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Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.

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Academic year: 2019

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Figure

Figure 1.Figure 1. System structure of the ankle rehabilitation robot. System structure of the ankle rehabilitation robot
Figure 2.Figure 2. The developed ankle rehabilitation robot driven by PMs. The developed ankle rehabilitation robot driven by PMs.
Figure 4. Implementation of ABS-SMC for the ankle rehabilitation robot.
Figure 5.Figure 5. Actuator position tracking results and errors in step response experiment with robot controlled by BS-SMC and ABS-SMC respectively
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