# Designing a backstepping sliding mode controller for an assistant human knee exoskeleton based on nonlinear disturbance observer

> Research article (Mechatronics, 2018) · cited 83× · AI/ML

**Wikidata**: [openalex:W2887329358](https://www.wikidata.org/wiki/openalex:W2887329358)  
**Source**: https://4ort.xyz/entity/designing-a-backstepping-sliding-mode-controller-for-an-assistant-human-knee-exoskeleton-based-on-nonlinear-disturbance-