{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,30]],"date-time":"2026-03-30T16:48:13Z","timestamp":1774889293302,"version":"3.50.1"},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"11","license":[{"start":{"date-parts":[[2024,10,16]],"date-time":"2024-10-16T00:00:00Z","timestamp":1729036800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,11]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper introduces a lower limb exoskeleton for gait rehabilitation, which has been designed to be adjustable to a wide range of patients by incorporating an extension mechanism and series elastic actuators (SEAs). This configuration adapts better to the user\u2019s anatomy and the natural movements of the user\u2019s joints. However, the inclusion of SEAs increases actuator mass and size, while also introducing nonlinearities and changes in the dynamic response of the exoskeletons. To address the challenges related to the human\u2013exoskeleton dynamic interaction, a nonsingular terminal sliding mode control that integrates an adaptive parameter adjustment strategy is proposed, offering a practical solution for trajectory tracking with uncertain exoskeleton dynamics. Simulation results demonstrate the algorithm\u2019s ability to estimate unknown parameters. Experimental tests analyze the performance of the controller against uncertainties and external disturbances.<\/jats:p>","DOI":"10.1017\/s0263574724001668","type":"journal-article","created":{"date-parts":[[2024,10,16]],"date-time":"2024-10-16T09:46:28Z","timestamp":1729071988000},"page":"3819-3838","source":"Crossref","is-referenced-by-count":7,"title":["Lower limb exoskeleton for gait rehabilitation with adaptive nonsingular sliding mode control"],"prefix":"10.1017","volume":"42","author":[{"given":"Daniel","family":"Centeno-Barreda","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5089-1791","authenticated-orcid":false,"given":"Sergio","family":"Salazar-Cruz","sequence":"additional","affiliation":[]},{"given":"Ricardo","family":"L\u00f3pez-Guti\u00e9rrez","sequence":"additional","affiliation":[]},{"given":"Yukio","family":"Rosales-Luengas","sequence":"additional","affiliation":[]},{"given":"Rogelio","family":"Lozano","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,10,16]]},"reference":[{"key":"S0263574724001668_ref6","doi-asserted-by":"crossref","first-page":"e25","DOI":"10.1017\/wtc.2023.20","article-title":"Series-elastic actuator with two degree-of-freedom pid control improves torque control in a powered knee exoskeleton","volume":"4","author":"Sarkisian","year":"2023","journal-title":"Wearable Technol."},{"key":"S0263574724001668_ref7","doi-asserted-by":"crossref","first-page":"786","DOI":"10.1109\/LRA.2021.3130639","article-title":"Toward gait symmetry enhancement via a cable-driven exoskeleton powered by series elastic actuators","volume":"7","author":"Zhong","year":"2022","journal-title":"IEEE Robot. 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