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This article outlines a new soft, tunable pneumatic impedance module based on an antagonistic actuator setup of textile-based pneumatic actuators intended to deliver bidirectional torques about a joint. Through mechanical programming of the actuators (select tuning of geometric parameters), the baseline torque to angle relationship of the module can be tuned. A high bandwidth fluidic controller that can rapidly modulate the pressure at up to 8\u2009Hz in each antagonistic actuator was also developed to enable tunable impedance modulation. This high bandwidth was achieved through the characterization and modeling of the proportional valves used, derivation of a fluidic model, and derivation of control equations. The resulting impedance module was capable of modulating its stiffness from 0 to 100 Nm\/rad, at velocities up to 120\u00b0\/s and emulating asymmetric and nonlinear stiffness profiles, typical in wearable robotic applications.<\/jats:p>","DOI":"10.1089\/soro.2021.0173","type":"journal-article","created":{"date-parts":[[2023,4,12]],"date-time":"2023-04-12T09:20:25Z","timestamp":1681291225000},"page":"937-947","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":4,"title":["Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications"],"prefix":"10.1177","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6902-9985","authenticated-orcid":false,"given":"Ciar\u00e1n T.","family":"O'Neill","sequence":"first","affiliation":[{"name":"John A. 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