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Page 352                      Zhang et al. Intell. Robot. 2025, 5(2), 333-54  I http://dx.doi.org/10.20517/ir.2025.17







































                            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.
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