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Fig. 13 | ROBOMECH Journal

Fig. 13

From: Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles

Fig. 13

Reaction phases of the antagonistic joint when external torque from the operator is received. (1) Small displacement with a compliant structure of the hydraulic muscle. (2) Second-order impedance control is fully involved to reduce the apparent inertia and damping. (3) When the external torque disappears, angular velocity is increased to overcome the hysteresis nonlinearity of the muscle when returning. (4) It brakes and stabilizes near the initial position with blocked servovalves

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