Sahbi Boubaker^1,2,*, Salim Hadj Said³, Souad Kamel¹, Habib Dimassi³

CMC-Computers, Materials & Continua, Vol.85, No.3, pp. 5703-5721, 2025, DOI:10.32604/cmc.2025.069047 - 23 October 2025

Abstract Accurate trajectory tracking in lower-limb exoskeletons is challenged by the nonlinear, time-varying dynamics of human-robot interaction, limited sensor availability, and unknown external disturbances. This study proposes a novel control strategy that combines flatness-based control with two cascaded observers: a high-gain observer to estimate unmeasured joint velocities, and a nonlinear disturbance observer to reconstruct external torque disturbances in real time. These estimates are integrated into the control law to enable robust, state-feedback-based trajectory tracking. The approach is validated through simulation scenarios involving partial state measurements and abrupt external torque perturbations, reflecting realistic rehabilitation conditions. Results confirm More >

Mohammad Soleimani Amiri¹, Sahbi Boubaker^2,3,*, Rizauddin Ramli^4,*, Souad Kamel²

CMES-Computer Modeling in Engineering & Sciences, Vol.144, No.3, pp. 3113-3133, 2025, DOI:10.32604/cmes.2025.069167 - 30 September 2025

Abstract Disability is defined as a condition that makes it difficult for a person to perform certain vital activities. In recent years, the integration of the concepts of intelligence in solving various problems for disabled persons has become more frequent. However, controlling an exoskeleton for rehabilitation presents challenges due to their non-linear characteristics and external disturbances caused by the structure itself or the patient wearing the exoskeleton. To remedy these problems, this paper presents a novel adaptive control strategy for upper-limb rehabilitation exoskeletons, addressing the challenges of nonlinear dynamics and external disturbances. The proposed controller integrated… More >

R. Joshua Samuel Raj^1,*, J. Prince Antony Joel², Salem Alelyani³, Mohammed Saleh Alsaqer³, C. Anand Deva Durai⁴

CMC-Computers, Materials & Continua, Vol.71, No.1, pp. 1171-1188, 2022, DOI:10.32604/cmc.2022.021667 - 03 November 2021

Abstract Human Adaptive Mechatronics (HAM) includes human and computer system in a closed loop. Elderly person with disabilities, normally carry out their daily routines with some assistance to move their limbs. With the short fall of human care takers, mechatronics devices are used with the likes of exoskeleton and exosuits to assist them. The rehabilitation and occupational therapy equipments utilize the electromyography (EMG) signals to measure the muscle activity potential. This paper focuses on optimizing the HAM model in prediction of intended motion of upper limb with high accuracy and to increase the response time of… More >

Muhatasim Intisar¹, Mohammad Monirujjaman Khan^1,*, Mehedi Masud², Mohammad Shorfuzzaman²

Intelligent Automation & Soft Computing, Vol.31, No.1, pp. 101-115, 2022, DOI:10.32604/iasc.2022.019083 - 03 September 2021

Abstract Paralysis is detrimental to people in catastrophic ways: losing income opportunities, becoming a burden to their friends and family, further physical deterioration, and the combination of these occurrences can often lead to depression. In third world countries, suffering from paralysis can be extra deleterious, where a large proportion of the population is engaged in some form of physical labor. The number of people exposed to paralysis risk factors is also increasing, with more and more people having hypertension, smoking, and other abnormalities. Besides, low workplace safety precautions may lead to an increased risk of spinal… More >