2023
Data-Driven Adaptive Iterative Learning Control of a Compliant Rehabilitation Robot for Repetitive Ankle Training
RA-L 2023
This letter investigates the repetitive range of motion (ROM) training control for a compliant ankle rehabilitation robot (CARR). The CARR utilizes four pneumatic muscle (PM) actuators to manipulate the ankle with three rational degree-of-freedoms (DoFs) and soft human-robot interaction, but the str