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Safer position control of pneumatic rubber artificial muscle actuator by passive dynamic control

The passive dynamic control ("PDC") is a mechanical system control method based on an inherently safe design. It positively uses passive elements (braking mechanism) whose characteristics are variable. In this paper, the PDC is applied to a pneumatic rubber artificial muscle actuator. First, the PDC pneumatic rubber artificial muscle actuator with a Magneto-Rheological brake is proposed, and its control method is described. Then, positioning control and sinusoidal follow-up control are described, and the effectiveness of the PDC is examined through experiments.