Open access
Jul 2026
Assist-As-Needed Backstepping Control of Lower-Limb Exoskeletons with Human Effort Estimation and Comparative Evaluation Against Sliding Mode and PID Controllers
In this paper, we propose an assist-as-needed (AAN) backstepping control scheme for a lower-limb exoskeleton with nonlinear dynamics and uncertain human–robot interactions. The main objective is to achieve a good trajectory tracking capability while adaptively controlling the assistance of the robot according to the us...
Muktar Fatihu Hamza, A. I. Isa, Abdulrahman Alqahtani et al.
· Applied Sciences · 0 citations