This paper investigates the passive and active control strategies to provide a physical
assistance and rehabilitation by a 7-DOF exoskeleton robot with nonlinear uncertain
dynamics and unknown bounded external disturbances due to the robot user's physiological
characteristics. An Integral backstepping controller incorporated with Time Delay Estimation
(BITDE) is used, which permits the exoskeleton robot to achieve the desired performance of
working under the mentioned uncertainties constraints. Time Delay Estimation (TDE) is …