Fig. 15From: Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial musclesCompliance comparison when the 5Â kg load is attached. Upper: comparison of the angular position change. Middle: the internal pressure change of two muscles with impedance control. Bottom: the commanded opening size of two servovalves, where \(0\%\) is considered as fully closed. Positive means pressurization, and negative means decompressionBack to article page