Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental Review
Hysteresis is a nonlinear phenomenon found in many physical systems, including soft viscoelastic actuators, where it poses significant challenges to their application and performance. Consequently, developing accurate hysteresis models is essential for the effective design and optimization of soft a...
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MDPI AG
2025-06-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/7/321 |
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| author | Jesús de la Morena Francisco Ramos Andrés S. Vázquez |
| author_facet | Jesús de la Morena Francisco Ramos Andrés S. Vázquez |
| author_sort | Jesús de la Morena |
| collection | DOAJ |
| description | Hysteresis is a nonlinear phenomenon found in many physical systems, including soft viscoelastic actuators, where it poses significant challenges to their application and performance. Consequently, developing accurate hysteresis models is essential for the effective design and optimization of soft actuators. Moreover, a reliable model can be used to design compensators that mitigate the negative effects of hysteresis, improving closed-loop control accuracy and expanding the applicability of soft actuators in robotics. Physics-based approaches for modeling hysteresis in soft actuators offer valuable insights into the underlying material behavior. Nevertheless, they are often highly complex, making them impractical for real-world applications. Instead, phenomenological models provide a more feasible solution by representing hysteresis through input–output mappings based on experimental data. To effectively fit these phenomenological models, it is essential to rely on sensing data collected from real actuators. In this context, the primary objective of this work is a comprehensive comparative evaluation of the efficiency and performance of representative phenomenological hysteresis models (e.g., Bouc–Wen and Prandtl-Ishlinskii) using experimental data obtained from a pneumatic bending actuator made of a viscoelastic material. This evaluation suggests that the Generalized Prandtl–Ishlinskii model achieves the highest modeling accuracy, while the Preisach model with a probabilistic density function formulation excels in terms of parameter compactness. |
| format | Article |
| id | doaj-art-dc9190b08158447e8ffdcef2f7a164f6 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-dc9190b08158447e8ffdcef2f7a164f62025-08-20T03:55:49ZengMDPI AGActuators2076-08252025-06-0114732110.3390/act14070321Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental ReviewJesús de la Morena0Francisco Ramos1Andrés S. Vázquez2Escuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Avenida Camilo José Cela S/N, Campus Universitario, 13071 Ciudad Real, SpainEscuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Avenida Camilo José Cela S/N, Campus Universitario, 13071 Ciudad Real, SpainEscuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Avenida Camilo José Cela S/N, Campus Universitario, 13071 Ciudad Real, SpainHysteresis is a nonlinear phenomenon found in many physical systems, including soft viscoelastic actuators, where it poses significant challenges to their application and performance. Consequently, developing accurate hysteresis models is essential for the effective design and optimization of soft actuators. Moreover, a reliable model can be used to design compensators that mitigate the negative effects of hysteresis, improving closed-loop control accuracy and expanding the applicability of soft actuators in robotics. Physics-based approaches for modeling hysteresis in soft actuators offer valuable insights into the underlying material behavior. Nevertheless, they are often highly complex, making them impractical for real-world applications. Instead, phenomenological models provide a more feasible solution by representing hysteresis through input–output mappings based on experimental data. To effectively fit these phenomenological models, it is essential to rely on sensing data collected from real actuators. In this context, the primary objective of this work is a comprehensive comparative evaluation of the efficiency and performance of representative phenomenological hysteresis models (e.g., Bouc–Wen and Prandtl-Ishlinskii) using experimental data obtained from a pneumatic bending actuator made of a viscoelastic material. This evaluation suggests that the Generalized Prandtl–Ishlinskii model achieves the highest modeling accuracy, while the Preisach model with a probabilistic density function formulation excels in terms of parameter compactness.https://www.mdpi.com/2076-0825/14/7/321soft pneumatic actuatorshysteresismodeling |
| spellingShingle | Jesús de la Morena Francisco Ramos Andrés S. Vázquez Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental Review Actuators soft pneumatic actuators hysteresis modeling |
| title | Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental Review |
| title_full | Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental Review |
| title_fullStr | Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental Review |
| title_full_unstemmed | Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental Review |
| title_short | Hysteresis Modeling of Soft Pneumatic Actuators: An Experimental Review |
| title_sort | hysteresis modeling of soft pneumatic actuators an experimental review |
| topic | soft pneumatic actuators hysteresis modeling |
| url | https://www.mdpi.com/2076-0825/14/7/321 |
| work_keys_str_mv | AT jesusdelamorena hysteresismodelingofsoftpneumaticactuatorsanexperimentalreview AT franciscoramos hysteresismodelingofsoftpneumaticactuatorsanexperimentalreview AT andressvazquez hysteresismodelingofsoftpneumaticactuatorsanexperimentalreview |