E on the input stress are as axial contractions for when a 2.55 kg load is applied to the cost-free end in 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 (10)Appl. Sci. 2021, 11,14 ofThe equations that describe the variation in the input stress versus axial contractions for when a 2.55 kg load is applied for the free finish from the muscle are as follows: pin f lation = 0.001 three – 0.016 2 0.452 1.06 pde f lation = 0.002 3 – 0.047 2 0.649 0.024 (9) (10)The equations that describe the variation in the input stress versus axial contraction when a four.55 kg load is applied to the totally free end on 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 3 – 0.106 2 1.168 – 0.461 pde f lation = 0.002 3 – 0.0503 2 0.653 0.Appl. Sci. 2021, 11,(11) (12)In an effort to receive precise and predictable contractions in the free end of the pneumatic muscle, Equations (7)12) must be known and made use of for handle by means of a MCC950 Immunology/Inflammation proportional 15 of 18 pressure regulator of your pneumatic muscle provide. Figure 14 shows a control scheme that includes such a proportional pressure regulator.Figure 14. Provide pressure adjustment with proportional stress regulator. Figure 14. Provide stress adjustment with a a proportional stress regulator.Compressed air is fed towards the muscle through an MPPES-3-1/4-6-010 proportional pressure Compressed air is fed to the muscle via an MPPES-3-1/4-6-010 proportional regulator (produced by Festo AG Co., Esslingen, Germany). This control diagram enables stress regulator (developed by Festo AG Co., Esslingen, Germany). This manage diathe slow and uniform charging on the pneumatic muscle devoid of introducing shocks. gram enables the slow and uniform charging in the pneumatic muscle devoid of introducA specially developed computer system programme based on the experimentally determined ing shocks. polynomial equations was loaded to a Programmable Logic Controller (PLC). The PLC A specially developed computer programme based on the experimentally detersends an electric signal for the proportional pressure regulator, whose voltage is continumined polynomial equations was loaded to a Programmable Logic Controller (PLC). The ously modified based on the experimentally obtained polynomial Bomedemstat Epigenetics function. This impacts PLC sends an electric signal towards the proportional stress regulator, whose voltage is conthe preferred variation of air stress inside the pneumatic muscle and, consequently, the desired tinuously modified based on the experimentally obtained polynomial function. This contractions and forces [39]. affectsFigure 15 shows an instance of positioning pneumatic muscle and,of two.55 kg applying the desired variation of air stress within the an object using a mass consequently, the desired contractions and forces [39]. red line shows the motion paths obtained below the handle diagram proposed above. The Figure 15 shows an example of positioning an object using a mass of 2.55 kg making use of the these circumstances. The movement paths obtained making use of the diagram in Figure 1b is drawn manage diagram be seen that the accuracy of positioning by controlling the pressure with in blue. It can proposed above. The red line shows the motion paths obtained beneath thesehelp of a proportional regulator is very superior,usingthe proposed method o.