Jun 1, 2022 · We are currently developing a human lower extremity rehabilitation exoskeleton robot (Fig. 3) and are planning to use the sliding mode controller with a chattering suppressor to control the robot.

Apr 1, 2022 · A continuous mode chattering suppressor is introduced. A realistic friction model is included in the human lower extremity dynamic model to simulate joint friction effects.

In this paper, a seven degrees of freedom human lower extremity dynamic model for an exoskeleton robot is presented first. To control the robot dynamics, a sliding mode controller (SMC) is employed.

Jan 1, 2022 · Due to its straightforward design process, an SMC is one of the most well-known and reliable nonlinear control strategies for uncertain systems [16].

“Control of an exoskeleton robot for human lower extremity rehabilitation” by Sk. Hasan, Anoop Dhingra presented on May 12, 2016, at the IEEE Milwaukee section event at the Milwaukee School of …

Apr 1, 2022 · This paper proposes a novel hybrid sliding mode control integrated with integral resonant control (SMC + IRC), strategy addressing a gap in 3-DOF exoskeleton control where structural …

Oct 21, 2025 · First, we present the integration of an adaptive sliding mode controller with a boundary-layer suppressor specifically tailored for exoskeleton joint dynamics.

‪Assistant Professor, Department of Mechanical and Manufacturing Engineering‬ - ‪‪Cited by 416‬‬ - ‪Mechatronics‬ - ‪Wearable Robotics‬ - ‪Intelligent Control‬ - ‪Adaptive Control‬ -...

"Development of a Sliding Mode Controller with Chattering Suppressor for Human Lower Extremity Exoskeleton Robot", SK. Hasan, A. Dhingra, Part H: Journal of Engineering in Medicine (Submitted …

In this study, a radial basis function (RBF) neural network is developed for controlling 7 degrees of freedom of the human lower extremity exoskeleton robot. A realistic friction model is used for …