From: Safety-enhanced control strategy of a power soft robot driven by hydraulic artificial muscles
Actuator | Backdrivability | Structural compliance | Stability under disturbance | Generating force | puncture resistance |
---|---|---|---|---|---|
Pneumatic cylinder | Relatively high | No | Relatively low | Low | High |
Pneumatic muscle | High | High | Low | Low | Relatively high |
Hydraulic cylinder | Low | No | High | High | High |
Hydraulic muscle | Relatively high | Relatively high | Relatively high | High | Relatively high |