{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,6]],"date-time":"2026-02-06T05:12:44Z","timestamp":1770354764556,"version":"3.49.0"},"reference-count":11,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2014,1,22]],"date-time":"2014-01-22T00:00:00Z","timestamp":1390348800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, we deal with Markov Jump Linear Systems-based filtering applied to robotic rehabilitation. The angular positions of an impedance-controlled exoskeleton, designed to help stroke and spinal cord injured patients during walking rehabilitation, are estimated. Standard position estimate approaches adopt Kalman filters (KF) to improve the performance of inertial measurement units (IMUs) based on individual link configurations. Consequently, for a multi-body system, like a lower limb exoskeleton, the inertial measurements of one link (e.g., the shank) are not taken into account in other link position estimation (e.g., the foot). In this paper, we propose a collective modeling of all inertial sensors attached to the exoskeleton, combining them in a Markovian estimation model in order to get the best information from each sensor. In order to demonstrate the effectiveness of our approach, simulation results regarding a set of human footsteps, with four IMUs and three encoders attached to the lower limb exoskeleton, are presented. A comparative study between the Markovian estimation system and the standard one is performed considering a wide range of parametric uncertainties.<\/jats:p>","DOI":"10.3390\/s140101835","type":"journal-article","created":{"date-parts":[[2014,1,22]],"date-time":"2014-01-22T12:32:23Z","timestamp":1390393943000},"page":"1835-1849","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Markov Jump Linear Systems-Based Position Estimation for Lower Limb Exoskeletons"],"prefix":"10.3390","volume":"14","author":[{"given":"Samuel","family":"Nogueira","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of S\u00e3o Paulo, S\u00e3o Carlos, SP 13566-590, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Adriano","family":"Siqueira","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University of S\u00e3o Paulo, S\u00e3o Carlos, SP 13566-590, Brazil"},{"name":"Center for Robotics of S\u00e3o Carlos and Center for Advanced Studies in Rehabilitation, University of S\u00e3o Paulo, SP 13566-590, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roberto","family":"Inoue","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Federal University of S\u00e3o Carlos, SP 13565-905, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Terra","sequence":"additional","affiliation":[{"name":"Center for Robotics of S\u00e3o Carlos and Center for Advanced Studies in Rehabilitation, University of S\u00e3o Paulo, SP 13566-590, Brazil"},{"name":"Department of Electrical Engineering, University of S\u00e3o Paulo, S\u00e3o Carlos, SP 13566-590, Brazil"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2014,1,22]]},"reference":[{"key":"ref_1","unstructured":"Blaya, J.B. (2002). Force Controllable Ankle-Foot Orthosis (AFO) to Assist Drop Foot Gait. [Master's Thesis, Massachusetts Institute of Technology]."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Pons, J., Moreno, J., Brunetti, F., and Roccon, E. (2007). Lower-Limb Wearable Exoskeleton, Rehabilitation Robotics.","DOI":"10.5772\/5176"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1186\/1743-0003-9-36","article-title":"Positive effects of robotic exoskeleton training of upper limb reaching movements after stroke","volume":"9","author":"Frisoli","year":"2012","journal-title":"J. NeuroEng. Rehabil."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1016\/S1350-4533(99)00030-2","article-title":"A practical gait analysis system using gyroscopes","volume":"21","author":"Tong","year":"1999","journal-title":"Med. Eng. 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J."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Nogueira, S.L., Inoue, R.S., Terra, M.H., and Siqueira, A.A.G. Estimation of Lower Limbs Angular Positions Using Kalman Filter and Genetic Algorithm. 1\u20136.","DOI":"10.1109\/BRC.2013.6487515"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Nogueira, S.L., Siqueira, A.A.G., Inoue, R.S., and Terra, M.H. (2013, January 3\u20137). Estimation of Lower Limbs Angular Positions Using Robst Kalman Filter and Genetic Algorithm. Ribeirao Preto, Brazil.","DOI":"10.1109\/BRC.2013.6487515"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"811","DOI":"10.1109\/TCST.2004.833626","article-title":"Nonlinear and Markovian \u221e controls of underactuated manipulators","volume":"12","author":"Siqueira","year":"2004","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_11","unstructured":"Chizeck, H., and Ji, Y. (1988, January 7\u20139). Optimal Quadratic Control of Jump Linear Systems with Gaussian Noise in Discrete-Time. Austin, TX, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/1\/1835\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:07:35Z","timestamp":1760216855000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/1\/1835"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,1,22]]},"references-count":11,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2014,1]]}},"alternative-id":["s140101835"],"URL":"https:\/\/doi.org\/10.3390\/s140101835","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,1,22]]}}}