This paper investigates the adaptive control problem for a class of Euler-Lagrangian (EL) systems with uncertain parameters and external disturbances. While the EL system is one of the most classical system models. the dynamics of exoskeleton motion rehabilitation robots (EMRR) can be modeled as an EL system by the Lagrangian approach. First. https://fitnessgravesyardes.shop/product-category/right-crank/