Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Figure 14

Error histograms of enhanced model for test data set (5000 samples). In the figure, (a) is joint angle (), (b) is left muscle force (), (c) is right muscle force (), (d) is left muscle pressure (), (e) is right muscle pressure (), (f) is joint angle (), (g) is left muscle force (), (h) is right muscle force (), (i) is left muscle pressure (), and (j) is right muscle pressure ().

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