E with the input stress are as axial contractions for when a 2.55 kg load is applied towards the totally free finish with the muscle are as follows: = 0.001 – 0.016 0.452 1.06 (9) = 0.001 – 0.016 0.452 1.06 (9) = 0.002 – 0.047 0.649 0.024 (ten)Appl. Sci. 2021, 11,14 ofThe equations that describe the variation with the input stress versus axial contractions for when a two.55 kg load is applied for the no cost end with the muscle are as follows: pin f lation = 0.001 three – 0.016 two 0.452 1.06 pde f lation = 0.002 three – 0.047 two 0.649 0.024 (9) (ten)The equations that describe the variation of the input stress versus axial contraction when a 4.55 kg load is applied to the no cost finish of the muscle are presented in Equations (11) and (12). These equations are validated by the coefficients of determination (R2 ), which possess the values of 0.9972 and 0.9996. pin f lation = 0.003 three – 0.106 2 1.168 – 0.461 pde f lation = 0.002 three – 0.0503 two 0.653 0.Appl. Sci. 2021, 11,(11) (12)In an effort to get precise and predictable contractions at the totally free finish of the pneumatic muscle, Equations (7)12) should be known and utilised for handle by means of a proportional 15 of 18 stress regulator with the pneumatic muscle provide. Figure 14 shows a control scheme that includes such a proportional pressure regulator.Figure 14. Supply pressure adjustment with proportional pressure regulator. Figure 14. Supply stress adjustment using a a proportional stress regulator.Compressed air is fed towards the muscle via an MPPES-3-1/4-6-010 proportional stress Compressed air is fed to the muscle by means of an MPPES-3-1/4-6-010 proportional regulator (produced by Festo AG Co., Esslingen, Germany). This manage diagram enables pressure regulator (created by Festo AG Co., Esslingen, Germany). This manage diathe slow and uniform charging with the pneumatic muscle with no introducing shocks. gram enables the slow and uniform charging from the pneumatic muscle without introducA Bomedemstat manufacturer specially developed computer programme based on the experimentally determined ing shocks. polynomial equations was loaded to a Programmable Logic Controller (PLC). The PLC A specially created computer system programme determined by the experimentally detersends an electric signal towards the proportional stress regulator, whose voltage is continumined polynomial equations was loaded to a Programmable Logic Controller (PLC). The ously modified in line with the experimentally obtained polynomial function. This affects PLC sends an electric signal to the proportional pressure regulator, whose voltage is conthe Tianeptine sodium salt Neuronal Signaling preferred variation of air pressure in the pneumatic muscle and, consequently, the preferred tinuously modified based on the experimentally obtained polynomial function. This contractions and forces [39]. affectsFigure 15 shows an example of positioning pneumatic muscle and,of 2.55 kg making use of the desired variation of air pressure in the an object having a mass consequently, the desired contractions and forces [39]. red line shows the motion paths obtained under the handle diagram proposed above. The Figure 15 shows an instance of positioning an object with a mass of two.55 kg applying the these conditions. The movement paths obtained working with the diagram in Figure 1b is drawn control diagram be observed that the accuracy of positioning by controlling the stress with in blue. It could proposed above. The red line shows the motion paths obtained under thesehelp of a proportional regulator is very good,usingthe proposed method o.