Fig. 11From: Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial musclesActuation torque by pressure difference at a certain angular position. Pressure difference \(\Delta P_{\text{pos}} \) for certain angular position \(\theta \) is shown in Eq. (4). Relationship between \(\Delta P_{\text{act}} \) and actuation torque \(\tau _{\text{act}} \) is shown in Eq. (8)Back to article page