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Assessments on the improved modelling for pneumatic artificial muscle actuators
(IEEE, 2015)
In this paper, we present an analysis regarding the pneumatic air muscle modelling, with a particular emphasis on the exoskeleton robot control. We propose two calibration approaches for obtaining the model identification ...
Stable control of force, position, and stiffness for robot joints powered via pneumatic muscles
(IEEE, 2019-12)
This paper proposes a novel controller framework for antagonistically driven pneumatic artificial muscle (PAM) actuators. The proposed controller can be stably configured in both torque-stiffness control and position-stiffness ...
Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index
(IEEE, 2023)
This paper presents a methodology for optimizing cable anchor points for cable-driven parallel robots (CDPRs) for specific additive manufacturing tasks. Much of a CDPR's workspace is generally not used for printing tasks. ...
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