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RISVariable Stiffness and Impedance Control of a Soft Pneumatic Actuator With Tunable Collision Dynamics and Trajectory Following
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. State-of-the-art soft manipulators are unable to vary stiffness continuously, are complex to manufacture, and have limited control bandwidth. In this work, we present a novel planar bidirectional pneumatically ...