In this paper, a new approach for modeling the static force characteristic of Festo pneumatic\nmuscle actuators (PMAs) will be presented. The model is physically motivated and therefore gives\na deeper understanding of the Festo PMA. After introducing the new model, it will be validated\nthrough a comparison to a measured force map of a Festo DMSP-10-250 and a DMSP-20-300,\nrespectively. It will be shown that the error between the new model and the measured data is\nbelow 4.4% for the DMSP-10-250 and below 2.35% for the DMSP-20-300. In addition, the quality of\nthe presented model will be compared to the quality of existing models by comparing the maximum\nerror. It can be seen that the newly introduced model is closer to the measured force characteristic of\na Festo PMA than any existing model.
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