Realization of a Simultaneous Position-Stiffness Controllable Antagonistic Joint Driven by Twisted-Coiled Polymer Actuators Using Model Predictive Control

Realization of a Simultaneous Position-Stiffness Controllable Antagonistic Joint Driven by Twisted-Coiled Polymer Actuators Using Model Predictive Control

Stiffness adjustability is one of the key characteristics that help humans achieve safe and reliable motions. This paper aims to realize the simultaneous position-stiffness control of an antagonistic joint driven by a type of super-coiled polymer (SCP) artificial muscles, made from a combination of...

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Bibliographic Details
Main Authors: Tuan Luong, Sungwon Seo, Kihyeon Kim, Jeongmin Jeon, Francisco Yumbla, Ja Choon Koo, Hyouk Ryeol Choi, Hyungpil Moon
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Model predictive control
spandex
super-coiled polymer actuators
soft actuators
variable stiffness
Online Access:https://ieeexplore.ieee.org/document/9336729/

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