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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2016/5017381/figures/5017381.fig.0010a.svgz" name="5017381.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>RSME comparisons</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2016/5017381/figures/5017381.fig.0010b.svgz" name="5017381.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>RSME comparisons</td></tr></table>

<div>RSME comparisons in Case One (without disturbance) and Case Two (with bounded disturbance), respectively. RSME1 is for the hip joint while RSME2 is for the knee joint.</div>

Applied Bionics and Biomechanics

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Figure 10

Figure 10: Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton 