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Therefore, this study proposes a novel subject-cooperative control based on a variable admittance control scheme and a robust trajectory control scheme for a pediatric lower-limb exoskeleton robot. Initially, the system description and dynamic modeling are briefly explained. Thereafter, a neural-fuzzy\u2013based variable admittance control ( nf VAC) is designed to incorporate a realistic subject-exoskeleton interaction and consider the subject\u2019s active participation. Finally, a robust adaptive backstepping sliding mode control with rapid reaching law is used to handle parametric uncertainties and external disturbances. A stepwise selection of Lyapunov functions is utilized to address the stability of the trajectory control. The effectiveness of the proposed adaptive backstepping sliding mode\u2013neural-fuzzy variable admittance control (ABSM- nf VAC) scheme is compared with two contrast control schemes, namely, adaptive backstepping-fixed admittance control (AB-FAC) and adaptive terminal sliding mode-fuzzy variable admittance control (ATSM- f VAC) for the active-assist mode with the effect of sudden reflex. Based on the numerical results, the suggested cooperative controller has demonstrated favorable tracking performance, compliant interaction, and safety aspects during gait training.<\/jats:p>","DOI":"10.1177\/01423312241245764","type":"journal-article","created":{"date-parts":[[2024,5,10]],"date-time":"2024-05-10T07:59:01Z","timestamp":1715327941000},"page":"352-368","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":15,"title":["Adaptive backstepping sliding mode subject-cooperative control for a pediatric lower-limb exoskeleton robot"],"prefix":"10.1177","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2499-6039","authenticated-orcid":false,"given":"Jyotindra","family":"Narayan","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Indian Institute of Technology Guwahati, 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