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实验研究了具有多个弹性杆的连杆机构的主动控制效果。在机构的弹性杆件上贴上压电陶瓷片作为驱动器，通过测量弹性杆上输出点的动态应变，确定机构动力系统的状态，实时地进行最优反馈控制。实验结果表明了这种控制方案的可行性
The active control effect of the link mechanism with multiple elastic rods was experimentally studied. Piezoelectric ceramic piece is attached to the elastic rod of the mechanism as a driver to determine the state of the dynamic system of the mechanism by measuring the dynamic strain at the output point of the elastic rod so that optimal feedback control can be performed in real time. The experimental results show the feasibility of this control scheme