Abstract:<p>In this article, a lower limb exoskeleton (LLE) under contacting constrained motion has been modelled using augmented Lagrange equations which include Lagrange multiplier and Jacobian vectors. A sliding mode Controller optimized by the grey Wolf optimization algorithm has been used for controlling (LLE) in the case of constrained motion with uncertainties and outside perturbation. The grey wolf optimization algorithm has been used as an optimization algorithm for finding the optimal controllers’ param… Show more
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