This brief deals with a modular controller using a fast terminal sliding mode approach for
articulated systems represented by exoskeletons to perform flexion/extension movements.
The proposed controller supposes that all model functions are unknown except classical
properties related to the boundedness of some parameters. On the other hand, the
disturbances are assumed to be bounded. It permits finite-time convergence to the desired
trajectories in both position and velocity. The system is divided into several subsystems and …