Lower limb rehabilitation exoskeleton robots (LLRERs) play an important role in lower training and assistance walking for patients with movement disorders. In order to reduce eliminate adverse effects on the accuracy of human motion gait tracking during LLRER, which is caused by gravity friction, periodic ground shock force, human–exoskeleton interaction this paper proposes a feedforward–feedba...

A dynamics inversion compensation scheme is designed for control of nonlinear discrete-time systems with input backlash. The compensator uses backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamics preinverse of an invertible discrete time dynamical system....

This article proposes a tracking controller for servomechanisms with continuous friction model. The parameters of this model are estimated through proposed two-step offline identification methodology that uses linear extended state observer (LESO) based on the integral position measurements, termed as ILESO. In first step, viscous and Coulomb coefficients by ordinary least squares method. secon...