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Figure 15. Control input in the case of NTSMC. NTSMC: Non-singular terminal sliding mode control.
In summation, this discourse establishes a solid foundation for the development of a stable and efficacious
control framework for exoskeletal rehabilitation robots. Whilst the current framework has demonstrated effi-
cacy in simulation, there are myriad opportunities for future research to build upon these findings and address
the limitations identified. The ultimate objective is to create a system that not only enhances the physical re-
habilitation of patients but also elevates their overall quality of life through a more personalized and engaging
rehabilitation experience.
DECLARATIONS
Authors’ contributions
Made substantial contributions to the conception and design of the study and performed data analysis and
interpretation: Zhang, Y.
Performed data acquisition and provided administrative, technical, and material support: Xie, W.; Ma, R.
Availability of data and materials
The data involved in this study are private and confidential due to privacy and confidentiality concerns. There-
fore, we declare that the data will not be made publicly available. However, readers who require further infor-
mation may contact the corresponding author to obtain the relevant data.
Financial support and sponsorship
None.
Conflicts of interest
All authors declared that there are no conflicts of interest.