Encrypted Simultaneous Control of Joint Angle and Stiffness of Antagonistic Pneumatic Artificial Muscle Actuator by Polynomial Approximation

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This study proposes an encrypted simultaneous control system for an antagonistic pneumatic artificial muscle (PAM) actuator toward developing a cybersecure and flexible actuator.

• First, a novel simultaneous control system design is considered for the joint angle and stiffness of a PAM actuator in a model-based design approach, facilitating the use of an encrypted control method.
• The designed controller includes a contraction force model expressed as rational polynomial functions, which makes it difficult to encrypt the controller.
• To overcome this difficulty, a least absolute shrinkage and selection operator (LASSO)-based polynomial approximation is employed for a rational controller.