Soft actuators driven by pneumatic pressure have been shown to have many potential applications as actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, for they can ensure high safety for fragile objects from their low mechanical impedance. In this paper, a miniature pneumatic bending soft actuator is reviewed, and a nonlinear model of which is identified using support vector regression (SVR). That is, based on characteristic analysis of miniature pneumatic bending soft actuator, a new output variable is designed, and a nonlinear model is presented. Motion characteristics are studied by experiment, and the nonlinear model is identified based on experimental data.
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