Table 1.

For all experiments, the ILC was tuned with the following parameters

ILC Parameters
Plant delay	m	10
Max samples	Nstep, max	300
GCP domain samples	NGCP	200
ILC gain	λ	1
Decay factor	d	$\frac{1}{15}$
Error limit	emax	410circ
ILC Qfilter	Q: 1st order backward-forward butterworth, fcuttoff=5Hz
ILC decay Qfilter	Q*: 1st order backward-forward butterworth, fcuttoff=5Hz

The parameters for the individual participants were contained in the input mapping and set by the automatic parameter tuning procedure