... To address the highly nonlinear issues of PAMs, the enhanced model is derived considering the irregular shapes close to their end-fittings, as well as the elastic energy stored in both their braids and rubber bladders. The hysteresis characteristics of PAMs are also explored by analyzing the friction...

... found in biological neural system – hysteresis – as the neuron activation function and a bionic algorithm – extreme learning machine (ELM) – as the learning scheme. The authors give the gradient descent procedure to optimize parameters of the hysteretic function and develop an algorithm to online select...