ArticleSensors (Basel, Switzerland)2024
Active Disturbance Rejection Control via Neural Networks for a Lower-Limb Exoskeleton.
Article in Sensors (Basel, Switzerland), 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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Who cites it
2 citing papers in PubMed.
- Adaptive super-twisting sliding mode control for robust tracking of wearable PAM-driven robotic manipulator.Scientific reports · 2026Article
- Enhanced terminal sliding mode control for gait exoskeleton device: experimental investigation and validation.Scientific reports · 2026Article
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Authors and funding
5 authors.
Funding
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Abstract
This article presents the design of a control algorithm based on Artificial Neural Networks (ANNs) applied to a lower-limb exoskeleton, which is aimed to carry out walking trajectories during lower-limb rehabilitation. The interaction between the patient and the exoskeleton leads to model uncertainties and external disturbances that are always present. For this reason, the proposed control considers that the non-linear part of the model is unknown and is perturbed by external disturbances, which are estimated by an active disturbance rejection control via Artificial Neural Networks. To validate the proposed approach, a numerical simulation and an experimental implementation of the ANN-Controller are developed.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.