{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T12:16:23Z","timestamp":1762431383125,"version":"build-2065373602"},"reference-count":22,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2017,9,7]],"date-time":"2017-09-07T00:00:00Z","timestamp":1504742400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Nowadays, engineering is working side by side with medical sciences to design and create devices which could help to improve medical processes. Physiotherapy is one of the areas of medicine in which engineering is working. There, several devices aimed to enhance and assist therapies are being studied and developed. Mechanics and electronics engineering together with physiotherapy are developing exoskeletons, which are electromechanical devices attached to limbs which could help the user to move or correct the movement of the given limbs, providing automatic therapies with flexible and configurable programs to improve the autonomy and fit the needs of each patient. Exoskeletons can enhance the effectiveness of physiotherapy and reduce patient rehabilitation time. As a contribution, this paper proposes a dynamic model for two degrees of freedom (2 DOF) leg exoskeleton acting over the knee and ankle to treat people with partial disability in lower limbs. This model has the advantage that it can be adapted for any person using the variables of mass and height, converting it into a flexible alternative for calculating the exoskeleton dynamics very quickly and adapting them easily for a child\u2019s or young adult\u2019s body. In addition, this paper includes the linearization of the model and an analysis of its respective observability and controllability, as preliminary study for control strategies applications.<\/jats:p>","DOI":"10.3390\/robotics6030020","type":"journal-article","created":{"date-parts":[[2017,9,7]],"date-time":"2017-09-07T13:59:10Z","timestamp":1504792750000},"page":"20","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Proposal of Novel Model for a 2 DOF Exoskeleton for Lower-Limb Rehabilitation"],"prefix":"10.3390","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2130-7488","authenticated-orcid":false,"given":"Cristian","family":"Velandia","sequence":"first","affiliation":[{"name":"Faculty of electronics Engineering, Universidad Santo Tom\u00e1s, Bogot\u00e1 110311, Colombia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4498-596X","authenticated-orcid":false,"given":"Diego","family":"Tibaduiza","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda El\u00e9ctrica y Electr\u00f3nica, Universidad Nacional de Colombia, Bogot\u00e1 110311,Colombia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maribel","family":"Vejar","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Fundaci\u00f3n Universitaria Los Libertadores, Bogot\u00e1 110311, Colombia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,9,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Cao, H., Ling, Z., Zhu, J., Wang, Y., and Wang, W. (2009, January 19\u201323). Design Frame of a Leg Exoskeleton for Load-Carrying Augmentation. Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO), Guilin, China.","DOI":"10.1109\/ROBIO.2009.5420684"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Jin, X., and Agrawal, S.K. (2015, January 11\u201314). Exploring Laparoscopic Surgery Training with Cable-Driven ARm EXoskeleton (CAREX-M). Proceedings of the 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore.","DOI":"10.1109\/ICORR.2015.7281247"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1016\/j.ifacol.2015.10.138","article-title":"Tool Position Control of an Upper Limb Exoskeleton for Robot-Assisted Surgery","volume":"48","author":"Misgeld","year":"2015","journal-title":"IFAC-PapersOnLine"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Banala, S.K., Agrawal, S.K., and Scholz, J.P. (2007, January 13\u201315). Active Leg Exoskeleton (ALEX) for Gait Rehabilitation of Motor-Impaired Patients. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics (ICORR 2007), Noordwijk, The Netherlands.","DOI":"10.1109\/ICORR.2007.4428456"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Crema, A., Mancuso, M., Frisoli, A., Salsedo, F., Raschella, F., and Micera, S. (2015, January 22\u201324). A Hybrid NMES-Exoskeleton for Real Objects Interaction. Proceedings of the 2015 7th International IEEE\/EMBS Conference on Neural Engineering (NER), Montpellier, France.","DOI":"10.1109\/NER.2015.7146710"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1109\/TNSRE.2012.2207462","article-title":"Kinematic Data Analysis for Post-Stroke Patients Following Bilateral versus Unilateral Rehabilitation with an Upper Limb Wearable Robotic System","volume":"21","author":"Kim","year":"2013","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Lee, H., Kim, J., and Kim, T. (2014, January 18\u201320). A Robot Teaching Framework for a Redundant Dual Arm Manipulator with Teleoperation from Exoskeleton Motion Data. Proceedings of the 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain.","DOI":"10.1109\/HUMANOIDS.2014.7041495"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Safavi, S., Ghafari, A.S., and Meghdari, A. (2011, January 7\u201311). Design of an Optimum Torque Actuator for Augmenting Lower Extremity Exoskeletons in Biomechanical Framework. Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), Karon Beach, Phuket, Thailand.","DOI":"10.1109\/ROBIO.2011.6181581"},{"key":"ref_9","first-page":"1","article-title":"Design and simulation of leg-exoskeleton suit for rehabilitation","volume":"12","author":"Surachai","year":"2012","journal-title":"Glob. J. Med. Res."},{"key":"ref_10","unstructured":"Pan, M., Zhang, D., and Gao, Z. (2011, January 10\u201312). Novel Design of a Three Degrees of Freedom Hip Exoskeleton Based on Biomimetic Parallel Structure. Proceedings of the 2011 IEEE International Conference on Computer Science and Automation Engineering (CSAE), Shanghai, China."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Velandia, C., Celed\u00f3n, H., Tibaduiza, D.A., Torres-Pinz\u00f3n, C., and Vitola, J. (September, January 31). Design and Control of an Exoskeleton in Rehabilitation Tasks for Lower Limb. Proceedings of the 2016 XXI Symposium on Signal Processing, Images and Artificial Vision (STSIVA), Bucaramanga, Colombia.","DOI":"10.1109\/STSIVA.2016.7743341"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Ferrati, F., Bortoletto, R., and Pagello, E. (August, January 29). Virtual Modelling of a Real Exoskeleton Constrained to a Human Musculoskeletal Model. Proceedings of the Second International Conference Biomimetic and Biohybrid Systems, Living Machines 2013, London, UK.","DOI":"10.1007\/978-3-642-39802-5_9"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"3776","DOI":"10.1109\/TIE.2013.2275903","article-title":"Development and Learning Control of a Human limb with a Rehabilitation Exoskeleton","volume":"61","author":"Lu","year":"2014","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_14","unstructured":"Xiuxia, Y., Yi, Z., Zhicai, X., and Zhiyong, Y. (2011, January 22\u201324). Total Cource Locomotion Control of Assist Walking Exoskeleton Leg. Proceedings of the 2011 30th Chinese Control Conference (CCC), Yantai, China."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1016\/j.pisc.2016.06.020","article-title":"Mathematical modelling of a hand crank generator for powering lower-limb exoskeletons","volume":"8","author":"Singla","year":"2016","journal-title":"Pespect. Sci."},{"key":"ref_16","unstructured":"Cardenas, C.C.V. (2016). Modelado, Control Y Monitoreo de un Exoesqueleto Pistir Procesos de Rehabilitacion en Miembro Inferior, Universidad Santo Tom\u00e1s."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Hanavan, E.P. (1964). A mathematical model of the human body. AMRL TR, 1\u2013149.","DOI":"10.1037\/e400822004-001"},{"key":"ref_18","unstructured":"Drillis, R., and Contini, C. (1964). Body Segment Parameters Artificial Limbs, National Academy of Sciences."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Winter, D.A. (2009). Biomechanics and Motor Control of Human Movement, John Wiley and Sons, Inc.. [4th ed.].","DOI":"10.1002\/9780470549148"},{"key":"ref_20","unstructured":"Goldstein, H., Poole, C., and Safko, J. (2001). Classical Mechanics, Addison Wesley. [3rd ed.]."},{"key":"ref_21","unstructured":"Young, H.D., and Freedman, R.A. (2009). Fisica Universitaria, Pearson Educaci\u00f3n. [12th ed.]."},{"key":"ref_22","unstructured":"Ogata, K. (2009). Ingenieria de Control Moderna, Pearson Educaci\u00f3n."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/6\/3\/20\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:44:20Z","timestamp":1760208260000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/6\/3\/20"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,9,7]]},"references-count":22,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2017,9]]}},"alternative-id":["robotics6030020"],"URL":"https:\/\/doi.org\/10.3390\/robotics6030020","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2017,9,7]]}}}