ILC for stroke rehabilitation: can current approaches cope with trial-varying initial conditions?
ILC for stroke rehabilitation: can current approaches cope with trial-varying initial conditions?
Iterative learning control (ILC) has been widely used in rehabilitation, having recently succeeded in obtaining target postures of the hand and wrist. However, it is not designed to deal with the trial-varying initial conditions or disturbances that often occur in biological systems. This paper validates the application of ILC in this context, and shows its equivalence to a particular form of feedback controller. Experimental results then highlight the benefits of this approach. This work provides valuable insight into principled control design within the rehabilitation setting.
Hodgins, Lucy
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Freeman, Chris T.
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Belkhatir, Zehor
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Hodgins, Lucy
2cb70295-f4b0-4c0d-ba23-43fc531b9392
Freeman, Chris T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Belkhatir, Zehor
de90d742-a58f-4425-837c-20ff960fb9b6
Hodgins, Lucy, Freeman, Chris T. and Belkhatir, Zehor
(2026)
ILC for stroke rehabilitation: can current approaches cope with trial-varying initial conditions?
15th United Kingdom Automatic Control Council (UKACC) International Conference on Control, , Newcastle, United Kingdom.
23 - 25 Jun 2026.
2 pp
.
(In Press)
Record type:
Conference or Workshop Item
(Paper)
Abstract
Iterative learning control (ILC) has been widely used in rehabilitation, having recently succeeded in obtaining target postures of the hand and wrist. However, it is not designed to deal with the trial-varying initial conditions or disturbances that often occur in biological systems. This paper validates the application of ILC in this context, and shows its equivalence to a particular form of feedback controller. Experimental results then highlight the benefits of this approach. This work provides valuable insight into principled control design within the rehabilitation setting.
Text
CONTROL2026_final
- Accepted Manuscript
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Accepted/In Press date: 2026
Venue - Dates:
15th United Kingdom Automatic Control Council (UKACC) International Conference on Control, , Newcastle, United Kingdom, 2026-06-23 - 2026-06-25
Identifiers
Local EPrints ID: 511463
URI: http://eprints.soton.ac.uk/id/eprint/511463
PURE UUID: ee1eb4de-c622-4b59-a4c8-e322604d130c
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Date deposited: 15 May 2026 16:39
Last modified: 16 May 2026 02:12
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Contributors
Author:
Lucy Hodgins
Author:
Chris T. Freeman
Author:
Zehor Belkhatir
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