Paper:

neumatic Artificial Muscles (PAMs) are highly non–linear pneumatic actuators where their elongation is proportional to the interval pressure. During the last decade, there has been a significant increase in the industrial and scientific utilization of PAMs due to their advantages such as high strength and small weight. We want to know how to model and control PAMs in order to use them in different places. This tutorial has been developed to help you understand what Pneumatic Artificial Muscle is, why it is important, and how to present computational modeling for it. While the mathematics are included, practical examples and analogies are used wherever possible.