Design and Control of a Nonlinear Series Elastic Cable Actuator Based on the Hill Muscle Model

The bionic design of muscles is a research hotspot at present. Many researchers have designed elastic actuators based on the Hill muscle model, and most them include an active contraction element, passive element series but they need more parametric mechanical structure control under guidance model. In this research, nonlinear cable actuating mechanism in which parameters are optimized model to fit elasticity muscle. Through force–position relationship determined by output force position actuator controlled simulate performance experiments show that proposed method can make good muscle-like force–displacement characteristics.