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However, the influence of external unknown disturbances, inner friction effects, and dynamic uncertainties of the MS makes it difficult to model and practically apply. In order to reduce the inner friction effects of the hardware platform and the over-relaxation\/tension of the cable-pull drive, a feedforward friction compensation method for the cable-pulled artificial muscle unit is proposed. The method analyzes the friction causes of the hardware structure and establishes a mapping network relationship between the joint variables and the muscle force error in the muscle space. The experimental results show that the method can effectively improve the control accuracy and reduce the artificial muscle over-relaxation\/tension instability.<\/jats:p>","DOI":"10.1017\/s0263574722001643","type":"journal-article","created":{"date-parts":[[2022,12,21]],"date-time":"2022-12-21T03:14:53Z","timestamp":1671592493000},"page":"1221-1230","source":"Crossref","is-referenced-by-count":8,"title":["A feedforward compensation approach for cable-driven musculoskeletal systems"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2868-6131","authenticated-orcid":false,"given":"Yerui","family":"Fan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4118-1296","authenticated-orcid":false,"given":"Jianbo","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yaxiong","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Qiao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2022,12,21]]},"reference":[{"doi-asserted-by":"publisher","key":"S0263574722001643_ref9","DOI":"10.1017\/S0263574719000201"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref8","DOI":"10.1126\/scirobotics.aaq0899"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref16","DOI":"10.1109\/LRA.2017.2720854"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref18","DOI":"10.3390\/s19173636"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref15","DOI":"10.1109\/TASE.2018.2883343"},{"doi-asserted-by":"crossref","unstructured":"[4] Kawamura, M. , Ookubo, S. , Asano, Y. , Kozuki, T. , Okada, K. and Inaba, M. , \u201cA Joint Space Controller Based on Redundant Muscle Tension for Multiple DOF Joints in Musculoskeletal Humanoids,\u201d In: International Conference on Humanoid Robots (2016) pp. 814\u2013819.","key":"S0263574722001643_ref4","DOI":"10.1109\/HUMANOIDS.2016.7803367"},{"doi-asserted-by":"crossref","unstructured":"[19] Runge, G. , Wiese, M. and Raatz, A. , \u201cFEM-based Training of Artificial Neural Networks for Modular Soft Robots,\u201d In: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO) (2017) pp. 385\u2013392.","key":"S0263574722001643_ref19","DOI":"10.1109\/ROBIO.2017.8324448"},{"unstructured":"[20] Mizuuchi, I. , Yoshikai, T. , Nakanishi, Y. , Sodeyama, Y. , Yamamoto, T. , Miyadera, A. , Niemela, T. , Hayashi, M. , Urata, J. and Inaba, M. , \u201cDevelopment of Muscle-Driven Flexible-Spine Humanoids,\u201d In: 5th IEEE-RAS International Conference on Humanoid Robots (2005) pp. 339\u2013344.","key":"S0263574722001643_ref20"},{"doi-asserted-by":"crossref","unstructured":"[6] Kawaharazuka, K. , Makino, S. , Kawamura, M. , Asano, Y. , Okada, K. and Inaba, M. , \u201cA Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon Driven Humanoids with Complex Musculoskeletal Structures,\u201d In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) (2018) pp. 1128\u20131135.","key":"S0263574722001643_ref6","DOI":"10.1109\/HUMANOIDS.2018.8625002"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref2","DOI":"10.1109\/TSMC.2018.2871196"},{"doi-asserted-by":"crossref","unstructured":"[17] Yuan, J. , Wu, Y. , Wang, B. and Qiao, H. , \u201cMusculoskeletal Robot with Motor Driven Artificial Muscle,\u201d In: 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM) (2021) pp. 448\u2013452.","key":"S0263574722001643_ref17","DOI":"10.1109\/ICARM52023.2021.9536050"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref21","DOI":"10.1016\/j.neucom.2021.01.054"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref3","DOI":"10.1109\/LRA.2022.3144537"},{"doi-asserted-by":"publisher","key":"S0263574722001643_ref22","DOI":"10.1016\/0079-6107(74)90020-0"},{"doi-asserted-by":"crossref","unstructured":"[14] Katz, B. , Carlo, J. 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