# Computed torque control and force analysis for mechanical leg with variable rotation axis powered by servo pneumatic muscle

> Research article (ISA Transactions, 2023) · cited 24× · AI/ML

**Wikidata**: [openalex:W4381383781](https://www.wikidata.org/wiki/openalex:W4381383781)  
**Source**: https://4ort.xyz/entity/computed-torque-control-and-force-analysis-for-mechanical-leg-with-variable-rotation-axis-powered-by-servo-pneumatic-mus