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Applied Bionics and Biomechanics
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Special Issues
Applied Bionics and Biomechanics
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2016
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Article
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Tab 2
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Research Article
Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton
Table 2
Accuracy improvement comparison (Case Two).
Control methods
IMP for hip joint (%)
IMP for knee joint (%)
SMC
0
0
SMC_GA
55.3%
75.2%
SMC_CMAC
17.4%
31.7%
SMC_GA_CMAC
68.1%
76.8%