Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Figure 2

Physical representation of PAM-based actuator with modeled parts being shown in grey color (in the scheme, is compressor pressure [Pa], is volume flow rate [m³s⁻¹], is muscle pressure [Pa], is muscle volume [m³], is muscle length [m], is muscle velocity [ms⁻¹], is muscle acceleration [ms⁻²], is muscle index, is joint angle [deg], is joint angular velocity [rads⁻¹], and is joint angular acceleration [rads⁻²]).