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Abstract-The consequences of a stroke is a major and increasing problem world wide. Many people who suffer a stroke are left with permanent impairment but the possibility exists that suitable rehabilitation could increase mobility and, for example, enable independent living. This, in turn, requires effective rehabilitation where it is known that currently available methods are relatively poor and are not well suited to home use, where the latter aspect is critical to improving practice and reducing costs. An accepted method to relearn lost function, such as reaching out to an object, is repeated attempts with learning from previous from those already completed with the application of applied stimulation if required. This requirement is analogous to iterative learning control and much progress, with supporting clinical trials data, has been reported on using this engineering design method to regulate the applied stimulation such that patient improvement in completing the task corresponds to increasing voluntary input and reduced stimulation. The applied stimulation in this application can induce muscle fatigue and this paper gives new result on enhancing the control laws to mitigate this unwanted effect.

DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal. If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User Agreement: