01177nas a2200145   4500008004100000245007800041210006900119260001200188300001400200520064800214653001300862100001600875700001500891856012500906       2002                        eng d00aAdaptive Simultaneous Position and Stiffness Control for a Soft Robot Arm0 aAdaptive Simultaneous Position and Stiffness Control for a Soft   cOctober  a1992-19973 a<p>In this paper, an independent joint position and stiffness adaptive control for a robot arm actuated by McKibbenartificial muscles is reported. In particular, {\em muscular} nd {\em dynamic} parameters of the system are supposed unknown. Adaptive control performance is tested in a one degree of freedom experimental setup and compared with PID control performance. The adaptive control scheme is then applied to a robot arm that is conceived to perform tasks in an anthropic environment. The adaptive control developed is such that performance of the robot arm is very similar to this of human arm. Experimental results are reported.</p>
10aRobotics1 aTonietti, G1 aBicchi, A.  uhttps://www.centropiaggio.unipi.it/publications/adaptive-simultaneous-position-and-stiffness-control-soft-robot-arm.html