Open access
Oct 2026
RBF-Based Adaptive Sliding-Mode Control for Isokinetic Rehabilitation Under Continuous Interaction Loads
Time-varying interaction loads and uncertain actuator dynamics complicate isokinetic velocity regulation. This study evaluates a hierarchical controller combining nominal compensation, measured-load feedforward, posture-aware radial basis function (RBF) residual compensation, and adaptive sliding-mode feedback. The RBF...
Liang Xuan, Hao-Wei Yu, Teng-Fei Jia et al.
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