In this paper, we present a backstepping approach integrated with time-delay estimation to
provide an accurate estimation of unknown dynamics and to compensate for external …

This paper investigates the passive and active control strategies to provide a physical
assistance and rehabilitation by a 7-DOF exoskeleton robot with nonlinear uncertain …

This paper studies an adaptive control strategy for a class of 5 DOF upper-limb exoskeleton
robot with a special safety consideration. The safety requirement plays a critical role in the …

In this paper, a model-free fixed-time control strategy with prescribed performance is
proposed for the wearable exoskeleton angle tracking control. Firstly, an ultra-local model is …

In this paper, we propose a new adaptive visual tracking control approach based on sliding
mode control in Cartesian space applied to an exoskeleton robot with uncertain kinematics …

Neurological disorders such as cerebral paralysis, spinal cord injuries, and strokes, result in
the impairment of motor control and induce functional difficulties to human beings like …

A new adaptive impedance, augmented with backstepping control, time-delay estimation,
and a disturbance observer, was designed to perform passive–assistive rehabilitation …

This paper addresses the control design for an upper limb exoskeleton in the presence of
input saturation. An adaptive controller employing the neural network technology is …

A new approach to gait rehabilitation task of a 12 DOF lower limb exoskeleton is proposed
combining time-delay estimation (TDE) based computed torque control (CTC) and robust …

This paper deals with the problem of robust output feedback control for a class of 5DOF
upper-limb exoskeleton robot. It is able to assist with shoulder, elbow and wrist joint …