TY - GEN
T1 - Characteristic analysis and modeling of a miniature pneumatic curling rubber actuator
AU - Deng, Mingcong
AU - Wang, Aihui
AU - Wakimoto, Shuichi
AU - Kawashima, Toshihiro
PY - 2011/10/12
Y1 - 2011/10/12
N2 - Soft actuators driven by pneumatic pressure have been shown to have many potential applications as actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, for they can ensure high safety for fragile objects from their low mechanical impedance. In this paper, a miniature pneumatic bending soft actuator is reviewed, and a nonlinear model of which is identified using support vector regression (SVR). That is, based on characteristic analysis of miniature pneumatic bending soft actuator, a new output variable is designed, and a nonlinear model is presented. Motion characteristics are studied by experiment, and the nonlinear model is identified based on experimental data.
AB - Soft actuators driven by pneumatic pressure have been shown to have many potential applications as actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, for they can ensure high safety for fragile objects from their low mechanical impedance. In this paper, a miniature pneumatic bending soft actuator is reviewed, and a nonlinear model of which is identified using support vector regression (SVR). That is, based on characteristic analysis of miniature pneumatic bending soft actuator, a new output variable is designed, and a nonlinear model is presented. Motion characteristics are studied by experiment, and the nonlinear model is identified based on experimental data.
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M3 - Conference contribution
AN - SCOPUS:80053613517
SN - 9780955529375
T3 - 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program
SP - 534
EP - 539
BT - 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011 - Final Program
T2 - 2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011
Y2 - 11 August 2011 through 13 August 2011
ER -