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Introduction:: In this paper, a robust sliding mode controller is developed to control an orthosis used for rehabilitation of lower limb. Materials and Methods:: The orthosis is defined as a mechanical device intended to physically assist a human subject for the realization of his movements. It should be adapted to the human morphology, interacting in harmony with its movements, and providing the necessary efforts along the limbs to which it is attached. Results:: The application of the sliding mode control to the Shank-orthosis system shows satisfactory dynamic response and tracking performances. Conclusion:: In fact, position tracking and speed tracking errors are very small. The sliding mode controller effectively absorbs disturbance and parametric variations, hence the efficiency and robustness of our applied control.

International audience; Metabolisms represent highly organized systems characterized by strong regulations satisfying the mass conservation principle. This makes a whole chemical resource to be competitively shared between several ways at both intra-and inter-molecular scales. Whole resource sharing can be statistically associated with a constant sum-unit constraint which represents the basis of simplex mixture rule. In this work, a new simplex-based simulation approach was developed to learn scaffold information on metabolic processes controlling molecular diversity from a wide set of observed chemical structures. Starting from a dataset of chemical structures classified into p clusters, a machine learning process was applied by linearly combining the p clusters j and randomly sampling a constant number (n) of molecules according to different clusters' weights (wj/w) given by Scheffé's mixture matrix. At the output of mixture design, molecular linear combinations lead to calculate barycentric molecules integrating the characteristics of the different weighted clusters. The N mixtures-design was iterated by bootstrap technique leading to extensive exploration of chemical variability between and within clusters. Finally, the K response matrices issued from K iterated mixture designs were averaged to calculate a smoothed matrix containing scaffold information on regulation processes responsible for molecular diversification at inter- and intra-molecular (atomic) scales. This matrix was used as a backbone for graphical analysis of positive and negative trends between atomic characteristics (chemical substitutions) at both mentioned scales. This new simplex approach was illustrated by cycloartane-based saponins of Astragalus genus by combining three desmosylation clusters characterized by relative glycosylation levels of different aglycones' carbons.