Pegah Ghaf Ghanbari

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About

Pegah Ghaf Ghanbari is a researcher in robotics and control systems, with a focus on rehabilitation exoskeletons and fault-tolerant control. Her most-cited work, published in 2021, introduces an active fault-tolerant control scheme for lower limb exoskeletons, combining backstepping nonsingular fast terminal integral sliding mode control with impedance control. This innovative approach enhances robustness against actuator faults while eliminating chattering—a common challenge in sliding mode controllers. The paper has garnered 5 citations, reflecting its relevance in advancing safe and reliable assistive technologies. Ghanbari’s contributions are particularly significant for the field of rehabilitation robotics, where ensuring stable and adaptive human-robot interaction is critical. Her work demonstrates a strong grasp of nonlinear control theory and its practical application in medical devices. By integrating fault tolerance with impedance control, she addresses key challenges in exoskeleton design, such as maintaining performance under system uncertainties. Ghanbari’s research holds promise for improving the safety and efficacy of lower limb exoskeletons, aiding individuals with mobility impairments. Her achievements underscore her role in pushing the boundaries of adaptive control in robotic rehabilitation.