Design, Development and Control of a Therapeutic Robot Incorporating Aquatic Therapy for Ankle Rehabilitation by César H. Guzmán-Valdivia, Oscar Madrigal-López, Omar Désiga-Orenday, Jorge Talavera-Otero, Jorge A. Brizuela-Mendoza, César A. Chávez-Olivares, Oscar Cruz-Domínguez, Andrés Blanco-Ortega, Javier Alejandro Berumen-Torres, Fabio Abel Gómez-Becerra

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