Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller

This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, two contributions are presented: i) A stable force feedback controller that can cope with inherent PAM nonlinearities is synthesized… CONTINUE READING