A new coefficient-adaptive orthonormal basis function model structure for identifying a class of pneumatic soft actuators

Abstract

The class of Pneumatically-driven Lower-pressure Soft Actuators (PLSA) is a popular research topic as it can be potentially used in the surgical robotic applications. One fundamental problem lying in the PLSA research is the lack of a generally validated model for the complex nonlinear dynamic behaviours. In this paper, a new coefficient-adaptive… (More)
DOI: 10.1109/IROS.2014.6942610

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