{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T11:44:48Z","timestamp":1762256688407,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T00:00:00Z","timestamp":1762214400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100019345","name":"King Salman Center for Disability Research","doi-asserted-by":"publisher","award":["KSRG-2024-468"],"award-info":[{"award-number":["KSRG-2024-468"]}],"id":[{"id":"10.13039\/501100019345","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>This paper proposes a novel intelligent switching control strategy for a five-bar lower limb exoskeleton. First, during the support phase, terminal sliding mode control (TSMC) is employed to ensure robust stability and high-torque amplification capabilities. Then, during the swing phase, a hybrid controller combining proportional-integral-derivative (PID) control and the adaptive neuro-fuzzy inference system (ANFIS) is implemented to generate natural and compliant leg movements. Finally, to achieve smooth transitions between phases, an intelligent switching algorithm based on multi-sensor information fusion is proposed. Simulation results demonstrate that the proposed strategy keeps trajectory tracking errors below 0.05 across all gait phases and achieves stable torque amplification ratios ranging from 1:6 to 1:10. This performance significantly reduces the user\u2019s physical exertion. These findings validate the effectiveness of this control framework in improving the stability and comfort of human\u2013machine interaction.<\/jats:p>","DOI":"10.3390\/sym17111859","type":"journal-article","created":{"date-parts":[[2025,11,4]],"date-time":"2025-11-04T11:11:16Z","timestamp":1762254676000},"page":"1859","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Symmetry-Enhanced Intelligent Switching Control for Support-Swing Phase Transition in Robotic Exoskeleton"],"prefix":"10.3390","volume":"17","author":[{"given":"Liancheng","family":"Zheng","sequence":"first","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia"},{"name":"School of Mechanical Engineering, Shandong Huayu University of Technology, Dezhou 253034, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4504-6929","authenticated-orcid":false,"given":"Sahbi","family":"Boubaker","sequence":"additional","affiliation":[{"name":"Department of Computer and Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia"},{"name":"King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5907-3736","authenticated-orcid":false,"given":"Rizauddin","family":"Ramli","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Souad","family":"Kamel","sequence":"additional","affiliation":[{"name":"Department of Computer and Network Engineering, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia"},{"name":"King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6761-159X","authenticated-orcid":false,"given":"Nor Kamaliana","family":"Khamis","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5306-0013","authenticated-orcid":false,"given":"Mohamad Hazwan","family":"Mohd Ghazali","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, 43600 Bangi, Selangor, Malaysia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,11,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"132","DOI":"10.1177\/17474930241308142","article-title":"World Stroke Organization: Global Stroke Fact Sheet 2025","volume":"20","author":"Feigin","year":"2025","journal-title":"Int. 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