Anti-disturbance control design of Exoskeleton Knee robotic system for rehabilitative care.

In this study, Active Disturbance Rejection Control (ADRC) has been designed for motion control of knee-joint based on exoskeleton medical robot. The extended state observer (ESO) is the main part of ADRC structure, which is responsible for estimating both actual states and system uncertainties. The proposed control scheme has adopted two versions of observers as disturbance estimators: linear extended state observer (LESO) and nonlinear extended state observer (NESO).