{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T01:20:03Z","timestamp":1780536003573,"version":"3.54.1"},"reference-count":24,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,1,28]],"date-time":"2021-01-28T00:00:00Z","timestamp":1611792000000},"content-version":"vor","delay-in-days":27,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>At present, the motion control algorithms of lower limb exoskeleton robots have errors in tracking the desired trajectory of human hip and knee joints, which leads to poor follow\u2010up performance of the human\u2010machine system. Therefore, an iterative learning control algorithm is proposed to track the desired trajectory of human hip and knee joints. In this paper, the experimental platform of lower limb exoskeleton rehabilitation robot is built, and the control system software and hardware design and robot prototype function test are carried out. On this basis, a series of experiments are carried out to verify the rationality of the robot structure and the feasibility of the control method. Firstly, the dynamic model of the lower limb exoskeleton robot is established based on the structure analysis of the human lower limb; secondly, the servo control model of the lower limb exoskeleton robot is established based on the iterative learning control algorithm; finally, the exponential gain closed\u2010loop system is designed by using MATLAB software. The relationship between convergence speed and spectral radius is analyzed, and the expected trajectory of hip joint and knee joint is obtained. The simulation results show that the algorithm can effectively improve the gait tracking accuracy of the lower limb exoskeleton robot and improve the follow\u2010up performance of the human\u2010machine system.<\/jats:p>","DOI":"10.1155\/2021\/6651495","type":"journal-article","created":{"date-parts":[[2021,1,29]],"date-time":"2021-01-29T00:05:24Z","timestamp":1611878724000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Joint Motion Control for Lower Limb Rehabilitation Based on Iterative Learning Control (ILC) Algorithm"],"prefix":"10.1155","volume":"2021","author":[{"given":"Wei","family":"Guan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lan","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5966-2928","authenticated-orcid":false,"given":"YouShen","family":"Cao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2021,1,28]]},"reference":[{"key":"e_1_2_8_1_2","first-page":"101","article-title":"Artificially induced joint movement control with musculoskeletal model-integrated iterative learning algorithm","volume":"5","author":"Zhang Q.","year":"2020","journal-title":"Biomedical Signal Processing and Control"},{"key":"e_1_2_8_2_2","doi-asserted-by":"publisher","DOI":"10.3390\/app9112251"},{"key":"e_1_2_8_3_2","first-page":"2774","article-title":"Disturbance observer based iterative learning control for upper limb rehabilitation","volume":"1","author":"Huo B.","year":"2020","journal-title":"InIECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society"},{"key":"e_1_2_8_4_2","first-page":"426","article-title":"Electrically induced joint movement control with iterative learning algorithm","volume":"2","author":"Wu L.","year":"2017","journal-title":"International Conference on Advanced Robotics and Mechatronics (ICARM)"},{"key":"e_1_2_8_5_2","doi-asserted-by":"publisher","DOI":"10.23919\/ChiCC.2019.8866001"},{"key":"e_1_2_8_6_2","first-page":"905","article-title":"An adaptive iterative learning control approach for lower limb rehabilitation robot in noisy environments","volume":"2","author":"Sun Z.","year":"2019","journal-title":"IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER)"},{"key":"e_1_2_8_7_2","first-page":"1","article-title":"Iterative learning control method for improving the effectiveness of upper limb rehabilitation","volume":"1","author":"Miao Q.","year":"2016","journal-title":"23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)"},{"key":"e_1_2_8_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/CCTA.2019.8920659"},{"key":"e_1_2_8_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2018.2854773"},{"key":"e_1_2_8_10_2","first-page":"5701","article-title":"An iterative learning controller for a cable-driven hand rehabilitation robot","volume":"10","author":"Liu S.","year":"2017","journal-title":"InIECON 2017-43rd Annual Conference of the IEEE Industrial Electronics Society"},{"key":"e_1_2_8_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/s41315-018-0047-9"},{"key":"e_1_2_8_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ifacol.2017.08.1738"},{"key":"e_1_2_8_13_2","first-page":"4947","article-title":"Iterative learning control of exponential variable gain based on initial state learning for upper limb rehabilitation robot","volume":"11","author":"Li Y.","year":"2019","journal-title":"Chinese Automation Congress (CAC)"},{"key":"e_1_2_8_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/WEARRACON.2019.8719630"},{"key":"e_1_2_8_15_2","doi-asserted-by":"publisher","DOI":"10.3390\/s20216215"},{"key":"e_1_2_8_16_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2019.00041"},{"key":"e_1_2_8_17_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-65292-4_70"},{"key":"e_1_2_8_18_2","first-page":"43","article-title":"On implementation of feedback-based PD-type iterative learning control for robotic manipulators with hard input constraints","volume":"7","author":"Sebastian G.","year":"2019","journal-title":"IEEE 15th International Conference on Control and Automation (ICCA)"},{"key":"e_1_2_8_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2019.10.003"},{"key":"e_1_2_8_20_2","first-page":"581","article-title":"Design and control of a 4-DOF cable-driven arm rehabilitation robot (CARR-4). 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