Many previous works of soft wearable exoskeletons (exosuit) target at improving the human
locomotion assistance, without considering the impedance adaption to interact with the …

This article proposes an unknown system dynamics estimator (USDE) based sliding mode
control for servo mechanisms with unknown dynamics and modeling uncertainties. An …

Physical assistive robotics are oriented to support and improve functional capacities of
people. In physical rehabilitation, robots are indeed useful for functional recovery of affected …

Wearable robotics, also called exoskeletons, have been engineered for human-centered
assistance for decades. They provide assistive technologies for maintaining and improving …

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

This paper proposes a cable-driven parallel waist rehabilitation robot with two-level control
algorithm to assist the patients with waist injuries to do some rehabilitation training. The …

Artificial-delay control is a method in which state and input measurements collected at an
immediate past time instant (ie, artificially delayed) are used to compensate the uncertain …

This article proposes an enhanced active disturbance rejection control (ADRC) method for
the attitude deformation system of a self-developed mobile robot in conjunction with …

The paper investigates a novel fractional-order Lyapunov-based robust controller based on
a fuzzy neural network (FNN) compensator for exoskeleton robotic systems. First, a finite …

An adaptive incremental sliding mode control (AISMC) scheme for a robot manipulator is
presented in this paper. Firstly, an incremental backstepping (IBS) controller is designed …