Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Table 3

Results of all the tests for given moments of inertia, calculated as mean squared error between both the actuator and the model response ( is joint angle [deg], is left muscle relative pressure [kPa], is right muscle relative pressure, is left muscle force [N], and is right muscle force [N]).

Variable	MSE	MSE
	10.024	10.2917
	7663.2	5728.6
	4561.8	3003.7
	2298.9	1807.5
	5160.2	3919.9