To actuate a robot arm by Pneumatic Artificial Muscle (PAM).
That means, we have to control a position of a PAM.
In order to control a PAM we need a non-linear controller.
And also, we need a lot of pressure sensors, proportional valves and position sensors.
A system cost is to high and too complex.
So, If we can use an On/Off valve instead of proportional valve.
And, reduce a system cos and complexity by using an Non-linear observer to estimate a PAM's pressure. No more pressure sensors and proportional valves.
I find it interesting that recurrent neural networks and deep learning are used in the modeling and identification of the pneumatic artificial muscles (PAM) and the manipulation thereof: