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

• Main Authors: Shuhei Kawamura, Mingcong Deng
• Format: Article
• Language: English
• Published: MDPI AG 2020-08-01
• Series: Micromachines
• Subjects: model; 3-DOF micro-hand; actuator; nonlinear; support vector machine; multi-output support vector regression
• Online Access: https://www.mdpi.com/2072-666X/11/9/792

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.