<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2594-1925</journal-id>
<journal-title><![CDATA[Revista de ciencias tecnológicas]]></journal-title>
<abbrev-journal-title><![CDATA[Rev. cienc. tecnol.]]></abbrev-journal-title>
<issn>2594-1925</issn>
<publisher>
<publisher-name><![CDATA[Universidad Autónoma de Baja California]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2594-19252024000400101</article-id>
<article-id pub-id-type="doi">10.37636/recit.v7n4e374</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Simulación de un prototipo virtual de órtesis robótica para rodilla]]></article-title>
<article-title xml:lang="en"><![CDATA[Simulation of a robotic knee orthosis virtual prototype]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Barrera-Sánchez]]></surname>
<given-names><![CDATA[Agustín]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Azcaray-Rivera]]></surname>
<given-names><![CDATA[Héctor Ramón]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Blanco-Ortega]]></surname>
<given-names><![CDATA[Andrés]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Campos-Amezcua]]></surname>
<given-names><![CDATA[Rafael]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Abúndez-Pliego]]></surname>
<given-names><![CDATA[Arturo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Isidro-Godoy]]></surname>
<given-names><![CDATA[Jhonatan]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Centro Nacional de Investigación y Desarrollo Tecnológico Tecnológico Nacional de México Departamento de Ingeniería Mecánica]]></institution>
<addr-line><![CDATA[Cuernavaca Morelos]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Instituto Tecnológico de Oaxaca Tecnológico Nacional de México ]]></institution>
<addr-line><![CDATA[Oaxaca de Juárez Oaxaca]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2024</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2024</year>
</pub-date>
<volume>7</volume>
<numero>4</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S2594-19252024000400101&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S2594-19252024000400101&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S2594-19252024000400101&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen. La complejidad en los movimientos de la actividad diaria que realizan las personas, origina que recurrentemente sufran de algún tipo de lesión en las extremidades (superiores/inferiores); siendo lo más común los daños en la articulación de la rodilla, afectando parcial o totalmente la movilidad. Estudios recientes indican que el empleo de dispositivos ortopédicos biomecánicos, como las órtesis, facilita la rehabilitación y acelera la recuperación de dichas lesiones. El principal objetivo del diseño de las órtesis para la rodilla es mejorar la movilidad, estabilidad y rigidez de la extremidad afectada. En este trabajo se presenta el proceso para la simulación de los movimientos de flexión y extensión de un prototipo virtual de una órtesis para rodilla, obteniendo como resultado la simulación y co-simulación entre MSC Adams® y Simulink-Matlab®. Para mostrar el proceso de simulación, se implementa un control tipo PID en el seguimiento de trayectorias del prototipo virtual de la órtesis de rodilla, utilizando un polinomio de Bézier. Los resultados muestran un buen desempeño en el seguimiento de trayectorias, obteniendo una trayectoria deseada de una flexión máxima de 2&#960;/3 rad, con un error aproximado de 0.0124 radianes con respecto a la trayectoria deseada.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract. The complexity in the movements of the daily activity that people perform, causes them to recurrently suffer from some type of injury in the extremities (upper/lower); being the most common damage in the knee joint, partially or totally affecting mobility. Recent studies indicate that the use of biomechanical orthopedic devices, such as orthoses, facilitates rehabilitation and accelerates recovery from such injuries. The main objective of the design of knee orthoses is to improve mobility, stability and stiffness of the affected limb. This paper presents the process for the simulation of the flexion and extension movements of a virtual prototype of a knee orthosis, obtaining as a result the simulation and co-simulation between MSC Adams® and Simulink-Matlab®. To show the simulation process, a PID type control is implemented to follow the trajectories of the virtual prototype of the knee orthosis, using a Bézier polynomial. The results show a good performance in the trajectory tracking, obtaining a desired trajectory of a maximum bending of 2&#960;/3 rad, with an approximate error of 0.0124 radians with respect to the desired trajectory.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Órtesis para rodilla]]></kwd>
<kwd lng="es"><![CDATA[MSC Adams]]></kwd>
<kwd lng="es"><![CDATA[Control de órtesis]]></kwd>
<kwd lng="es"><![CDATA[Exoesqueleto de órtesis]]></kwd>
<kwd lng="en"><![CDATA[Knee orthosis]]></kwd>
<kwd lng="en"><![CDATA[MSC Adams]]></kwd>
<kwd lng="en"><![CDATA[Orthosis control]]></kwd>
<kwd lng="en"><![CDATA[Orthosis exoskeleton]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<label>1</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Zissimopoulos]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Fatone]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Gard]]></surname>
<given-names><![CDATA[S. A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Biomechanical and energetic effects of a stance- control orthotic knee joint,]]></article-title>
<source><![CDATA[The Journal of Rehabilitation Research and Development]]></source>
<year>2007</year>
<volume>44</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>503</page-range></nlm-citation>
</ref>
<ref id="B2">
<label>2</label><nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Vergara]]></surname>
<given-names><![CDATA[P. M.]]></given-names>
</name>
<name>
<surname><![CDATA[Díaz]]></surname>
<given-names><![CDATA[R. M.]]></given-names>
</name>
<name>
<surname><![CDATA[Rivas]]></surname>
<given-names><![CDATA[E. F.]]></given-names>
</name>
<name>
<surname><![CDATA[Restrepo]]></surname>
<given-names><![CDATA[M. M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño de dispositivos para rehabilitación y ortesis]]></source>
<year>2017</year>
<edition>1st</edition>
<publisher-loc><![CDATA[Venezuela ]]></publisher-loc>
</nlm-citation>
</ref>
<ref id="B3">
<label>3</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Vargas]]></surname>
<given-names><![CDATA[N. F.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Indicaciones de las ortesis en atención primaria,]]></article-title>
<source><![CDATA[FMC]]></source>
<year>2017</year>
<volume>24</volume>
<numero>8</numero>
<issue>8</issue>
<page-range>465-78</page-range></nlm-citation>
</ref>
<ref id="B4">
<label>4</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Popovic]]></surname>
<given-names><![CDATA[M. B.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Powered Orthotics: Enabling Brace Technologies for Upper and Lower Limbs,]]></article-title>
<source><![CDATA[Biomechatronics]]></source>
<year>2019</year>
<page-range>279-303</page-range><publisher-name><![CDATA[Elsevier]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B5">
<label>5</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Villa]]></surname>
<given-names><![CDATA[P. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Delisle]]></surname>
<given-names><![CDATA[R. D.]]></given-names>
</name>
<name>
<surname><![CDATA[Souza-Lima]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Frizera-Neto]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Bastos]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Knee Impedance Modulation to Control an Active Orthosis Using Insole Sensors,]]></article-title>
<source><![CDATA[Sensors]]></source>
<year>2017</year>
<volume>17</volume>
<numero>12</numero>
<issue>12</issue>
<page-range>2751</page-range></nlm-citation>
</ref>
<ref id="B6">
<label>6</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Hui]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Jiang]]></surname>
<given-names><![CDATA[Chong]]></given-names>
</name>
<name>
<surname><![CDATA[Mao]]></surname>
<given-names><![CDATA[Yuliang]]></given-names>
</name>
<name>
<surname><![CDATA[Wang]]></surname>
<given-names><![CDATA[X.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design and control of a wearable active knee orthosis for walking assistance,]]></article-title>
<source><![CDATA[2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)]]></source>
<year>2016</year>
<page-range>51-6</page-range><publisher-name><![CDATA[IEEE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B7">
<label>7</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Felix]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Figueiredo]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Santos]]></surname>
<given-names><![CDATA[C. P.]]></given-names>
</name>
<name>
<surname><![CDATA[Moreno]]></surname>
<given-names><![CDATA[J. C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Powered knee orthosis for human gait rehabilitation: First advances,]]></article-title>
<source><![CDATA[2017 IEEE 5th Portuguese Meeting on Bioengineering (ENBENG)]]></source>
<year>2017</year>
<page-range>1-4</page-range><publisher-name><![CDATA[IEEE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B8">
<label>8</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Garcia]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Sanz-Merodio]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
<name>
<surname><![CDATA[Cestari]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Perez]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Sancho]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[]]></source>
<year>2016</year>
<conf-name><![CDATA[ An Active Knee Orthosis for the Physical Therapy of Neurological Disorders]]></conf-name>
<conf-loc> </conf-loc>
<page-range>327-37</page-range></nlm-citation>
</ref>
<ref id="B9">
<label>9</label><nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lora]]></surname>
<given-names><![CDATA[M. J. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Hidalgo-Romero]]></surname>
<given-names><![CDATA[A. F.]]></given-names>
</name>
<name>
<surname><![CDATA[Rocon de Lima]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño de una órtesis activa de rodilla para la evaluación de algoritmos de asistencia robótica en sujetos hemiparéticos]]></source>
<year>2020</year>
<conf-name><![CDATA[ Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018]]></conf-name>
<conf-loc> </conf-loc>
<page-range>57-63</page-range></nlm-citation>
</ref>
<ref id="B10">
<label>10</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Karavas]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
<name>
<surname><![CDATA[Ajoudani]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Tsagarakis]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
<name>
<surname><![CDATA[Caldwell]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Human-inspired balancing assistance: Application to a knee exoskeleton]]></article-title>
<source><![CDATA[2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)]]></source>
<year>2013</year>
<page-range>292-7</page-range><publisher-name><![CDATA[IEEE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B11">
<label>11</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Tian]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Hefzy]]></surname>
<given-names><![CDATA[M. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Elahinia]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[State of the Art Review of Knee-Ankle-Foot Orthoses]]></article-title>
<source><![CDATA[Ann Biomed Eng]]></source>
<year>2015</year>
<volume>43</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>427-41</page-range></nlm-citation>
</ref>
<ref id="B12">
<label>12</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Barrera]]></surname>
<given-names><![CDATA[S. A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[State of the Art Review of Active and Passive Knee Orthoses]]></article-title>
<source><![CDATA[Machines]]></source>
<year>2022</year>
<volume>10</volume>
<numero>10</numero>
<issue>10</issue>
<page-range>865</page-range></nlm-citation>
</ref>
<ref id="B13">
<label>13</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Zhao]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Liu]]></surname>
<given-names><![CDATA[Z.]]></given-names>
</name>
<name>
<surname><![CDATA[Zhu]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Wang]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design and Research of Series Actuator Structure and Control System Based on Lower Limb Exoskeleton Rehabilitation Robot]]></article-title>
<source><![CDATA[Actuators]]></source>
<year>2024</year>
<volume>13</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>20</page-range></nlm-citation>
</ref>
<ref id="B14">
<label>14</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[MI]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Osman-NA]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Mechanically Actuated Stance-Control-Orthoses: Advantages, Design Evaluation and Future Directions]]></article-title>
<source><![CDATA[J Pain Relief]]></source>
<year>2015</year>
<volume>04</volume>
<numero>06</numero>
<issue>06</issue>
</nlm-citation>
</ref>
<ref id="B15">
<label>15</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Das]]></surname>
<given-names><![CDATA[A. K.]]></given-names>
</name>
<name>
<surname><![CDATA[Sahoo]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Pratihar]]></surname>
<given-names><![CDATA[D. K.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[An Improved Design of Knee Orthosis Using Self- Adaptive Bonobo Optimizer (SaBO)]]></article-title>
<source><![CDATA[J Intell Robot Syst]]></source>
<year>2023</year>
<volume>107</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>8</page-range></nlm-citation>
</ref>
<ref id="B16">
<label>16</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Kim]]></surname>
<given-names><![CDATA[J.-H.]]></given-names>
</name>
<name>
<surname><![CDATA[Ji]]></surname>
<given-names><![CDATA[S.-G.]]></given-names>
</name>
<name>
<surname><![CDATA[Jung]]></surname>
<given-names><![CDATA[K.-J.]]></given-names>
</name>
<name>
<surname><![CDATA[Kim]]></surname>
<given-names><![CDATA[J.-H.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Therapeutic Experience on Stance Control Knee- Ankle-Foot Orthosis With Electromagnetically Controlled Knee Joint System in Poliomyelitis]]></article-title>
<source><![CDATA[Ann Rehabil Med]]></source>
<year>2016</year>
<volume>40</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>356</page-range></nlm-citation>
</ref>
<ref id="B17">
<label>17</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Heo]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Choi]]></surname>
<given-names><![CDATA[H.-J.]]></given-names>
</name>
<name>
<surname><![CDATA[Lee]]></surname>
<given-names><![CDATA[J.-W.]]></given-names>
</name>
<name>
<surname><![CDATA[Cho]]></surname>
<given-names><![CDATA[H.-S.]]></given-names>
</name>
<name>
<surname><![CDATA[Kim]]></surname>
<given-names><![CDATA[G.-S.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Motion-Based Control Strategy of Knee Actuated Exoskeletal Gait Orthosis for Hemiplegic Patients: A Feasibility Study]]></article-title>
<source><![CDATA[Applied Sciences]]></source>
<year>2023</year>
<volume>14</volume>
<numero>1,</numero>
<issue>1,</issue>
<page-range>301</page-range></nlm-citation>
</ref>
<ref id="B18">
<label>18</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Manchola]]></surname>
<given-names><![CDATA[M. D. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Mayag]]></surname>
<given-names><![CDATA[L. J. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Munera]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Garcia]]></surname>
<given-names><![CDATA[C. A. C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Impedance-based Backdrivability Recovery of a Lower-limb Exoskeleton for Knee Rehabilitation]]></article-title>
<source><![CDATA[2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)]]></source>
<year>2019</year>
<page-range>1-6</page-range><publisher-name><![CDATA[IEEE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B19">
<label>19</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Guzmán]]></surname>
<given-names><![CDATA[V. C. H.]]></given-names>
</name>
<name>
<surname><![CDATA[Carrera]]></surname>
<given-names><![CDATA[E. J. L.]]></given-names>
</name>
<name>
<surname><![CDATA[Blanco]]></surname>
<given-names><![CDATA[O. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Oliver]]></surname>
<given-names><![CDATA[S. M. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Gómez]]></surname>
<given-names><![CDATA[B. F. A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Diseño y control de un sistema interactivo para la rehabilitación de tobillo: TobiBot]]></article-title>
<source><![CDATA[INGENIERÍA MECÁNICA TECNOLOGÍA Y DESARROLLO]]></source>
<year>2014</year>
<volume>5</volume>
<page-range>255-64</page-range></nlm-citation>
</ref>
<ref id="B20">
<label>20</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Alam]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Choudhury]]></surname>
<given-names><![CDATA[I. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Mamat]]></surname>
<given-names><![CDATA[A. Bin]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Mechanism and Design Analysis of Articulated Ankle Foot Orthoses for Drop-Foot]]></article-title>
<source><![CDATA[The Scientific World Journal]]></source>
<year>2014</year>
<volume>2014</volume>
<page-range>1-14</page-range></nlm-citation>
</ref>
<ref id="B21">
<label>21</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Veneman]]></surname>
<given-names><![CDATA[J. F.]]></given-names>
</name>
<name>
<surname><![CDATA[Ekkelenkamp]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Kruidhof]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Helm]]></surname>
<given-names><![CDATA[F.C. T. van der]]></given-names>
</name>
<name>
<surname><![CDATA[Kooij]]></surname>
<given-names><![CDATA[H. van der]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[A Series Elastic- and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots]]></article-title>
<source><![CDATA[Int J Rob Res]]></source>
<year>2006</year>
<volume>25</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>261-81</page-range></nlm-citation>
</ref>
<ref id="B22">
<label>22</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Veneman]]></surname>
<given-names><![CDATA[J. F.]]></given-names>
</name>
<name>
<surname><![CDATA[Kruidhof]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Hekman]]></surname>
<given-names><![CDATA[E. E. G.]]></given-names>
</name>
<name>
<surname><![CDATA[Ekkelenkamp]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Asseldonk]]></surname>
<given-names><![CDATA[E. H. F. Van]]></given-names>
</name>
<name>
<surname><![CDATA[Kooij]]></surname>
<given-names><![CDATA[H. van der]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation]]></article-title>
<source><![CDATA[IEEE Transactions on Neural Systems and Rehabilitation Engineering]]></source>
<year>2007</year>
<volume>15</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>379-86</page-range></nlm-citation>
</ref>
<ref id="B23">
<label>23</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Cherry]]></surname>
<given-names><![CDATA[M. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Choi]]></surname>
<given-names><![CDATA[D. J.]]></given-names>
</name>
<name>
<surname><![CDATA[Deng]]></surname>
<given-names><![CDATA[K. J.]]></given-names>
</name>
<name>
<surname><![CDATA[Kota]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Ferris]]></surname>
<given-names><![CDATA[D. P.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design and Fabrication of an Elastic Knee Orthosis: Preliminary Results]]></article-title>
<source><![CDATA[Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B]]></source>
<year>2006</year>
<page-range>565-73</page-range><publisher-name><![CDATA[ASMEDC]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B24">
<label>24</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Chen]]></surname>
<given-names><![CDATA[J. Z.]]></given-names>
</name>
<name>
<surname><![CDATA[Liao]]></surname>
<given-names><![CDATA[W. H.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design, testing and control of a magnetorheological actuator for assistive knee braces]]></article-title>
<source><![CDATA[Smart Mater Struct]]></source>
<year>2010</year>
<volume>19</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>035029</page-range></nlm-citation>
</ref>
<ref id="B25">
<label>25</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Claros]]></surname>
<given-names><![CDATA[M. J.]]></given-names>
</name>
<name>
<surname><![CDATA[Soto]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Gordillo]]></surname>
<given-names><![CDATA[J. L.]]></given-names>
</name>
<name>
<surname><![CDATA[Pons]]></surname>
<given-names><![CDATA[J. L.]]></given-names>
</name>
<name>
<surname><![CDATA[Contreras-Vidal]]></surname>
<given-names><![CDATA[J. L.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Robotic Assistance of Human Motion Using Active-Backdrivability on a Geared Electromagnetic Motor]]></article-title>
<source><![CDATA[Int J Adv Robot Syst]]></source>
<year>2016</year>
<volume>13</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>40</page-range></nlm-citation>
</ref>
<ref id="B26">
<label>26</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Penzlin]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Fincan]]></surname>
<given-names><![CDATA[M. E.]]></given-names>
</name>
<name>
<surname><![CDATA[Li]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Ji]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Leonhardt]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Ngo]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Design and Analysis of a Clutched Parallel Elastic Actuator]]></article-title>
<source><![CDATA[Actuators]]></source>
<year>2019</year>
<volume>8</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>67</page-range></nlm-citation>
</ref>
<ref id="B27">
<label>27</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Figueiredo]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Santos]]></surname>
<given-names><![CDATA[C. P.]]></given-names>
</name>
<name>
<surname><![CDATA[Moreno]]></surname>
<given-names><![CDATA[J. C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Assistance and rehabilitation of gait disorders using active lower limb orthoses]]></article-title>
<source><![CDATA[2015 IEEE 4th Portuguese Meeting on Bioengineering (ENBENG)]]></source>
<year>2015</year>
<page-range>1-6</page-range><publisher-name><![CDATA[IEEE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B28">
<label>28</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Amaia]]></surname>
<given-names><![CDATA[I. A.]]></given-names>
</name>
</person-group>
<source><![CDATA[Análisis dinámico de las fuerzas de contacto órtesis pierna mediante un modelo biomecánico tridimensional]]></source>
<year>2014</year>
<publisher-loc><![CDATA[Barcelona ]]></publisher-loc>
<publisher-name><![CDATA[Universitat Politécnica de Catalunya]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B29">
<label>29</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Fesharaki]]></surname>
<given-names><![CDATA[S. A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[The Effects of Knee Orthosis with Two Degrees of Freedom Joint Design on Gait and Sit-to-Stand Task in Patients with Medial Knee Osteoarthritis]]></article-title>
<source><![CDATA[Sultan Qaboos University Medical Journal [SQUMJ]]]></source>
<year>2020</year>
<volume>20</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>e324-31</page-range></nlm-citation>
</ref>
<ref id="B30">
<label>30</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lugo]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Ponce]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Molina]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Castro]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Co- simulación del Diseño Biomecánico para un Exoesqueleto Robótico del Miembro Inferior]]></article-title>
<source><![CDATA[Revista Mexicana de Ingeniería Biomédica]]></source>
<year>2014</year>
<volume>2</volume>
<page-range>143-56</page-range></nlm-citation>
</ref>
<ref id="B31">
<label>31</label><nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Urdaniz]]></surname>
<given-names><![CDATA[M. V.]]></given-names>
</name>
<name>
<surname><![CDATA[Ortiz]]></surname>
<given-names><![CDATA[M. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Bonardi]]></surname>
<given-names><![CDATA[A. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Gentiletti]]></surname>
<given-names><![CDATA[G.G.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño y Simulación de una Órtesis Robótica para Rehabilitación de la Marcha]]></source>
<year>2009</year>
</nlm-citation>
</ref>
<ref id="B32">
<label>32</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ángel]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Pérez]]></surname>
<given-names><![CDATA[M. P.]]></given-names>
</name>
<name>
<surname><![CDATA[Díaz]]></surname>
<given-names><![CDATA[Q. C.]]></given-names>
</name>
<name>
<surname><![CDATA[Mendoza]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[ADAMS/MATLAB Co-Simulation: Dynamic Systems Analysis and Control Tool]]></article-title>
<source><![CDATA[Applied Mechanics and Materials]]></source>
<year>2012</year>
<volume>232</volume>
<page-range>527-31</page-range></nlm-citation>
</ref>
<ref id="B33">
<label>33</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Pulles]]></surname>
<given-names><![CDATA[R. J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Controller design for ADAMS models using Matlab/SIMULINK interaction]]></source>
<year>2003</year>
<publisher-name><![CDATA[Technische Universiteit Eindhoven]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B34">
<label>34</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Chávez]]></surname>
<given-names><![CDATA[O. C.]]></given-names>
</name>
<name>
<surname><![CDATA[Rubio]]></surname>
<given-names><![CDATA[E.]]></given-names>
</name>
<name>
<surname><![CDATA[Guzmán]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Study of dynamic simulators with ADAMS and Matlab/Simulink for control systems]]></article-title>
<source><![CDATA[Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería]]></source>
<year>2022</year>
<volume>38</volume>
<numero>1</numero>
<issue>1</issue>
</nlm-citation>
</ref>
<ref id="B35">
<label>35</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Nair]]></surname>
<given-names><![CDATA[A. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Ezhilarasi]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Performance Analysis of Super Twisting Sliding Mode Controller by ADAMS-MATLAB Co-simulation in Lower Extremity Exoskeleton]]></article-title>
<source><![CDATA[International Journal of Precision Engineering and Manufacturing-Green Technology]]></source>
<year>2020</year>
<volume>7</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>743-54</page-range></nlm-citation>
</ref>
<ref id="B36">
<label>36</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[López]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Aguilar]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<name>
<surname><![CDATA[Salazar]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Lozano]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Torres]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Modelado y Control de un Exoesqueleto para la Rehabilitación de Extremidad Inferior con dos grados de libertad]]></article-title>
<source><![CDATA[Revista Iberoamericana de Automática e Informática Industrial RIAI]]></source>
<year>2014</year>
<volume>11</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>304-14</page-range></nlm-citation>
</ref>
<ref id="B37">
<label>37</label><nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Craig]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Introduction to Robotics (Mechanics and Control)]]></source>
<year>1989</year>
<edition>2nd</edition>
</nlm-citation>
</ref>
<ref id="B38">
<label>38</label><nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Selig]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Introductory Robotics]]></source>
<year>1992</year>
</nlm-citation>
</ref>
<ref id="B39">
<label>39</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Romero]]></surname>
<given-names><![CDATA[S. M. A.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño y Construcción de una Órtesis de Rodilla, Destinada a la Rehabilitación Automatizada de la Extremidad Inferior]]></source>
<year>2012</year>
<publisher-loc><![CDATA[Cuenca ]]></publisher-loc>
<publisher-name><![CDATA[Universidad Politécnica Salesiana]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B40">
<label>40</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Torres]]></surname>
<given-names><![CDATA[P. Y.]]></given-names>
</name>
</person-group>
<source><![CDATA[Evaluación cuantitativa de una prótesis de miembro inferior unilateral]]></source>
<year>2005</year>
<publisher-loc><![CDATA[Bogotá, Colombia ]]></publisher-loc>
<publisher-name><![CDATA[Universidad Distrital Francisco José de Caldas]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B41">
<label>41</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Boyling]]></surname>
<given-names><![CDATA[J. D.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[A Review of: &#8216;The Biomechanics and Motor Control of Human Gait&#8217; By DAVID A. WINTER. (University of Waterloo Press, Waterloo, Canada, 1987.) [Pp. 72.],]]></article-title>
<source><![CDATA[Ergonomics]]></source>
<year>1989</year>
<volume>32</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>453</page-range></nlm-citation>
</ref>
<ref id="B42">
<label>42</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Knundson]]></surname>
<given-names><![CDATA[D.]]></given-names>
</name>
</person-group>
<source><![CDATA[Fundamentals of Biomechanics]]></source>
<year>2007</year>
<publisher-loc><![CDATA[Boston, MA ]]></publisher-loc>
<publisher-name><![CDATA[Springer US]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B43">
<label>43</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ferryanto]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Herman]]></surname>
<given-names><![CDATA[I.]]></given-names>
</name>
<name>
<surname><![CDATA[Mihradi]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Dirgantara]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Mahyuddin]]></surname>
<given-names><![CDATA[A. I.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Development of a 3D Gait Measurement Protocol for Amputees Walking on Treadmill]]></article-title>
<source><![CDATA[MESIN]]></source>
<year>2017</year>
<volume>26</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>29-39</page-range></nlm-citation>
</ref>
<ref id="B44">
<label>44</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Khosravi]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Jalali]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Babaee]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Sanjari]]></surname>
<given-names><![CDATA[M. Ali]]></given-names>
</name>
<name>
<surname><![CDATA[Rahimi]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Evaluating the effective pressure applied by a valgus knee orthosis in individuals with medial knee osteoarthritis based on the dose- response relationship]]></article-title>
<source><![CDATA[Knee]]></source>
<year>2023</year>
<volume>40</volume>
<page-range>174-82</page-range></nlm-citation>
</ref>
<ref id="B45">
<label>45</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Dwarakanathan]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<name>
<surname><![CDATA[Mohanty]]></surname>
<given-names><![CDATA[R. K.]]></given-names>
</name>
<name>
<surname><![CDATA[Sahoo]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Prasad]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Efficacy of unloader knee orthosis and lateral wedge insole on static balance in medial knee osteoarthritis]]></article-title>
<source><![CDATA[Journal of Orthopaedics, Trauma and Rehabilitation]]></source>
<year>2022</year>
<volume>29</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>221049172210952</page-range></nlm-citation>
</ref>
<ref id="B46">
<label>46</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Blanco]]></surname>
<given-names><![CDATA[O. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Gomez]]></surname>
<given-names><![CDATA[B. F. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Valdes]]></surname>
<given-names><![CDATA[L. G. V.]]></given-names>
</name>
<name>
<surname><![CDATA[Arcega]]></surname>
<given-names><![CDATA[R. O. D.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[A Generalized Proportional Integral Controller for an Ankle Rehabilitation Machine Based on an XY Table]]></article-title>
<source><![CDATA[2013 International Conference on Mechatronics, Electronics and Automotive Engineering]]></source>
<year>2013</year>
<page-range>152-7</page-range><publisher-name><![CDATA[IEEE]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B47">
<label>47</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Blanco]]></surname>
<given-names><![CDATA[O. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Vázquez]]></surname>
<given-names><![CDATA[B. R. F.]]></given-names>
</name>
<name>
<surname><![CDATA[Vela]]></surname>
<given-names><![CDATA[V. G.]]></given-names>
</name>
<name>
<surname><![CDATA[Quintero]]></surname>
<given-names><![CDATA[M. E.]]></given-names>
</name>
<name>
<surname><![CDATA[López]]></surname>
<given-names><![CDATA[L. G.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Control of a virtual prototype of an ankle rehabilitation machine]]></article-title>
<source><![CDATA[Revista Facultad de Ingeniería Universidad de Antioquia]]></source>
<year>2013</year>
<numero>67</numero>
<issue>67</issue>
<page-range>183-96</page-range></nlm-citation>
</ref>
</ref-list>
</back>
</article>
