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This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work seeks to provide an accelerated entrance to new researchers in the field to encourage research and innovation. Advances in methods to accurately model soft robotic actuators have been researched, optimizing and making numerous soft robotic designs applicable to medical, manufacturing, and electronics applications. Multi-material 3D printed and fiber optic soft pneumatic actuators have been developed, which will allow for more accurate positioning and tactile feedback for soft robotic systems. Also, a variety of research teams have made improvements to soft robot control systems to utilize soft pneumatic actuators to allow for operations to move more effectively. This review work provides an accessible repository of recent information and comparisons between similar works. Future issues facing soft robotic actuators include portable and flexible power supplies, circuit boards, and drive components.

the ECB, and the NBER. The usual disclaimer applies. The views expressed herein are those of the authors and do not necessarily reflect the views of the National Bureau of Economic Research. NBER working papers are circulated for discussion and comment purposes. They have not been peer-reviewed or been subject to the review by the NBER Board of Directors that accompanies official NBER publications.

In this paper we consider the problem of inference in statistical models characterized by moment restrictions by casting the problem within the Exponentially Tilted Empirical Likelihood (ETEL) framework. Because the ETEL function has a well defined probabilistic interpretation and plays the role of a nonparametric likelihood, a fully Bayesian semiparametric framework can be developed. We establish a number of powerful results surrounding the Bayesian ETEL framework in such models. One major concern driving our work is the possibility of misspecification. To accommodate this possibility, we show how the moment conditions can be reexpressed in terms of additional nuisance parameters and that, even under misspecification, the Bayesian ETEL posterior distribution satisfies a Bernstein-von Mises result. A second key contribution of the paper is the development of a framework based on marginal likelihoods and Bayes factors to compare models defined by different moment conditions. Computation of the marginal likelihoods is by the method of Chib (1995) as extended to Metropolis-Hastings samplers in Chib and Jeliazkov (2001). We establish the model selection consistency of the marginal likelihood and show that the marginal likelihood favors the model with the minimum number of parameters and the maximum number of valid moment restrictions. When the models are misspecified, the marginal likelihood model selection procedure selects the model that is closer to the (unknown) true data generating process in terms of the Kullback-Leibler divergence. The ideas and results in this paper provide a further broadening of the theoretical underpinning and value of the Bayesian ETEL framework with likely far-reaching practical consequences. The discussion is illuminated through several examples.

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