Passive and active rehabilitation control of human upper-limb exoskeleton robot with dynamic uncertainties - Brahmi, Brahim; Saad, Maarouf; Luna, Cristobal Ochoa; Archambault, Philippe S.; Rahman, Mohammad H. (Robotica, 2018)
Keywords: Active control; Delay; Disturbances; Exoskeletons; Integrals; Nonlinear dynamics; Recursive methods; Rehabilitation; Robots; Robustness; Stability analysis; Time lag; Uncertainty; Virtual environments; Passive and active rehabilitation; Time delay estimation; Time delay error; Backstepping integral control