<?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>0188-9532</journal-id>
<journal-title><![CDATA[Revista mexicana de ingeniería biomédica]]></journal-title>
<abbrev-journal-title><![CDATA[Rev. mex. ing. bioméd]]></abbrev-journal-title>
<issn>0188-9532</issn>
<publisher>
<publisher-name><![CDATA[Sociedad Mexicana de Ingeniería Biomédica]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S0188-95322017000200458</article-id>
<article-id pub-id-type="doi">10.17488/rmib.38.2.3</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Adaptive Control in Passive rehabilitation routines using ELLTIO]]></article-title>
<article-title xml:lang="es"><![CDATA[Control Adaptable en rutinas de rehabilitación pasiva utilizando ELLTIO]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[López-Gutiérrez]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Aguilar-Sierra]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Salazar]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Lozano]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,CINVESTAV  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>México</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,UTC  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>France</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>08</month>
<year>2017</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>08</month>
<year>2017</year>
</pub-date>
<volume>38</volume>
<numero>2</numero>
<fpage>458</fpage>
<lpage>478</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S0188-95322017000200458&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S0188-95322017000200458&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S0188-95322017000200458&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT: The Exoskeleton for Lower Limb Training with Instrumented Orthosis (ELLTIO) is a mechatronic device that can be used to assist in passive kinesitherapy to increase human muscles strength and resistance [1]. This paper presents an alternative for passive rehabilitation process using an exoskeleton for knee and ankle. The main idea is assist a pro fessional physiotherapist in the design and performance of exercises routines for his patients using the prototype. The knee and ankle joint's movements are recorded and storage during the exercises to propose a similar computer generated trajectories which the exoskeleton on should follow. An adaptive controller is implemented to track the trajectories and adapt the user parameters.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN: El exoesqueleto para el entrenamiento de miembros inferiores con órtesis instrumentada (ELLTIO) por sus siglas en ingles "Exoskeleton for Lower Limb Training with Instrumented Orthosis" es un dispositivo mecatrónico que se puede utilizar para ayudar en la fisioterapia pasiva para aumentar la fuerza y resistencia de los músculos humanos. En este trabajo se presenta una alternativa para el proceso de rehabilitación pasiva utilizando un exoesqueleto de rodilla y tobillo. La idea principal es ayudar a un fisioterapeuta profesional en el diseño y ejecución de rutinas de ejercicios para sus pacientes utilizando el prototipo. Los movimientos de la articulación de la rodilla y el tobillo se registran y se almacenan durante los ejercicios para proponer trayectorias similares generadas por computadora que el exoesqueleto debe seguir. Se implementa un controlador adaptativo para rastrear las trayectorias y adaptar los parámetros del usuario.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Exoskeleton]]></kwd>
<kwd lng="en"><![CDATA[Parametric Identification]]></kwd>
<kwd lng="en"><![CDATA[Rehabilitation Robotics]]></kwd>
<kwd lng="en"><![CDATA[Adaptive Control]]></kwd>
<kwd lng="es"><![CDATA[Exoesqueletos]]></kwd>
<kwd lng="es"><![CDATA[Identificación de parámetros]]></kwd>
<kwd lng="es"><![CDATA[Robótica de Rehabilitación]]></kwd>
<kwd lng="es"><![CDATA[Control Adaptable]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<nlm-citation citation-type="journal">
<article-title xml:lang=""><![CDATA[Adaptive Control for Passive Kinesiotherapy ELLTIO]]></article-title>
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lopez]]></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>
</person-group>
<source><![CDATA[Journal of Bionic Engineering]]></source>
<year>2014</year>
<volume>11</volume>
<page-range>581-8</page-range></nlm-citation>
</ref>
<ref id="B2">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Glynn]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Fiddler]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
</person-group>
<source><![CDATA[The physiotherapist&#8217;s pocket guide to exercise: assessment]]></source>
<year>2009</year>
<publisher-name><![CDATA[Elsevier]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B3">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Hoppenfeld]]></surname>
<given-names><![CDATA[S.]]></given-names>
</name>
<name>
<surname><![CDATA[Murthy]]></surname>
<given-names><![CDATA[V. L.]]></given-names>
</name>
</person-group>
<source><![CDATA[Treatment and rehabilitation of fractures]]></source>
<year>1999</year>
<publisher-loc><![CDATA[Philadelphia USA ]]></publisher-loc>
<publisher-name><![CDATA[Lippincott Williams & Wilkins]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B4">
<nlm-citation citation-type="journal">
<article-title xml:lang=""><![CDATA[Active knee rehabilitation orthotic device with variable damping characteristics implemented via an electrorheological fluid]]></article-title>
<person-group person-group-type="author">
<name>
<surname><![CDATA[Nikitczuk]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Weinberg]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Canavan]]></surname>
<given-names><![CDATA[P. K.]]></given-names>
</name>
<name>
<surname><![CDATA[Mavroidis]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<source><![CDATA[IEEE/ASME Transactions on Mechatronics]]></source>
<year>2010</year>
<volume>15</volume>
<page-range>952-60</page-range></nlm-citation>
</ref>
<ref id="B5">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ding]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Sivak]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Weinberg]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Mavroidis]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Holden]]></surname>
<given-names><![CDATA[M. K.]]></given-names>
</name>
</person-group>
<source><![CDATA[NUVABAT: northeastern university virtual ankle and balance trainer]]></source>
<year>2010</year>
<conf-name><![CDATA[ Proceedings of the IEEE Haptics Symposium]]></conf-name>
<conf-date>2010</conf-date>
<conf-loc>Waltham, Mass, USA </conf-loc>
<page-range>509-14</page-range></nlm-citation>
</ref>
<ref id="B6">
<nlm-citation citation-type="journal">
<article-title xml:lang=""><![CDATA[Sprained ankle physiotherapy based mechanism synthesis and stiffness analysis of a robotic rehabilitation device]]></article-title>
<person-group person-group-type="author">
<name>
<surname><![CDATA[Dai]]></surname>
<given-names><![CDATA[J. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Zhao]]></surname>
<given-names><![CDATA[T.]]></given-names>
</name>
<name>
<surname><![CDATA[Nester]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<source><![CDATA[Autonomous Robots]]></source>
<year>2004</year>
<volume>16</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>207-18</page-range></nlm-citation>
</ref>
<ref id="B7">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Tsoi]]></surname>
<given-names><![CDATA[Y. H.]]></given-names>
</name>
<name>
<surname><![CDATA[Xie]]></surname>
<given-names><![CDATA[S. Q.]]></given-names>
</name>
</person-group>
<source><![CDATA[Impedance control of ankle rehabilitation robot]]></source>
<year>2009</year>
<conf-name><![CDATA[ Proceedings of the IEEE International Conference on Robotics and Biomimetics]]></conf-name>
<conf-date>2009</conf-date>
<conf-loc>Bangkok, Thailand </conf-loc>
<page-range>840-5</page-range></nlm-citation>
</ref>
<ref id="B8">
<nlm-citation citation-type="journal">
<article-title xml:lang=""><![CDATA[A high-performance redundantly actuated parallel mechanism for ankle rehabilitation]]></article-title>
<person-group person-group-type="author">
<name>
<surname><![CDATA[Saglia]]></surname>
<given-names><![CDATA[J. A.]]></given-names>
</name>
<name>
<surname><![CDATA[Tsagarakis]]></surname>
<given-names><![CDATA[N. G.]]></given-names>
</name>
<name>
<surname><![CDATA[Dai]]></surname>
<given-names><![CDATA[J. S.]]></given-names>
</name>
<name>
<surname><![CDATA[Caldwell]]></surname>
<given-names><![CDATA[D. G.]]></given-names>
</name>
</person-group>
<source><![CDATA[International Journal of Robotics Research]]></source>
<year>2009</year>
<volume>28</volume>
<numero>9</numero>
<issue>9</issue>
<page-range>1216-27</page-range></nlm-citation>
</ref>
<ref id="B9">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Winter]]></surname>
<given-names><![CDATA[D.A.]]></given-names>
</name>
</person-group>
<source><![CDATA[Biomechanics and Motor Control of Human Movements]]></source>
<year>2005</year>
<edition>3rd ed</edition>
<publisher-loc><![CDATA[Hoboken, Nueva Jersey, USA ]]></publisher-loc>
<publisher-name><![CDATA[John Wiley & Sons]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B10">
<nlm-citation citation-type="journal">
<article-title xml:lang=""><![CDATA[Robust adaptive visual servoing of a robot arm]]></article-title>
<person-group person-group-type="author">
<name>
<surname><![CDATA[Carrasco-Elizalde]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Golsmith]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[International Journal of Robotics and Automation]]></source>
<year>2015</year>
<volume>30</volume>
<numero>4</numero>
<issue>4</issue>
<page-range>345-56</page-range><publisher-loc><![CDATA[Canada ]]></publisher-loc>
</nlm-citation>
</ref>
<ref id="B11">
<nlm-citation citation-type="journal">
<article-title xml:lang=""><![CDATA[Series elastic actuators for high fidelity force control Industrial Robot]]></article-title>
<person-group person-group-type="author">
<name>
<surname><![CDATA[Pratt]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Krupp]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
<name>
<surname><![CDATA[Morse]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<source><![CDATA[An International Journal]]></source>
<year>2002</year>
<volume>29</volume>
<page-range>234-41</page-range></nlm-citation>
</ref>
<ref id="B12">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Calanca]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Fiorini]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[Human-adaptive control of series elastic actuators Robotica]]></source>
<year>2014</year>
<volume>29</volume>
<page-range>1301-16</page-range></nlm-citation>
</ref>
<ref id="B13">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Khalil]]></surname>
<given-names><![CDATA[H. K.]]></given-names>
</name>
</person-group>
<source><![CDATA[Nonlinear Systems]]></source>
<year>2002</year>
<publisher-loc><![CDATA[New York, USA ]]></publisher-loc>
<publisher-name><![CDATA[Prentice Hall]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B14">
<nlm-citation citation-type="journal">
<article-title xml:lang=""><![CDATA[On the adaptive control of robot manipulators]]></article-title>
<person-group person-group-type="author">
<name>
<surname><![CDATA[E. Slotine]]></surname>
<given-names><![CDATA[J. J.]]></given-names>
</name>
<name>
<surname><![CDATA[Li]]></surname>
<given-names><![CDATA[W.]]></given-names>
</name>
</person-group>
<source><![CDATA[The International Journal of Robotics Research]]></source>
<year>1987</year>
<volume>6</volume>
<page-range>49-59</page-range></nlm-citation>
</ref>
<ref id="B15">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Vidyasagar]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Nonlinear Systems Analysis]]></source>
<year>1978</year>
<page-range>148</page-range><publisher-loc><![CDATA[New York, USA ]]></publisher-loc>
<publisher-name><![CDATA[Prentice-Hall]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B16">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Desoer]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Vidyasagar]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
</person-group>
<source><![CDATA[Feedback systems: input-output properties]]></source>
<year>1975</year>
<page-range>232</page-range><publisher-loc><![CDATA[New York, USA ]]></publisher-loc>
<publisher-name><![CDATA[Academic Press]]></publisher-name>
</nlm-citation>
</ref>
</ref-list>
</back>
</article>
