Control of Antagonistic McKibben Muscles via a Bio-inspired Approach

• Published in: Journal of bionics engineering Vol. 19; no. 6; pp. 1771 - 1789
• Main Authors: Chen, Xinyi, Zhu, Wenxin, Liang, Wenyu, Lang, Yilin, Ren, Qinyuan
• Format: Journal Article
• Language: English
• Published: Singapore Springer Nature Singapore 01.11.2022
• Subjects: Artificial Intelligence; Biochemical Engineering; Bioinformatics; Biomaterials; Biomedical Engineering and Bioengineering; Biomedical Engineering/Biotechnology; Engineering; Research Article; McKibben muscle; Spiking Neural Network; Soft artificial arm; Adaptive control; Cerebellum-like controller

McKibben muscles are increasingly used in many robotic applications due to their advantages of lightweight, compliant, and skeletal muscles-like behaviours. However, there are still huge challenges in the motion control of McKibben muscles due to the system nonlinearity (e.g., hysteresis) and model...