{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T16:00:53Z","timestamp":1781107253772,"version":"3.54.1"},"reference-count":48,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2020,1,31]],"date-time":"2020-01-31T00:00:00Z","timestamp":1580428800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user\u2019s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position\/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.<\/jats:p>","DOI":"10.3390\/s20030789","type":"journal-article","created":{"date-parts":[[2020,1,31]],"date-time":"2020-01-31T11:55:56Z","timestamp":1580471756000},"page":"789","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4211-3498","authenticated-orcid":false,"given":"Manuel","family":"Cardona","sequence":"first","affiliation":[{"name":"Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM), 28006 Madrid, Spain"},{"name":"Faculty of Engineering, Universidad Don Bosco (UDB), San Salvador, El Salvador"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1067-0564","authenticated-orcid":false,"given":"Cecilia E.","family":"Garc\u00eda Cena","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM), 28006 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8800-7578","authenticated-orcid":false,"given":"Fernando","family":"Serrano","sequence":"additional","affiliation":[{"name":"Faculty of Engineering and Architecture, Universidad Tecnol\u00f3gica Centroamericana (UNITEC), Frente a Residencial, V-782 Boulevard Kennedy, Tegucigalpa, Honduras"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8009-5350","authenticated-orcid":false,"given":"Roque","family":"Saltaren","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM), 28006 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,1,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"822","DOI":"10.1055\/s-0036-1593805","article-title":"The Effectiveness and Safety of Exoskeletons as Assistive and Rehabilitation Devices in the Treatment of Neurologic Gait Disorders in Patients with Spinal Cord Injury: A Systematic Review","volume":"6","author":"Fisahn","year":"2016","journal-title":"Glob. 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