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Keywords: sliding mode control
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061010.
Paper No: JMR-23-1792
Published Online: December 12, 2024
... and size calculation of the exoskeleton are conducted. Moreover, an optimized sliding mode control strategy was implemented to control the exoskeleton, and the efficacy of the designed controller was assessed through trajectory tracking experiments simulating “eating” movements. Finally, the experimental...
Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
Published Online: May 2, 2023
.... Then, the modal space proportional and derivative (PD) controller (MSPDC) and the modal space sliding mode controller (MSSMC) are designed based on the modal theory. Finally, simulations are carried out to show the advantages of the proposed model and the advantages of proposed controllers in compensation...