In lower-limb rehabilitation systems, exoskeleton robots are one of the most important components. These robots help patients to execute repetitive exercises under the guidance of physiotherapists. Recently, pneumatic artificial muscles (PAM), a kind of actuator that acts similarly to human muscles, have been chosen to power the exoskeleton robot for better human–machine interaction. In order to enhance the performance of a PAM-based exoskeleton robot, this article implements an active

more »

... ce rejection control (ADRC) strategy with a nonlinear extended state observer (NLESO). Moreover, the stability of the closed-loop system is proved by Lyapunov's theory. Finally, the experimental results show that with the proposed control strategy, the rehabilitation robot can effectively track the desired trajectories even when under external disturbance.