Joint Motion Control for Lower Limb Rehabilitation Based on Iterative Learning Control (ILC) Algorithm

Table 1

Range of rotation angle of each joint of lower limbs.

Joint	Extension/bending	Abduction/adduction	Internal rotation/external rotation
Hip joint	145/25	35/25	55/55
Knee joint	0/135	0	0
Ankle joint	34/25	20/20	25/20