Figure3
![Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach](https://image.oaes.cc/7c852705-41a9-49b4-a8ba-8ceee2dd6c23/5547-3.jpg)
Figure 3. Trajectory tracking performance of the robotic exoskeleton by using CSMC, FTSMC, and AFOFTSMC control strategy. (a) trajectory tracking of the hip joint. (b) trajectory tracking of the knee joint. CSMC: conventional sliding mode control; FTSMC: fast terminal sliding mode control; AFOFTSMC: adaptive fractional order fast terminal sliding mode controller.