# Adaptive neural network-based practical predefined-time nonsingular terminal sliding mode control for upper limb rehabilitation robots

> Research article (Communications in Nonlinear Science and Numerical Simulation, 2024) · cited 19× · AI/ML

**Wikidata**: [openalex:W4399009898](https://www.wikidata.org/wiki/openalex:W4399009898)  
**Source**: https://4ort.xyz/entity/adaptive-neural-network-based-practical-predefined-time-nonsingular-terminal-sliding-mode-control-for-upper-limb-rehabil