Actuators are the input and output devices that connect electronic, hydraulic or pneumatic control systems to their environment. They convert external forces or conditions, such as temperature, into a ...

Abstract: Due to the complex nonlinear behavior and external sensitivity of pneumatic soft actuators (PSAs), it is difficult to design control methods to achieve their control objectives by ...

Abstract: A soft ring-shaped pneumatic actuator (RPA) that contracts radially plays a key role in biomimicking the contractions of the digestive system. However, the modeling and control of the RPA ...

Actuators' dynamics have been so far mostly neglected when devising feedback controllers for continuum soft robots since the problem under the direct actuation hypothesis is already quite hard to ...