This article describes a novel robust hybrid control of a 7-DoF upper limb exoskeleton robot.
Insensivity can be taken into consideration as the important feature of sliding mode
controllers, which is merely valid in the sliding phase. In order to improve controller
performance by eliminating or minimizing the time to reach the sliding phase, a sliding
surface design can be designed appropriately. In this study, a new sliding mode controller is
designed to achieve high performance, which is robust against external disturbances. PID …