A Novel Framework for a Systematic Integration of Pneumatic-Muscle-Actuator-Driven Joints into Robotic Systems Via a Torque Control Interface

In this paper, two different torque control approaches for PMA-driven (PMA = Pneumatic muscle actuator) revolute joints are presented and tested. In previous work controllers for PMA-driven robots are typically customized for the use on a specific robotic system. In contrast, the proposed controller...

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Bibliographic Details
Main Authors: Mirco Martens, Thomas Seel, Johannes Zawatzki, Ivo Boblan
Format: Article
Published: MDPI AG 2018-11-01
Online Access:https://www.mdpi.com/2076-0825/7/4/82