[Retracted] Model-Free Adaptive Sliding Mode Robust Control with Neural Network Estimator for the Multi-Degree-of-Freedom Robotic Exoskeleton

Table 3

RMS values of errors by MFASMCNN.

RMS of error	(0,2]	(2,4]	(4,6]	(6,8]	(8,10]
e1	0.0186	0.0014	0.0013	0.0007	0.0014
e2	0.0261	0.0035	0.0021	0.0016	0.0009
e3	0.0138	0.0012	0.0009	0.0011	0.0011