Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Figure 10

Comparison of model and actuator performance for the excitation signal shown in Figure 8 with 11-multiple of moment of inertia ((a) joint angle response, (b) left muscle force response, (c) right muscle force response, and (d) muscle pressure response in both muscles).

(a)

(b)

(c)

(d)