This paper proposes a novel robust control method for the control of a 7-DOF exoskeleton
robot. The external disturbances and unknown dynamics in the form of friction forces,
different upper-limb's mass, backlash, and input saturation make robot unstable, which
prevents the robot from correctly following the defined path. A new fractional sliding mode
controller (NFSMC) is designed, which is robust against unknown dynamic and external
disturbances. Fractional PID controller (FPID) has high trajectory tracking, but it is not robust …