Intelligent control of a pair of actuating muscles is synthesized from a biological paradigm of controlling these muscles (agonistic and antagonist) as they work in conjunction to provide actuation to a system (exoskeleton for a human). An investigation of muscle dynamics in humans and other animals is first conducted. Using the analogies from living muscle action, a paradigm is described on how to control such a system from an energy perspective subject to the biological constraints induced via the muscle dynamics. A discussion on the use of pneumatic muscle technology to power an exoskeleton suit is then presented

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