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. 2018 Apr 1;5(2):175–189. doi: 10.1089/soro.2017.0012

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© Tim Helps and Jonathan Rossiter 2018; Published by Mary Ann Liebert, Inc.

This Open Access article is distributed under the terms of the Creative Commons License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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FIG. 15. — Position control tasks using resistance as a feedback variable, target bending angles are shown as dotted blue lines. From top: step function with an amplitude of 60°, step function with an amplitude of 120°, two periods of a 60° amplitude sinusoidal oscillation centered at 60°. The sensor model greatly influences results: (A) shows results using a cubic best fit of all resistance-length data, while (B) shows results using a cubic best fit of only inflating data. Color images available online at www.liebertpub.com/soro