Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Figure 3

Static characteristics (force-length relationship) of PAM-based actuator. Equilibrium points are located at the intersections of force curves for given muscle pressures. As is shown in the figure, one of the muscles remains inflated to the initial pressure and is not active in one half of the operating range of rotational joint movement (in the figure, is muscle force, is muscle length, is initial muscle length, is maximum range of muscle length change, and is muscle pressure).