Precise modeling soft robots remains a challenge due to their infinite-dimensional nature governed by partial differential equations. This paper introduces an innovative approach for modeling soft pneumatic actuators, employing a nonlinear framework through data-driven parameter estimation. The research begins by introducing Ludwick's Law, providing a accurate representation of the large deflections exhibited by soft materials. Three key material properties, namely Young's modulus, tensile stress, and mixed viscosity, are utilized to estimate the parameters inside the nonlinear model using the least squares method. Subsequently, a nonlinear dynamic model for soft actuators is constructed by applying Ludwick's Law. To validate the accuracy and effectiveness of the proposed method, several experiments are performed demonstrating the model's capabilities in predicting the dynamic behavior of soft pneumatic actuators. In conclusion, this work contributes to the advancement of soft pneumatic actuator modeling that represents their nonlinear behavior.

翻译：精确建模软体机器人因其由偏微分方程支配的无限维特性而仍面临挑战。本文提出了一种创新方法，通过数据驱动参数估计，采用非线性框架对软体气动执行器进行建模。研究首先引入卢德威克定律，为软材料表现的大变形提供了精确描述。利用杨氏模量、拉伸应力和混合粘度三个关键材料属性，通过最小二乘法估计非线性模型中的参数。随后，应用卢德威克定律构建了软体执行器的非线性动力学模型。为验证所提方法的准确性和有效性，开展了多项实验，展示了模型在预测软体气动执行器动态行为方面的能力。总之，本研究推进了软体气动执行器建模的发展，有效表征了其非线性行为。