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First, the Lagrange principle is applied to analyze the dynamic properties of lower extremity exoskeleton driven by artificial pneumatic muscles, and its swing phase model is established. After that, a novel finite-time extended state observer is proposed to observe the lumped disturbances and unavailable angular velocities of the lower limb exoskeleton simultaneously. Furthermore, a finite-time sliding mode controller of exoskeleton is designed based on the extended state observer, and the finite-time convergence of tracking error is rigorously demonstrated based on the Lyapunov theory. Finally, the control system simulation is established and experimental tests are conducted with a voluntary subject during flexion of wearer\u2019s knee and hip joints, the obtained results demonstrate fast and high-precision tracking performance of the proposed approach.<\/jats:p>","DOI":"10.1177\/09596518211033728","type":"journal-article","created":{"date-parts":[[2021,8,4]],"date-time":"2021-08-04T02:08:06Z","timestamp":1628042886000},"page":"257-269","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Observer-based finite-time control for trajectory tracking of lower extremity exoskeleton"],"prefix":"10.1177","volume":"236","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8613-3976","authenticated-orcid":false,"given":"Jie","family":"Wang","sequence":"first","affiliation":[{"name":"Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing, 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