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

Shuhei Kawamura,Mingcong Deng

doi:10.3390/mi11090792

Abstract

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.

Highlights

Many robots have been used in industrial fields; for example, they assemble a car, transfer wafer, and so on
multi-output support vector regression (MSVR) is utilized for estimating the relation because it is a three-input three-output system and MSVR can deal with multiple outputs
Optimal parameters of MSVR are selected by using ant colony optimization (ACO)

Summary

Introduction

Many robots have been used in industrial fields; for example, they assemble a car, transfer wafer, and so on. Robots have been expected to be used for such fields and for medical and welfare fields In these fields, robots are required to handle human bodies and objects carefully. Robots are required to handle human bodies and objects carefully To realize such robots, soft actuators have been getting increased attention. Soft actuators are made of flexible materials; for example, silicone rubber and synthetic resin; they can handle human bodies and objects delicately [1]. Many pneumatic soft actuators are composed of tubes that show expansion and bending motions under air pressure [2]. When air pressure is applied, the McKibben pneumatic artificial muscle expands in the radial direction and contracts in the longitudinal direction. Bending motions are difficult for the muscle [2]

Methods

Results

Conclusion