Simultaneous position-stiffness control of antagonistically driven twisted-coiled polymer actuators using model predictive control
Tuan Luong,Kihyeon Kim,Sungwon Seo,Jeongmin Jeon,Ja Choon Koo,Hyouk Ryeol Choi,Hyungpil Moon,Tuan Luong,Kihyeon Kim,Sungwon Seo,Jeongmin Jeon,Ja Choon Koo,Hyouk Ryeol Choi,Hyungpil Moon
Super-coiled polymer (SCP) artificial muscles have many interesting properties that show potentials for making high performance bionic devices. To realize human-like robotic devices from this type of actuator, it is important for the SCP driven mechanisms to achieve human-like performance, such as compliant behaviors through antagonistic mechanisms. This paper presents the simultaneous position-st...
