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%