{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T16:48:12Z","timestamp":1774889292306,"version":"3.50.1"},"reference-count":21,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2023,9,20]],"date-time":"2023-09-20T00:00:00Z","timestamp":1695168000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Algorithms"],"abstract":"<jats:p>This paper presents the development of a robust control algorithm to be applied in a knee and ankle joint exoskeleton designed for rehabilitation of flexion\/extension movements. The goal of the control law is to follow the trajectory of a straight leg extension routine in a sitting position. This routine is commonly used to rehabilitate an injury on an Anterior Cruciate Ligament (ACL) and it is applied to the knee and ankle joints. Moreover, the paper presents the development and implementation of the robotic structure of the ankle joint to integrate it into an exoskeleton for gait rehabilitation. The development of the dynamic model and the implementation of the control algorithm in simulation and experimental tests are presented, showing that the proposed control guarantees the convergence of the tracking error.<\/jats:p>","DOI":"10.3390\/a16090449","type":"journal-article","created":{"date-parts":[[2023,9,20]],"date-time":"2023-09-20T01:32:50Z","timestamp":1695173570000},"page":"449","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Design of a Lower Limb Exoskeleton: Robust Control, Simulation and Experimental Results"],"prefix":"10.3390","volume":"16","author":[{"given":"E. Anyuli Alvarez","family":"Salcido","sequence":"first","affiliation":[{"name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"}]},{"given":"Daniel","family":"Centeno-Barreda","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"}]},{"given":"Yukio","family":"Rosales","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5326-5342","authenticated-orcid":false,"given":"Ricardo","family":"Lop\u00e9z-Guti\u00e9rrez","sequence":"additional","affiliation":[{"name":"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"}]},{"given":"Sergio","family":"Salazar","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5730-6313","authenticated-orcid":false,"given":"Rogelio","family":"Lozano","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional (CINVESTAV), Av. IPN #2508, San Pedro Zacatenco, Mexico City 07360, Mexico"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Larwa, J., Stoy, C., Chafetz, R.S., Boniello, M., and Franklin, C. (2021). Stiff Landings, Core Stability, and Dynamic Knee Valgus: A Systematic Review on Documented Anterior Cruciate Ligament Ruptures in Male and Female Athletes. Int. J. Environ. Res. Public Health, 18.","DOI":"10.3390\/ijerph18073826"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"D\u2019Isanto, T., D\u2019Elia, F., Esposito, G., Altavilla, G., and Raiola, G. (2022). Examining the Effects of Mirror Therapy on Psychological Readiness and Perception of Pain in ACL-Injured Female Football Players. J. Funct. Morphol. Kinesiol., 7.","DOI":"10.3390\/jfmk7040113"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Zhen, T., and Yan, L.Y.P. (2019). 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