Hybrid Sliding Mode Control with Integral Resonant Control for Chattering Reduction in a 3-DOF Lower-Limb Exoskeleton Rehabilitation

Lower-limb exoskeletons have become an effective tool for gait rehabilitation by enabling precise and repetitive joint movements for individuals with motor impairments. Nevertheless, the nonlinear and uncertain nature of human–robot interaction dynamics requires effective control strategies that are...

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Библиографические подробности

Главные авторы:	Muktar Fatihu Hamza, Auwalu Muhammad Abdullahi, Abdulrahman Alqahtani, Nizar Rokbani
Формат:	Artigo
Язык:	Inglês
Опубликовано:	MDPI AG 2025-12-01
Серии:	Applied Sciences
Предметы:	exoskeleton rehabilitation chattering reduction hybrid control integral resonant controller (IRC) sliding mode control (SMC)
Online-ссылка:	https://www.mdpi.com/2076-3417/16/1/410
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