Closed loop iterative learning control for consistency tracking in lower limb rehabilitation robotic system with initial state deviations.

From the global perspective, both the red line with stars and the blue line with circles show a decreasing trend, and the blue line with circles decreases faster, which indicates that the closed-loop PD-type iterative learning control algorithm with initial state learning can effectively reduce the angular tracking error of the hip (knee) joints of the LLRRS, and in particular the angular tracking error of the knee joints decreases more significantly.

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