{"id":"https://openalex.org/W4386896092","doi":"https://doi.org/10.3390/a16090449","title":"Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results","display_name":"Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results","publication_year":2023,"publication_date":"2023-09-20","ids":{"openalex":"https://openalex.org/W4386896092","doi":"https://doi.org/10.3390/a16090449"},"language":"en","primary_location":{"id":"doi:10.3390/a16090449","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a16090449","pdf_url":"https://www.mdpi.com/1999-4893/16/9/449/pdf?version=1695186290","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1999-4893/16/9/449/pdf?version=1695186290","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092909962","display_name":"E. Anyuli Alvarez Salcido","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"E. Anyuli Alvarez Salcido","raw_affiliation_strings":["Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092909963","display_name":"Daniel Centeno-Barreda","orcid":"https://orcid.org/0009-0006-7948-9532"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Daniel Centeno-Barreda","raw_affiliation_strings":["Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111513104","display_name":"Yukio Rosales","orcid":null},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Yukio Rosales","raw_affiliation_strings":["Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026194385","display_name":"Ricardo L\u00f3pez-Guti\u00e9rrez","orcid":"https://orcid.org/0000-0001-5326-5342"},"institutions":[{"id":"https://openalex.org/I4210163111","display_name":"Secretar\u00eda de Ciencia, Humanidades, Tecnolog\u00eda e Innovaci\u00f3n","ror":"https://ror.org/059ex5q34","country_code":"MX","type":"government","lineage":["https://openalex.org/I4210163111"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Ricardo Lop\u00e9z-Guti\u00e9rrez","raw_affiliation_strings":["M\u00e9xico-Consejo Nacional de Humanidades, Ciencias y Tegnolog\u00edas (IXM-CONAHCYT), Av. de los Insurgentes Sur #1582, Cr\u00e9dito Constructor, Benito Ju\u00e1rez, Mexico City 03940, Mexico"],"affiliations":[{"raw_affiliation_string":"M\u00e9xico-Consejo Nacional de Humanidades, Ciencias y Tegnolog\u00edas (IXM-CONAHCYT), Av. de los Insurgentes Sur #1582, Cr\u00e9dito Constructor, Benito Ju\u00e1rez, Mexico City 03940, Mexico","institution_ids":["https://openalex.org/I4210163111"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032756462","display_name":"Sergio Salazar","orcid":"https://orcid.org/0000-0002-5089-1791"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Sergio Salazar","raw_affiliation_strings":["Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004002307","display_name":"Rogelio Lozano","orcid":"https://orcid.org/0000-0002-5730-6313"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rogelio Lozano","raw_affiliation_strings":["Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"],"affiliations":[{"raw_affiliation_string":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5032756462"],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":{"value":1400,"currency":"CHF","value_usd":1515},"apc_paid":{"value":1400,"currency":"CHF","value_usd":1515},"fwci":0.4383,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57970326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"16","issue":"9","first_page":"449","last_page":"449"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.963100016117096,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.8939071893692017},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.640465259552002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6223080158233643},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.48473474383354187},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.48217883706092834},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44443878531455994},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4143604636192322},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3458169102668762},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.24681052565574646},{"id":"https://openalex.org/keywords/surgery","display_name":"Surgery","score":0.07517397403717041}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8939071893692017},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.640465259552002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6223080158233643},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.48473474383354187},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.48217883706092834},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44443878531455994},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4143604636192322},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3458169102668762},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.24681052565574646},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.07517397403717041},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/a16090449","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a16090449","pdf_url":"https://www.mdpi.com/1999-4893/16/9/449/pdf?version=1695186290","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8e6ceff4200341c2a1551152710fd77f","is_oa":true,"landing_page_url":"https://doaj.org/article/8e6ceff4200341c2a1551152710fd77f","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Algorithms, Vol 16, Iss 9, p 449 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/a16090449","is_oa":true,"landing_page_url":"https://doi.org/10.3390/a16090449","pdf_url":"https://www.mdpi.com/1999-4893/16/9/449/pdf?version=1695186290","source":{"id":"https://openalex.org/S190629608","display_name":"Algorithms","issn_l":"1999-4893","issn":["1999-4893"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Algorithms","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386896092.pdf","grobid_xml":"https://content.openalex.org/works/W4386896092.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1573978538","https://openalex.org/W2058553163","https://openalex.org/W2151883188","https://openalex.org/W2154383940","https://openalex.org/W2326141327","https://openalex.org/W2343715419","https://openalex.org/W2990474870","https://openalex.org/W3034678445","https://openalex.org/W3039443613","https://openalex.org/W3151246717","https://openalex.org/W4303574780","https://openalex.org/W4311792285","https://openalex.org/W4319787044","https://openalex.org/W4360897655","https://openalex.org/W4367297843","https://openalex.org/W4379054206","https://openalex.org/W4379469632","https://openalex.org/W4382941194","https://openalex.org/W4383819992","https://openalex.org/W4385191301","https://openalex.org/W6682812308"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2570835373","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W3198063775","https://openalex.org/W1553696796","https://openalex.org/W2069152157"],"abstract_inverted_index":{"This":[0,47],"paper":[1,74],"presents":[2,75],"the":[3,29,35,67,73,76,81,85,100,104,107,119,123,126],"development":[4,77,98],"of":[5,23,28,37,80,84,99,106,125],"a":[6,14,38,44],"robust":[7],"control":[8,30,108,121],"algorithm":[9,109],"to":[10,33,52,66,88],"be":[11],"applied":[12,65],"in":[13,43,110],"knee":[15,68],"and":[16,62,69,78,103,112],"ankle":[17,70,86],"joint":[18,87],"exoskeleton":[19,93],"designed":[20],"for":[21,94],"rehabilitation":[22],"flexion/extension":[24],"movements.":[25],"The":[26,97],"goal":[27],"law":[31],"is":[32,49,64],"follow":[34],"trajectory":[36],"straight":[39],"leg":[40],"extension":[41],"routine":[42,48],"sitting":[45],"position.":[46],"commonly":[50],"used":[51],"rehabilitate":[53],"an":[54,57,92],"injury":[55],"on":[56],"Anterior":[58],"Cruciate":[59],"Ligament":[60],"(ACL)":[61],"it":[63,90],"joints.":[71],"Moreover,":[72],"implementation":[79,105],"robotic":[82],"structure":[83],"integrate":[89],"into":[91],"gait":[95],"rehabilitation.":[96],"dynamic":[101],"model":[102],"simulation":[111],"experimental":[113],"tests":[114],"are":[115],"presented,":[116],"showing":[117],"that":[118],"proposed":[120],"guarantees":[122],"convergence":[124],"tracking":[127],"error.":[128]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}