# Extended State Observer-Based Nonlinear Terminal Sliding Mode Control With Feedforward Compensation for Lower Extremity Exoskeleton

> Research article (IEEE Access, 2021) · cited 21× · AI/ML

**Wikidata**: [openalex:W3120488071](https://www.wikidata.org/wiki/openalex:W3120488071)  
**Source**: https://4ort.xyz/entity/extended-state-observer-based-nonlinear-terminal-sliding-mode-control-with-feedforward-compensation-for-lower-extremity-