Guzey, M.2026-03-262026-03-26202197898196174949783032048776978981966249497898196341949789819647170978981961205597898196524889783642173868978981154916897898133418212190-301810.1007/978-981-15-5580-0_202-s2.0-85091178340https://doi.org/10.1007/978-981-15-5580-0_20https://hdl.handle.net/20.500.14901/3420In this paper, a novel neuro-sliding-mode controller (SMC) is developed for a 7-degree-of-freedom (DoF) upper exoskeleton. RBF-like neural network control is used to estimate the exoskeleton dynamics in the configuration of the sliding mode control. Stability of the neuro-SMC is derived on the basis of Lyapunov stability criteria. To validate our theoretical claims, simulation results are given at the end of the paper. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.eninfo:eu-repo/semantics/closedAccessExoskeletonNeural NetworksSliding Mode ControlConference Object