Pole/Zero Design of Agonist/Antagonist Actuation.

Objective: This brief analyzes the open-loop dynamics of coupled (dedicated) and decoupled tendon tension control methods in an agonist/antagonist (AA) actuator pair, a fundamental control unit used in orthopedic testbeds known as joint motion simulators (JMSs). Methods: A linear mathematical model of an AA actuator pair is derived. Transfer functions from tendon tension control signal to tendon t...