Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Figure 13

Comparison of model, enhanced model, and actuator generalization performance (test on unseen data with 11-multiple of nominal 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)