Extended state observer-based sliding mode control for an SEA-based lower limb exoskeleton

Wenbo Luo, Sen Zhang, Weimin Ge, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, National Demonstration Center for Experimental Mechanical and Electrical Engineering Education , Tianjin University of Technology

Journal of Vibration and Control

Published online on May 16, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
With the development of modern society, the advent of wearable exoskeleton devices has provided people with better experience and security in work and in life. However, since traditional rigid driving joints inherently lack impact cushioning capabilities, ...