Recent Developments on Modeling for a 3-DOF Micro-Hand Based on AI Methods

• Published in: Micromachines (Basel) Vol. 11; no. 9; p. 792
• Main Authors: Kawamura, Shuhei, Deng, Mingcong
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 21.08.2020; MDPI
• Subjects: 3-DOF micro-hand; actuator; Actuators; Ant colony optimization; Artificial intelligence; Degrees of freedom; Medical research; Methods; Modelling; multi-output support vector regression; nonlinear; Optimization; Robots; Rubber; Sensors; support vector machine; Support vector machines
• ISSN: 2072-666X; 2072-666X
• DOI: 10.3390/mi11090792

Recently, soft actuators have been expected to have many applications in various fields. Most of the actuators are composed of flexible materials and driven by air pressure. The 3-DOF micro-hand, which is a kind of soft actuator, can realize a three degrees of freedom motion by changing the applied air pressure pattern. However, the input–output relation is nonlinear and complicated. In previous research, a model of the micro-hand was proposed, but an error between the model and the experimental results was large. In this paper, modeling for the micro-hand is proposed by using multi-output support vector regression (MSVR) and ant colony optimization (ACO), which is one of the artificial intelligence (AI) methods. MSVR estimates the input–output relation of the micro-hand. ACO optimizes the parameters of the MSVR model.