Next Article in Journal
Building a ROS-Based Testbed for Realistic Multi-Robot Simulation: Taking the Exploration as an Example
Previous Article in Journal
Automated Remote Insect Surveillance at a Global Scale and the Internet of Things
Article Menu

Export Article

Open AccessArticle

Proposal of Novel Model for a 2 DOF Exoskeleton for Lower-Limb Rehabilitation

Faculty of electronics Engineering, Universidad Santo Tomás, Bogotá 110311, Colombia
Departamento de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Colombia, Bogotá 110311,Colombia
Faculty of Engineering, Fundación Universitaria Los Libertadores, Bogotá 110311, Colombia
Author to whom correspondence should be addressed.
Robotics 2017, 6(3), 20;
Received: 21 June 2017 / Revised: 13 August 2017 / Accepted: 31 August 2017 / Published: 7 September 2017
PDF [12905 KB, uploaded 14 September 2017]


Nowadays, engineering is working side by side with medical sciences to design and create devices which could help to improve medical processes. Physiotherapy is one of the areas of medicine in which engineering is working. There, several devices aimed to enhance and assist therapies are being studied and developed. Mechanics and electronics engineering together with physiotherapy are developing exoskeletons, which are electromechanical devices attached to limbs which could help the user to move or correct the movement of the given limbs, providing automatic therapies with flexible and configurable programs to improve the autonomy and fit the needs of each patient. Exoskeletons can enhance the effectiveness of physiotherapy and reduce patient rehabilitation time. As a contribution, this paper proposes a dynamic model for two degrees of freedom (2 DOF) leg exoskeleton acting over the knee and ankle to treat people with partial disability in lower limbs. This model has the advantage that it can be adapted for any person using the variables of mass and height, converting it into a flexible alternative for calculating the exoskeleton dynamics very quickly and adapting them easily for a child’s or young adult’s body. In addition, this paper includes the linearization of the model and an analysis of its respective observability and controllability, as preliminary study for control strategies applications. View Full-Text
Keywords: exoskeletons; lower limbs; rehabilitation; dynamics; knee; ankle exoskeletons; lower limbs; rehabilitation; dynamics; knee; ankle

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Velandia, C.C.; Tibaduiza, D.A.; Vejar, M.A. Proposal of Novel Model for a 2 DOF Exoskeleton for Lower-Limb Rehabilitation. Robotics 2017, 6, 20.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top