/torque control (low-level) and the detection of the terrain or user’s intention (high-level). In addition to covering the recent publications on the control of lower-limb exoskeletons for gait assistance, an effort has been made to review the controllers independently of the hardware and implementation aspects. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Walking Papers tell intense stories and The Light Below proves they have, in a good way, little intention of finding a compromise.Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. There are no out-and-out hard rock anthems on this as there has been on previous albums, but the overall effect on the listener leaves a similar feeling. His cleverly crafted lyrics, often formed by meticulously merging together fragments of ideas that he organises, help enhance the music behind them, which in itself is still strong. Walking Papers’ style may have been affected by their lineup changes – a decision Angell was fully conscious of – but it makes little difference to the magnetism of their music. Other highlights see the refrain of ‘What Did You Expect?’ return tinged with Lothian’s saxophone on ‘The Other Shoe (Reprise)’ and the mellow, piano-led closer ‘California (One More Phone Call)’. Angell shows off the softer side of his songwriting with ‘Going Nowhere’ before turning back to the lengthy and intense with the nine-plus-minute ‘Creation Reproduction and Death’. introduce the newer elements of their repertoire. The sprawling anthem is one of the peaks of Walking Papers’ discography so far, with two contrasting choruses – one including some moving low-frequency work from Anderson to compensate for the lack of bass, and the other seeing Angell take centre stage as the power grows – and an epic guitar solo lent by Dean DeLeo of Stone Temple Pilots.įrom that point on, even the most fanatical Walking Papers listener is in uncharted territory, as Angell and co. More music that was released before the album directly follows, namely the similarly eerie ‘What Did You Expect?’ and the epic ‘Divine Intervention’/’Stood Up At The Gates Of Heaven’, which was released as one 12-minute video but straddles two tracks on the record. It starts strongly with the slow, sweeping ‘The Value Of Zero’, which introduces the lyrical mantra that threads through the album and inspires the cover artwork, ‘I’m the scissors, you’re the string’. The tone of this album is moodier overall than their previous two records, but that’s what makes it so gripping. ![]() Then, his songwriting was strong enough for the lack of low end to not matter and it is the same on The Light Below. The lack of a direct replacement for McKagan on bass gives the songs a closer feel to Angell’s Staticland project, which he and Anderson collaborated on and released during the delay of WP2. The result is no less compelling than when McKagan and Martin formed the rhythm section. The singer-guitarist and fellow remaining original member, keyboardist Benjamin Anderson, are joined by drummer Will Andrews and saxophonist Gregor Lothian for this album. Now, even more of the focus is on Angell’s qualities. The most avid fans of Jeff Angell’s music do not need other famous faces in one of his bands to appreciate it, and so maybe losing half of their lineup was a good thing. But not for Walking Papers.Īfter their second album WP2 was delayed due to bassist Duff McKagan’s commitments with his ‘other’ band Guns N’ Roses, their third offering sees them take their first steps without him (and other original member, ex-Screaming Trees drummer Barrett Martin). In most cases, when you’re in a band with a rock legend, then losing that member would have a derailing effect.
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