Model Identification of Soft Robotic Tongue Mimicking English Pronunciation Movements

A novel soft robotic tongue mimicking English pronunciation movements aimed at English learning support is presented. The soft robotic tongue consists of three soft actuators representing basic tongue movements when pronouncing English sounds: bend, bulge, and flap. Each soft actuator followed the conventional discrete actuation chambers. Each deformation was experimented with to obtain the data and to compare its relationship between air pressure and each bending angle. The relationship will then be expressed into an equation. In addition, the kinematic model of each deformation was directed. Based on the results, all deformation exhibits a nonlinear relationship and equations representing the relationship between air pressure and deformation parameters are obtained.