Aim: The aim of this review paper is to summarize recent developments and research in
robotics, relevant to the field of ankle rehabilitation, to overview new findings and determine …

Powered ankle exoskeletons (PAEs) are robotic devices developed for gait assistance,
rehabilitation, and augmentation. To fulfil their purposes, PAEs vastly rely heavily on their …

A real-time method is proposed to obtain a single, consistent probabilistic model to predict
future joint angles, velocities, accelerations and jerks, together with the timing for the initial …

In this paper, by using a biomechanical model of the human body, we prove that (1) due to
the existence of bi-articular muscles and compliant-elements, blind full-torque-compensation …

The control of mechatronic systems can often be enhanced if realtime information on the
derivatives of a signal is available. These derivatives are not always measurable by sensors …

Lower limb exoskeletons are being used to assist people with movement disorders during
activities of daily living or rehabilitation. However, providing a natural interface that …

Esta tesis doctoral presenta, tras repasar la marcha humana, las principales patologías y
condiciones que la afectan, y los distintos enfoques de rehabilitación con la …