Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

Table 1

Accuracy improvement comparison (Case One).

Control methods	IMP for hip joint (%)	IMP for knee joint (%)
SMC	0	0
SMC_GA	57.1%	74.5%
SMC_CMAC	24.5%	37.4%
SMC_GA_CMAC	69.4%	76.8%