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Conference Jul 2026

Research on adaptive robust control of lower limb rehabilitation exoskeleton

Simulation and experimental results demonstrate that compared to traditional PID control and sliding mode control (SMC), the ARCEC method exhibits significant advantages in trajectory tracking accuracy, enabling the lower-limb exoskeleton to precisely track human gait curves.

Chao Yang, Xin Han, Zhijue Huang et al. · 0 citations
Open access Jul 2026

Assist-As-Needed Backstepping Control of Lower-Limb Exoskeletons with Human Effort Estimation and Comparative Evaluation Against Sliding Mode and PID Controllers

In this paper, we propose an assist-as-needed (AAN) backstepping control scheme for a lower-limb exoskeleton with nonlinear dynamics and uncertain human–robot interactions. The main objective is to achieve a good trajectory tracking capability while adaptively controlling the assistance of the robot according to the us...

Muktar Fatihu Hamza, A. I. Isa, Abdulrahman Alqahtani et al. · 0 citations
Conference Jul 2026

Adaptive RBF neural network control for gait trajectory following in a rehabilitation exoskeleton

This study develops an adaptive trajectory-tracking method driven by an RBF neural network that yields faster error attenuation, smaller steady-state oscillation, along with improved resistance to disturbances in the hip and knee motions.

Yuhui Yang, Chao Yang, Yuanxiang Guo et al. · 0 citations
Conference Aug 2026

A Hybrid Kalman-Weighted Sliding Mode Observer for Sensorless Torque Estimation of Robotic Manipulators

Accurate sensorless external force estimation is crucial for physical human-robot interaction. To address the challenge that existing momentum-based sliding mode observers face in simultaneously achieving fast dynamic response and effective chattering suppression, this paper proposes a Kalman-weighted adaptive second-o...

Jia-Wei Sun, Chao Peng, Jian-Xiao Zou et al. · 0 citations
Open access Jul 2026

Research on kinematics and fractional order active disturbance rejection control of skating training robot

Abstract. Speed skating training imposes rigorous requirements on movement accuracy and dynamic stability. Traditional training relies heavily on coaches' subjective experience; exoskeleton robots suffer from limitations of large additional inertia and insufficient flexibility. Although cable-driven robots possess the...

Baihang Wang, Xue Zhao, Yihang Gong et al. · 0 citations
2026

Model-Free Fixed-Time Sliding Mode Control for Wearable Exoskeletons With Adaptive-Boundary Prescribed Performance

Upper-limb rehabilitation exoskeleton systems are characterized by strong coupling, high nonlinearity, parametric uncertainties, and unknown disturbances. Furthermore, conventional prescribed-performance methods usually impose fixed and strict error constraints during the convergence process, which may limit the flexib...

Jianjun Sun, Ruofei Liu, Xue Li et al. · 0 citations

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