Abstract
The growing interest in soft robotics has resulted in an increased demand for accurate and reliable material modelling. As soft robots experience high deformations, highly nonlinear behavior is possible. Several analytical models that are able to capture this nonlinear behavior have been proposed, however, accurately calibrating them for specific materials and applications can be challenging. Multiple experimental testbeds may be required for material characterization which can be expensive and cumbersome. In this work, we propose an alternative framework for parameter fitting established hyperelastic material models, with the aim of improving their utility in the modelling of soft continuum robots. We define a minimization problem to reduce fitting errors between a soft continuum robot deformed experimentally and its equivalent finite element simulation. The soft material is characterized using four commonly employed hyperelastic material models (Neo Hookean; Mooney-Rivlin; Yeoh; and Ogden). To meet the complexity of the defined problem, we use an evolutionary algorithm to navigate the search space and determine optimal parameters for a selected material model and a specific actuation method, naming this approach as Evolutionary Inverse Material Identification (EIMI). We test the proposed approach with a magnetically actuated soft robot by characterizing two polymers often employed in the field: Dragon Skin™ 10 MEDIUM and Ecoflex™ 00-50. To determine the goodness of the FEM simulation for a specific set of model parameters, we define a function that measures the distance between the mesh of the FEM simulation and the experimental data. Our characterization framework showed an improvement greater than 6% compared to conventional model fitting approaches at different strain ranges based on the benchmark defined. Furthermore, the low variability across the different models obtained using our approach demonstrates reduced dependence on model and strain-range selection, making it well suited to application-specific soft robot modelling.