D-Type Iterative Learning Control with Application to FNS Limb Motion Control System
D型迭代学习控制及其在FNS肢体运动控制系统中的应用(英文)

A new sufficient condition proof for the convergence of D type iterative learning control algorithm is provided and the clinical experiments applied to the control of both elbow flexion and wrist flexion with function neuromuscular stimulation (FNS) is given by means of D type iterative learning control method. The results of clinical studies have demonstrated that D type iterative learning control algorithm is suitable for improving the dynamic response characteristics and stabilizing the limb motion. Furthermore, the stimulated patient does not have any bad physiological reactions because the output electrical stimulation pluses vary gently.