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In this article, a novel actuator called armor-based stable force pneumatic artificial muscle (AS-PAM) is presented. AS-PAM has a sealed chamber made of polygonal parts and film, which helps the actuator to be lightweight (∼100 g) and achieve a large contraction ratio (60%). It has an armor and a constraint to guide its motion, which keeps its force output [6.25 N/(cm2·bar)] stable over its operating range ( less then 10% deviation). An analytical model is presented to predict and control the behavior of the actuator, and various exp
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