Design of a robotic device actuated by cables for human lower limb rehabilitation using self-adaptive differential evolution and robust optimization . Bioscience Journal [online], 2016. [online], vol. 32, no. 6, pp. 1689–1702. [Accessed15 December 2025]. DOI 10.14393/BJ-v32n1a2016-32436. Available from: https://seer.ufu.br/index.php/biosciencejournal/article/view/32436.