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Author

Fernando Abel Navarro-Martínez

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Open access Sep 2026

Hamiltonian Modelling and Hierarchical Sliding-Mode Control of a Cable-Driven Soft Exoskeleton for Lower-Limb Rehabilitation Assistance

Soft exoskeletons have attracted increasing attention as wearable robotic devices for lower limb rehabilitation and assistive mobility. This study presents an integrated modelling, control, and mechanical design framework for a cable-driven soft exoskeleton operating in the sagittal plane, targeting elderly users with...

Fernando Abel Navarro-Martínez, E. Lugo-González, J. J. Montesinos-García et al. · 0 citations

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