Pablo Enrique Tortós

Optimization of Spring Constant of a Pneumatic Artificial Muscle-Spring Driven Antagonistic Structure

Pneumatic artificial muscles (PAMs) have been widely applied to robotic systems, especially assistive devices, which could benefit from PAMs’ intrinsic viscoelasticity. However, nonlinearity and hysteresis make it challenging to achieve high-accuracy control. Using pre-tensioned springs to replace o