This paper deals with the controller of an active orthosis for rehabilitation reasons of the
knee joint. The dynamical model of the system, constituted of the shank and the orthosis is
complex and is considered as unknown in the conception of the proposed controller. The full
security protocol has been carefully applied and we have selected a healthy person for our
experiments. The flexion/extension movements used for our experiments are of sinusoidal
form and are generally applied by therapeutic doctors. The fast terminal sliding mode …