# A Robust Model Free Terminal Sliding Mode with Gravity Compensation Control of a 2 DoF Exoskeleton-Upper Limb System

> Research article (Journal of Control Automation and Electrical Systems, 2021) · cited 20× · AI/ML

**Wikidata**: [openalex:W3126595498](https://www.wikidata.org/wiki/openalex:W3126595498)  
**Source**: https://4ort.xyz/entity/a-robust-model-free-terminal-sliding-mode-with-gravity-compensation-control-of-a-2-dof-exoskeleton-upper-limb-system