2013 Volume 26 Issue 7 Pages 269-276
This paper presents a nonlinear model, involving load-dependent parameters, of a McKibben pneumatic artificial muscle system that includes a proportional directional control valve, and also proposes a partially heuristic but reasonable procedure for identifying nine key parameters characterizing transient and steady state behaviors of the system. And then, this paper validates the obtained model and illustrates how it can simulate the real under several loads, comparing with experimental data.