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Soft actuators have been employed in various fields recently. A miniature pneumatic bending rubber actuator is one of the soft actuators. This actuator will be used for medical and biological fields. Its flexibility and high safety are suitable for fragile objects. However, its modeling is difficult due to its nonlinearity. There are no suitable sensors to measure the output of this actuator. In this paper, the particle swarm optimization-support vector regression (PSO-SVR)-based estimation method with the generalized Gaussian kernel is proposed. An experimental result with the operator-based robust nonlinear control system is employed to verify the effectiveness of the proposed method

A Miniature Pneumatic Bending Rubber Actuator Controlled by Using the PSO-SVR-Based Motion Estimation Method with the Generalized Gaussian Kernel