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In this way, it is of interest to understand the inherent adaptive stiffness, or compliance, and modulation, in different alternative actuation architectures such as the antagonistic bi-articular (AbA) system. These novel AbA actuation mechanisms are characterized by resembling the efficient tendon and muscle build-up over our skeletal structure. In this paper, we propose a Cartesian neuro-controller for a robot manipulator actuated by a simplified adaptive viscoelastic linear AbA system. It is shown that the adaptive closed-loop system enforces terminal attractors, induced by a continuous model-free sliding mode control, simultaneously with a learning algorithm to compensate parametric uncertainties of AbA system through a low dimensional neural network. Numerical simulation results exhibit the feasibility of this approach. <\/jats:p>","DOI":"10.1177\/0142331220904589","type":"journal-article","created":{"date-parts":[[2020,3,6]],"date-time":"2020-03-06T11:38:39Z","timestamp":1583494719000},"page":"2031-2043","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Neuro-controller for antagonistic bi-articular muscle actuation in robotic arms based on terminal attractors"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4402-6072","authenticated-orcid":false,"given":"Rodolfo","family":"Garcia-Rodriguez","sequence":"first","affiliation":[{"name":"Aeronautical Engineering Program and Postgraduate Program in Aerospacial Engineering, Universidad Politecnica Metropolitana de Hidalgo, Mexico"}]},{"given":"Vicente","family":"Parra-Vega","sequence":"additional","affiliation":[{"name":"Robotics and Advanced Manufacturing Department, 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