Soft robots have high adaptability and safeness which are derived from their softness, and therefore it is paid attention to use them in human society. However, the controllability of soft robots is not enough to perform dexterous behaviors when considering soft robots as alternative laborers for humans. The model-based control is effective to achieve dexterous behaviors. When considering building a model which is suitable for control, there are problems based on their special properties such as the creep behavior or the variability of motion. In this paper, the lumped parameterized model with viscoelastic joints for a soft finger is established for the creep behavior. Parameters are expressed as distributions, which makes it possible to take into account the variability of motion. Furthermore, stochastic analyses are performed based on the parameters' distribution. They show high adaptivity compared with experimental results and also enable the investigation of the effects of parameters for robots' variability.

翻译：软体机器人因其柔软性而具有高度适应性和安全性，因此备受关注，有望在人类社会中使用。然而，当将软体机器人视为人类的替代劳动力时，其可控性不足以执行灵巧行为。基于模型的控制是实现灵巧行为的有效方法。在考虑构建适合控制的模型时，存在基于其特殊属性（如蠕变行为或运动变异性）的问题。本文针对软体手指的蠕变行为，建立了带有粘弹性关节的集中参数化模型。参数以分布形式表示，从而能够考虑运动的变异性。此外，基于参数分布进行了随机分析。与实验结果相比，这些分析显示出高度适应性，并且还能够研究参数对机器人变异性的影响。