Soft robotics is an emergent and swiftly evolving field. Pneumatic actuators are suitable for driving soft robots because of their superior performance. However, their control is not easy due to their hysteresis characteristics. In response to these challenges, we propose an adaptive control method to compensate hysteresis of a soft actuator. Employing a novel dual pneumatic artificial muscle (PAM) bending actuator, the innovative control strategy abates hysteresis effects by dynamically modulating gains within a traditional PID controller corresponding with the predicted motion of the reference trajectory. Through comparative experimental evaluation, we found that the new control method outperforms its conventional counterparts regarding tracking accuracy and response speed. Our work reveals a new direction for advancing control in soft actuators.

翻译：软体机器人是一个新兴且快速发展的领域。气动执行器因其优越的性能而适用于驱动软体机器人，然而，其滞回特性使得控制并不容易。针对这些挑战，我们提出了一种自适应控制方法来补偿软体执行器的滞回。采用一种新型双气动人工肌肉（PAM）弯曲执行器，该创新控制策略通过根据参考轨迹的预测运动动态调节传统PID控制器内的增益，从而减轻滞后效应。通过对比实验评估，我们发现新控制方法在跟踪精度和响应速度方面优于传统方法。我们的工作揭示了推进软体执行器控制的新方向。