Author

Muktar Fatihu Hamza

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Open access Sep 2026

Fatigue-Aware Assistance-as-Needed Prescribed-Performance Control for Lower-Limb Exoskeleton Rehabilitation Under Uncertainty

Lower-limb exoskeletons are potential rehabilitation aids for regaining motor function after neurological and musculoskeletal disorders. However, most present controllers provide fixed or weakly adaptive help. They cannot ensure mandated tracking performance, robustness against uncertainties, or individualized aid acco...

Muktar Fatihu Hamza · Modelling · 0 citations

Open access Jul 2026

Assist-As-Needed Backstepping Control of Lower-Limb Exoskeletons with Human Effort Estimation and Comparative Evaluation Against Sliding Mode and PID Controllers

In this paper, we propose an assist-as-needed (AAN) backstepping control scheme for a lower-limb exoskeleton with nonlinear dynamics and uncertain human–robot interactions. The main objective is to achieve a good trajectory tracking capability while adaptively controlling the assistance of the robot according to the us...

Muktar Fatihu Hamza, A. I. Isa, Abdulrahman Alqahtani et al. · Applied Sciences · 0 citations