Simultaneous Estimation of Contraction Ratio and Parameter of McKibben Pneumatic Artificial Muscle Model Using Log-Normalized Unscented Kalman Filter

Using an unscented Kalman filter (UKF), the paper estimates the contraction ratio and unknown parameters in a mathematical model of McKibben pneumatic artificial muscle. In an application study, the UKF effectively estimated the contraction ratio and the unknown parameters at various the measured pressures.