Barrier function-based prescribed performance trajectory tracking control of wheelchair upper-limb exoskeleton robot under actuator fault and external disturbance: Experimental verification.

This paper presents an innovative control strategy for the trajectory tracking of wheelchair upper-limb exoskeleton robots, integrating sliding mode control with a barrier function-based prescribed performance approach to handle actuator faults and external disturbances. The dynamic model of the exoskeleton robot is first extended to account for these uncertainties. The control design is then divided into two phases.

On-body non-invasive glucose monitoring sensor based on high figure of merit (FoM) surface plasmonic microwave resonator.

High-figure of merit (FoM) plasmonic microwave resonator is researched as a non-invasive on-body sensor to monitor the human body's blood glucose variation rate in adults for biomedical applications, e.g., diabetic patients.