2023
DOI: 10.20517/ir.2023.05
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Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach

Abstract: To improve the rehabilitation training effect of hemiplegic patients, in this paper, a discrete adaptive fractional order fast terminal sliding mode control approach is proposed for the lower limb exoskeleton system to implement high-precision human gait tracking tasks. Firstly, a discrete dynamic model is established based on the Lagrange system discretization criterion for the lower limb exoskeleton robot. Then, in order to design a discrete adaptive fractional order fast terminal sliding mode controller, th… Show more

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