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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Auteurs principaux:	Muktar Fatihu Hamza, Auwalu Muhammad Abdullahi, Abdulrahman Alqahtani, Nizar Rokbani
Format:	Artigo
Langue:	Inglês
Publié:	MDPI AG 2025-12-01
Collection:	Applied Sciences
Sujets:	exoskeleton rehabilitation chattering reduction hybrid control integral resonant controller (IRC) sliding mode control (SMC)
Accès en ligne:	https://www.mdpi.com/2076-3417/16/1/410
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