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Mass Control of Pneumatic Soft Continuum Actuators with Commodity Components

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Published on Aug 24, 2016

The video demonstrates the capabilities of a pneumatic soft hand when it is operated with a mass controller. Mass control enables the effective use of actuator compliance while maintaining continuous and reactive control of the complementary preset position. Additionally it gives an intuition on the attainable performance of mass control in terms of speed, stability and precision.

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