Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter</td><td class="align_center">Value</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Feedback gain</td><td class="align_center"><span style="width: 64.296ptpx;"><svg height="14.5211pt" id="M77" style="vertical-align:-5.47418pt" version="1.1" viewbox="-0.0498162 -9.04692 64.296 14.5211" width="64.296pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 650H503L496 622L527 618C563 613 564 603 532 573C449 495 371 431 323 392C301 374 272 355 246 346L280 522C297 609 300 614 379 622L385 650H135L129 622C209 614 215 609 198 522L124 133C106 39 99 35 23 28L17 0H271L277 28C193 35 192 39 208 133L239 316C264 328 280 325 303 288C368 183 435 90 502 0H652L659 28C602 34 584 43 543 94C495 154 403 283 347 369L574 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179 603 238 603ZM248 20C183 20 125 70 125 163C125 218 158 268 206 300C284 261 355 217 355 143C355 66 308 20 248 20Z"></path></g><g transform="matrix(.013,0,0,-0.013,53.298,0)"><path d="M241 635C89 635 35 457 35 312C35 153 89 -12 240 -12C390 -12 443 166 443 312C443 466 390 635 241 635ZM238 602C329 602 354 454 354 312C354 172 330 22 240 22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,59.538,.241)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z"></path></g></svg></span></td></tr><tr><td class="align_left">Feedback gain</td><td class="align_center"><span style="width: 62.9624ptpx;"><svg height="12.3563pt" id="M78" style="vertical-align:-3.309381pt" version="1.1" viewbox="-0.0498162 -9.04692 62.9624 12.3563" width="62.9624pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 650H503L496 622L527 618C563 613 564 603 532 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238 602Z"></path></g></svg></span></td></tr><tr><td class="align_left">Learning gain</td><td class="align_center"><span style="width: 103.539ptpx;"><svg height="11.927pt" id="M80" style="vertical-align:-3.291101pt" version="1.1" viewbox="-0.0498162 -8.6359 103.539 11.927" width="103.539pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 659C666 654 622 640 595 610C579 591 569 572 562 530L552 472C530 342 504 307 403 302V529C403 604 411 617 483 622V650H238V622C310 617 318 604 318 529V302C232 308 194 347 172 471L161 531C153 573 145 592 131 609C103 643 59 654 25 659L15 632C62 611 63 583 73 524L85 452C97 383 116 347 155 316C199 282 255 269 318 267V122C318 46 310 33 233 28V0H489V28C412 33 403 46 403 122V267C470 269 518 283 559 315C599 346 618 378 632 450L646 519C658 580 665 608 709 632L699 659Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,8.32,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 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<div>The parameters associated with the controller.</div>

BioMed Research International

tab3

Table 3

Table 3: Combined Feedback Feedforward Control of a 3-Link Musculoskeletal System Based on the Iterative Training Method 