Iterative Learning Control for FES-Cycling With Antagonistic Biarticular Muscles - Masahiro Nagumo; Hiroyuki Kawai; Yoshihiro Kushima; Toshiyuki Murao; Yasunori Kawai; Miyako Kishitani (The 46th Annual Conference of the IEEE Industrial Electronics Society, IECON 2020, Singapore, October 18-21, 2020, 2020)