Background The ankle joint complex (AJC) is of fundamental importance for balance,
support, and propulsion. However, it is particularly susceptible to musculoskeletal and …

Robot-assisted rehabilitation has become a new mainstream trend for the treatment of stroke
patients with movement disability. Pneumatic muscle (PM) is one of the most promising …

Pneumatic artificial muscles (PAMs) have been widely used in actuation of medical devices
due to their intrinsic compliance and high power-to-weight ratio features. However, the …

In this study, a novel adaptive backstepping control method is proposed to handle the
position tracking problem of the permanent magnet synchronous motor (PMSM) system with …

In this study, the design of adaptive backstepping sliding mode control (ABSMC) has been
developed for vibration suppression of earth-quaked building supported by magneto …

Introduction: Robot-assisted neuro-rehabilitation is gaining acceptability among the physical
therapy community. The ankle is one of the most complicated anatomical joints in the human …

Ankle dysfunction is common in the public following injuries, especially for stroke patients.
Most of the current robotic ankle rehabilitation devices are driven by rigid actuators and have …

A multi-locomotion mode ankle rehabilitation robot (MLMARR) based on the 2-UPU/RPU (U:
universal; P: prismatic; R: revolute) parallel mechanism with actuators above the end effector …

In this research, a novel adaptive interval type-2 fuzzy fractional-order backstepping sliding
mode control (AIT2FFOBSMC) method is presented for some classes of nonlinear fully …

Compared to serial robots, parallel robots have potential superiorities in rigidity, accuracy,
and ability to carry heavy loads. On the other hand, the existence of complex dynamics and …