Research Article
Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network
Table 4
The results of neural network training for and . In the table, is normalized mean squared error, MSE is mean squared error, EM is enhanced model, M is model, is neural network input vector, is model joint angle, is model angular velocity, is model angular acceleration, is left model muscle force, is right model muscle force, is left model muscle pressure, and is right model muscle pressure.
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