Hysteresis Model of Contraction Pneumatic Muscle Actuator

Pneumatic muscle actuator (PMA) is a type of linear pneumatic actuator that is soft and flexible, capable of moving like human muscles. These characteristics allow the muscle actuators to adapt to different robotic systems and medical applications. This paper presents the design, construction, characterization, and experimental validation of PMA. In addition to describing the pneumatic muscle contraction, the significant hysteresis nonlinearities of PMAs have hampered high-precision motion control. This paper presents new forma for modeling the length of the contraction PMA. Because contraction length parameters have a sigmoidal structure, the sigmoid function is a suitable form to model. Applied the fitting curve method. We use the MATLAB function lsqcurvefit to fit the equation to the data. The mathematical model was validated with Mean Squared Error (MSE) between the experimental results and the mathematical model. additionally, computed the correlation coefficient to assess the relationship between the model predictions and the experimental data.