Partial Neural Network Based Modeling of 3-Degree of Freedom Soft Actuator and its Tip Position Control

A soft actuator is a type of actuator made of flexible materials such as rubber. It has a simple structure, so it is easy to miniaturize. In addition, it is highly safe for human-body and is expected to be used in medical field. The McKibben artificial muscle is a type of soft actuator producing contraction.3-Degree of Freedom (3-DOF) Soft Actuator using in this study is made of three McKibben artificial muscles attached in parallel. Purpose of this study is to perform tip position control that addresses the nonlinear characteristics of it.