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In this letter, an angular trajectory tracking controller for a twisted polymeric fiber (TPF) actuator by the combination of a model-based feed-forward and estimated temperature feedback is proposed. TPF actuator is one of the soft actuators that can produce a rotational motion, which is made by twisting a nylon yarn and thermally treating it. Adding a feed-forward controller with a feedback contr...

ieee robotics and automation letters

Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback