Data-Driven Adaptive Iterative Learning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training.
Kun QianZhenhong LiZhiqiang ZhangGu-Qiang LiSheng Quan XiePublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- data driven
- iterative learning control
- motor learning
- iterative learning
- motor skills
- trajectory tracking
- mobile robot
- lower extremity
- closed loop
- vision system
- dynamic model
- robotic systems
- autonomous robots
- training process
- error reduction
- intelligent control
- bi directional
- process control
- control law
- training algorithm
- real time
- incremental learning
- supervised learning
- classification accuracy
- significant improvement
- control system
- training set