Robots are now working not only in human environments but also interacting with humans,
eg, service robots or assistive robots. A 7DoFs robotic exoskeleton MARSE-7 (motion
assistive robotic-exoskeleton for superior extremity) was developed as an assistive robot to
provide movement assistance and/or ease daily upper-limb motion. In this paper, we
highlight the nonlinear control of MARSE-7 using the modified sliding mode exponential
reaching law (mSMERL). Conventional sliding control produces chattering which is …