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The root mean square (RMS) values for tracking errors achieved by the T2FLC-TDE were 0.0011 for the hip joint and 0.0106 for the knee joint. The integral time absolute error (ITAE) showed small error results of 0.0021 and 0.0011 for the hip and knee joints, respectively. The findings confirmed the efficacy and robustness of the proposed method in tracking human gait trajectories with small tracking errors and fast convergence time, even in the presence of\u00a0external disturbance.<\/jats:p>","DOI":"10.1007\/s40815-025-02051-8","type":"journal-article","created":{"date-parts":[[2025,6,3]],"date-time":"2025-06-03T08:09:28Z","timestamp":1748938168000},"page":"1847-1861","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["An Optimized Type 2 Fuzzy Control with Time Delay Estimation for Gait Trajectory Tracking in Lower-Limb Exoskeleton Robot"],"prefix":"10.1007","volume":"28","author":[{"given":"Alrawda","family":"Alsaied","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8660-0116","authenticated-orcid":false,"given":"Ke","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2025,6,3]]},"reference":[{"key":"2051_CR1","doi-asserted-by":"publisher","first-page":"458","DOI":"10.1016\/j.isatra.2017.08.004","volume":"71","author":"Z Li","year":"2017","unstructured":"Li, Z., Ma, W., Yin, Z., Guo, H.: Tracking control of time-varying knee exoskeleton disturbed by interaction torque. 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