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20202023
most citedDetailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF

24 citations · 24 across the 3 of their papers we have counts for

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eess.SY2020★ 24 cited

Detailed Dynamic Model of Antagonistic PAM System and its Experimental Validation: Sensor-less Angle and Torque Control with UKF

Takaya Shin, Takumi Ibayashi, Kiminao Kogiso

This study proposes a detailed nonlinear mathematical model of an antagonistic pneumatic artificial muscle (PAM) actuator system for estimating the joint angle and torque using an…