Dynamic model of pneumatic actuator based on advanced geometric muscle model

Dynamic models of pneumatic artificial muscles (PAMs) are important for simulation of the movement dynamics of the PAM-based actuators and also for their control. The simple models of PAMs are geometric models, which can be relatively easy used under certain simplification for obtaining of the static and dynamic characteristics of the pneumatic artificial muscle. An advanced geometric muscle model is used in paper for describing the dynamic behavior of PAM based antagonistic actuator.