{"id":"https://openalex.org/W4414165723","doi":"https://doi.org/10.1109/access.2025.3607679","title":"Fuzzy Sliding Mode Control for Dynamic Walking Assistance in Lower Limb Exoskeletons","display_name":"Fuzzy Sliding Mode Control for Dynamic Walking Assistance in Lower Limb Exoskeletons","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4414165723","doi":"https://doi.org/10.1109/access.2025.3607679"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3607679","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3607679","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3607679","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119608858","display_name":"Tsega Hailemariam Gebrecherkos","orcid":null},"institutions":[{"id":"https://openalex.org/I3132429795","display_name":"Adigrat University","ror":"https://ror.org/0034mdn74","country_code":"ET","type":"education","lineage":["https://openalex.org/I3132429795"]}],"countries":["ET"],"is_corresponding":true,"raw_author_name":"Tsega Hailemariam Gebrecherkos","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Adigrat University, Adigra, Ethiopia","Department of Electrical and Computer Engineering, Adigrat University, Ethiopia"],"raw_orcid":"https://orcid.org/0009-0007-1436-0794","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Adigrat University, Adigra, Ethiopia","institution_ids":["https://openalex.org/I3132429795"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Adigrat University, Ethiopia","institution_ids":["https://openalex.org/I3132429795"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Abrahaley Gebrehiwot Berhe","orcid":"https://orcid.org/0009-0001-0712-2962"},"institutions":[{"id":"https://openalex.org/I3132429795","display_name":"Adigrat University","ror":"https://ror.org/0034mdn74","country_code":"ET","type":"education","lineage":["https://openalex.org/I3132429795"]}],"countries":["ET"],"is_corresponding":false,"raw_author_name":"Abrahaley Gebrehiwot Berhe","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Adigrat University, Adigra, Ethiopia","Department of Electrical and Computer Engineering, Adigrat University, Ethiopia"],"raw_orcid":"https://orcid.org/0009-0001-0712-2962","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Adigrat University, Adigra, Ethiopia","institution_ids":["https://openalex.org/I3132429795"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Adigrat University, Ethiopia","institution_ids":["https://openalex.org/I3132429795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055484623","display_name":"Gurusamy Saravanakumar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210129636","display_name":"Addis Ababa Science and Technology University","ror":"https://ror.org/02psd9228","country_code":"ET","type":"education","lineage":["https://openalex.org/I4210129636"]}],"countries":["ET"],"is_corresponding":false,"raw_author_name":"Saravanakumar Gurusamy","raw_affiliation_strings":["Department of Electrical and Electronics Technology, FDRE Technical and Vocational Training Institute, Addis Ababa, Ethiopia","Department of Electrical and Electronics Technology, FDRE Technical and Vocational Training Institute, P.O.Box: 190310, Addis Ababa, Ethiopia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Technology, FDRE Technical and Vocational Training Institute, Addis Ababa, Ethiopia","institution_ids":[]},{"raw_affiliation_string":"Department of Electrical and Electronics Technology, FDRE Technical and Vocational Training Institute, P.O.Box: 190310, Addis Ababa, Ethiopia","institution_ids":["https://openalex.org/I4210129636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077769370","display_name":"Chala Merga Abdissa","orcid":"https://orcid.org/0000-0003-3685-4887"},"institutions":[{"id":"https://openalex.org/I4537092","display_name":"Addis Ababa University","ror":"https://ror.org/038b8e254","country_code":"ET","type":"education","lineage":["https://openalex.org/I4537092"]}],"countries":["ET"],"is_corresponding":false,"raw_author_name":"Chala Merga Abdissa","raw_affiliation_strings":["School of Electrical and Computer Engineering, Addis Ababa University, Addis Ababa, Ethiopia"],"raw_orcid":"https://orcid.org/0000-0003-3685-4887","affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, Addis Ababa University, Addis Ababa, Ethiopia","institution_ids":["https://openalex.org/I4537092"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5119608858"],"corresponding_institution_ids":["https://openalex.org/I3132429795"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":4.5946,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.9510063,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"13","issue":null,"first_page":"161235","last_page":"161249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.978600025177002,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7020999789237976},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.695900022983551},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.652899980545044},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5902000069618225},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4207000136375427},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4092999994754791},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.34880000352859497}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7020999789237976},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.695900022983551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.692300021648407},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.652899980545044},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5902000069618225},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4207000136375427},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4092999994754791},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.34880000352859497},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3140000104904175},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.3100000023841858},{"id":"https://openalex.org/C186108316","wikidata":"https://www.wikidata.org/wiki/Q352530","display_name":"Adaptive neuro fuzzy inference system","level":4,"score":0.3077999949455261},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2978000044822693},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2750000059604645}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3607679","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3607679","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:c4fb959ef4064a52a4905b1f74c2266d","is_oa":true,"landing_page_url":"https://doaj.org/article/c4fb959ef4064a52a4905b1f74c2266d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 161235-161249 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3607679","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3607679","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W2005063077","https://openalex.org/W2049850553","https://openalex.org/W2070825536","https://openalex.org/W2085412307","https://openalex.org/W2097280364","https://openalex.org/W2140111997","https://openalex.org/W2142114107","https://openalex.org/W2158588857","https://openalex.org/W2175613144","https://openalex.org/W2498987434","https://openalex.org/W2623212539","https://openalex.org/W2725791071","https://openalex.org/W2742853495","https://openalex.org/W2766780768","https://openalex.org/W2922067396","https://openalex.org/W2972617104","https://openalex.org/W3006131609","https://openalex.org/W3126224441","https://openalex.org/W3131888626","https://openalex.org/W3165435671","https://openalex.org/W3170796199","https://openalex.org/W3183839786","https://openalex.org/W3188247468","https://openalex.org/W3192965891","https://openalex.org/W3194760412","https://openalex.org/W3201041295","https://openalex.org/W3206688904","https://openalex.org/W4205116128","https://openalex.org/W4206406125","https://openalex.org/W4207065154","https://openalex.org/W4212802747","https://openalex.org/W4214484309","https://openalex.org/W4298378738","https://openalex.org/W4312326404","https://openalex.org/W4313051150","https://openalex.org/W4317468720","https://openalex.org/W4321352025","https://openalex.org/W4360995345","https://openalex.org/W4384301275","https://openalex.org/W4387971715","https://openalex.org/W4388068827","https://openalex.org/W4391473929","https://openalex.org/W4391995281","https://openalex.org/W4395680984","https://openalex.org/W4399739390","https://openalex.org/W4400260591","https://openalex.org/W4402442891","https://openalex.org/W4402627283","https://openalex.org/W4403294893","https://openalex.org/W4404588670","https://openalex.org/W4405304646","https://openalex.org/W4407128408","https://openalex.org/W4407480597","https://openalex.org/W4409129672","https://openalex.org/W4410536891","https://openalex.org/W4411086454","https://openalex.org/W4411446344","https://openalex.org/W4411989328"],"related_works":[],"abstract_inverted_index":{"Controlling":[0],"lower":[1,47,219,237],"limb":[2,48],"exoskeletons":[3],"presents":[4],"substantial":[5],"challenges":[6,30],"due":[7],"to":[8,20,52,107,244],"the":[9,16,66,71,77,83,89,109,112,120,167,179],"nonlinear":[10],"dynamics":[11],"of":[12,65,73,100,111,115,124],"human":[13],"gait":[14,165,186],"and":[15,24,97,119,138,149,164,175,182,190,198,223,256],"need":[17],"for":[18,44,251],"adaptation":[19],"varying":[21],"user":[22],"requirements":[23],"environmental":[25],"conditions.":[26],"To":[27],"address":[28],"these":[29,154],"a":[31,45],"fuzzy":[32,74,84,125],"sliding":[33,78,116,135],"mode":[34,79,117,136],"Control":[35],"(FSMC)":[36],"strategy":[37],"as":[38],"an":[39],"advanced":[40],"hybrid":[41],"control":[42,80,90,118],"solution":[43],"2-DOF":[46],"exoskeleton":[49],"robot":[50],"designed":[51],"assist":[53],"dynamic":[54],"walking":[55,142,147],"has":[56],"been":[57],"proposed":[58,67,129,168],"in":[59,70,146,200,215,225],"this":[60],"paper.":[61],"The":[62,128,241],"key":[63],"novelty":[64],"method":[68],"lies":[69],"integration":[72],"logic":[75,126],"into":[76],"framework,":[81],"where":[82,253],"inference":[85],"system":[86],"dynamically":[87],"adjusts":[88],"gains":[91],"based":[92],"on":[93],"real-time":[94],"tracking":[95,174,206,234],"errors":[96],"their":[98],"rates":[99],"change.":[101],"This":[102],"adaptive":[103],"mechanism":[104],"enables":[105],"FSMC":[106,130,169,192],"leverage":[108],"advantage":[110],"high":[113],"robustness":[114,176],"smooth":[121],"response":[122],"characteristics":[123],"systems.":[127],"was":[131],"benchmarked":[132],"against":[133],"classical":[134,180],"control(SMC)":[137],"Quasi-SMC":[139,199],"across":[140],"multiple":[141],"scenarios,":[143],"including":[144],"variations":[145],"speed":[148],"random":[150,191],"stop-start":[151],"motions.":[152],"Unlike":[153],"SMC":[155,181,197],"methods,":[156],"which":[157],"often":[158],"struggle":[159],"with":[160,236],"nonlinearities,":[161],"parameter":[162],"uncertainties,":[163],"variability,":[166],"approach":[170],"offers":[171],"superior":[172,205],"improved":[173],"outperforming":[177],"both":[178,195],"Quasi-SMC.":[183],"Across":[184],"all":[185,230],"scenarios":[187],"normal,":[188],"increased,":[189],"consistently":[193],"outperforms":[194],"conventional":[196],"chattering":[201,246],"suppression":[202],"while":[203,231],"maintaining":[204],"precision.":[207],"Key":[208],"performance":[209],"metrics":[210],"demonstrate":[211],"FSMC\u2019s":[212],"dominance":[213],"reduction":[214],"Chattering":[216,226],"Index":[217,228],"(CI),":[218],"Total":[220],"Variation":[221],"(TV),":[222],"decrease":[224],"Energy":[227],"(CEI),":[229],"achieving":[232],"better":[233],"accuracy":[235],"Integral":[238],"Square":[239],"error(ISE).":[240],"system\u2019s":[242],"ability":[243],"reduce":[245],"further":[247],"supports":[248],"its":[249],"suitability":[250],"applications":[252],"energy":[254],"efficiency":[255],"reduced":[257],"mechanical":[258],"wear":[259],"are":[260],"critical.":[261]},"counts_by_year":[{"year":2026,"cited_by_count":8}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}