Modeling and control of a pneumatic artificial muscle manipulator joint - Part I: Modeling of a pneumatic artificial muscle manipulator joint with accounting for creep effect KU Leuven
An antagonistically actuated pair of pneumatic muscle actuators has recently become an interesting basic joint unit for developing humanoid robots or robotic manipulators in general. This basic unit exhibits some advantageous characteristics, such as high compliance, high power-weight ratio, and high volume-to-weight ratio. However, hysteresis and muscle creep are significant drawbacks that limit the performance of this manipulator unit. This ...