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• W2549255718 abstract "Within this paper a modeling, identification and control technique for an antagonistically actuated joint consisting of two pneumatically actuated muscles is presented. The antagonistically actuated joint acts as a test bench for control architectures which are going to be used to control an exoskeleton within a telerobotic system. A static and dynamic model of the muscle and the joint is derived and the parameters of the models are identified using a least-squares algorithm. The control architecture, consisting of a inner pressure and an outer position controller is presented. The pressure controller is evaluated using switching valves compared against proportional valves." @default.
• W2549255718 created "2016-11-30" @default.
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• W2549255718 date "2015-11-01" @default.
• W2549255718 modified "2023-09-23" @default.
• W2549255718 title "Modeling, identification and control of an antagonistically actuated joint for telerobotic systems" @default.
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• W2549255718 doi "https://doi.org/10.1109/iecon.2015.7392676" @default.
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