Research on kinematics and fractional order active disturbance rejection control of skating training robot

Wang, Baihang; Zhao, Xue; Gong, Yihang; Sun, Longchao; Yang, Zi

doi:10.5194/ms-17-731-2026

Articles | Volume 17, issue 2

https://doi.org/10.5194/ms-17-731-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

https://doi.org/10.5194/ms-17-731-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 17, issue 2

Research article

|

14 Jul 2026

Research article |

| 14 Jul 2026

Research on kinematics and fractional order active disturbance rejection control of skating training robot

Baihang Wang, Xue Zhao, Yihang Gong, Longchao Sun, and Zi Yang

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Short summary

Speed skating training demands precise movement, but traditional coaching relies on subjective experience and existing tools are bulky or inflexible. We created a flexible cable-driven robot with enhanced control, cutting tracking errors significantly to enable precise training and inform smart sports equipment development.