This paper considers RISE control for two-degreeof-
freedom (2DOF) human lower limb with antagonistic biarticular
muscles. The antagonistic bi-articular muscles straddle
the waist joint and the knee joint in the lower limb. Because
the nonlinear model of the lower limb of the human body is
uncertain, a robust control method is developed yield semiglobal
asymptotic tracking. Simulation results indicate that the
torques in joint 2 of the 2DOF lower limb is lower than the
previous method, because of antagonistic bi-articular muscles.
It is verified that the 2DOF lower limb can move to the desired
position in the presence of unmodeled bounded disturbances.
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