English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Soft robotics, with their inherent flexibility and infinite degrees offreedom (DoF), offer promising advancements in human-machine interfaces.Particularly, pneumatic artificial muscles (PAMs) and pneumatic bendingactuators have been fundamental in driving this evolution, capitalizing ontheir mimetic nature to natural muscle movements. However, with the versatilityof these actuators comes the intricate challenge of hysteresis - a nonlinearphenomenon that hampers precise positioning, especially pronounced in pneumaticactuators due to gas compressibility. In this study, we introduce a novel 2-DoFadaptive control for precise bending tracking using a pneumatic continuumactuator. Notably, our control method integrates adaptability into both thefeedback and the feedforward element, enhancing trajectory tracking in thepresence of profound nonlinear effects. Comparative analysis with existingapproaches underscores the superior tracking accuracy of our proposed strategy.This work discusses a new way of simple yet effective control designs for softactuators with hysteresis properties.

Two Degree of Freedom Adaptive Control for Hysteresis Compensation of Pneumatic Continuum Bending Actuator