# Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot

> Research article (Sensors, 2017) · cited 56× · AI/ML

**Wikidata**: [openalex:W52656517](https://www.wikidata.org/wiki/openalex:W52656517)  
**Source**: https://4ort.xyz/entity/disturbance-estimated-adaptive-backstepping-sliding-mode-control-of-a-pneumatic-muscles-driven-ankle-rehabilitation-robo