Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 84)


Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.


Soft robots Variable stiffness actuator Pneumatic actuator Antagonistic drive Adaptive control Model based control 


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.School of Electrical EngineeringUniversity of BelgradeBelgradeSerbia
  2. 2.Department of EngineeringUniversity of PalermoPalermoItaly

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