@CHAPTER{ iet:/content/books/10.1049/pbhe014e_ch9, keywords = {MIMO controller;force dynamics;control strategy development;antagonistic pneumatic artificial muscles;gait rehabilitation exoskeleton;compliance control;valve flow dynamics;GAREX;multiinput-multioutput sliding mode controller;multivariable tracking performance;load dynamics;angular trajectory control;}, title = {Modelling and control strategies development of GAREX}, booktitle = Soft Robots for Healthcare Applications: Design, modelling, and control, publisher = {Institution of Engineering and Technology}, year = {2017}, pages = {167-206}, series = {Healthcare Technologies}, doi = {10.1049/PBHE014E_ch9}, url = {https://digital-library.theiet.org/;jsessionid=1xnid2x5oe8f9.x-iet-live-01content/books/10.1049/pbhe014e_ch9} }