Comparison of model predictions and experimental results for a range of input pressures ranging from 41 to 96 kPa for both rPAMs.

Contour plots of the resulting steady-state joint angle in degrees are displayed for simulation (a) and experimental (b) results. Joint angle values are stepped at 3 degrees, annotated on the curves, and indicated as color coding from blue to red. The mean error between the model and the experimental results is 0.27 ± 1.1 degrees.