Continuum soft robots are made up of soft material components (referred to as continuum), rigid components, actuators, and sensors. By structurally deforming the continuum, a motion of the entire system is initiated. To capture the interaction of the actuators on the soft material deformation and the corresponding sensor readings, mathematical models involving geometrical, material, and inertia parameters of the physical system must be set up to predict its complex physical behavior.

中文翻译：

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连续体软机器人的分数阶控制：结合解耦/简化动力学模型和用于复杂软机器人运动的鲁棒分数阶控制器

Continuum 软体机器人由软材料部件（简称连续体）、刚性部件、执行器和传感器组成。通过在结构上使连续体变形，启动整个系统的运动。为了捕捉致动器对软材料变形的相互作用和相应的传感器读数，必须建立涉及物理系统的几何、材料和惯性参数的数学模型，以预测其复杂的物理行为。