Abstract
In previous chapters we have assumed that a trajectory defined over the full task duration is available, however this is not the case in more natural, everyday activities such as eating, washing or manipulating objects. In this chapter we extend the problem definition to encompass fully functional motion, and develop ILC control algorithms which enforce tracking of these extended task representations. The framework is then illustrated by comparing model outputs with experimental data collected from unimpaired subjects performing common activities of daily living. This model description is shown to accurately represent natural movements, and demonstrates that a reference trajectory defined over the entire task duration is no longer required.
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Freeman, C. (2016). Constrained ILC for Human Motor Control. In: Control System Design for Electrical Stimulation in Upper Limb Rehabilitation. Springer, Cham. https://doi.org/10.1007/978-3-319-25706-8_6
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DOI: https://doi.org/10.1007/978-3-319-25706-8_6
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