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This study proposes a hybrid offline and online data\u2010driven scheme to achieve high\u2010precision tracking control of a soft continuum manipulator. First, a novel multiscale deep neural network learns the manipulator model offline. Specifically, the feature fusion module extracts highly discriminative features and captures long\u2010term dependencies from the temporal trajectory data. The self\u2010attention module strengthens the ability to represent fusion features and enhances the model prediction accuracy. Then, the learnt model is updated using multisensor data online, and the proposed controller further compensates for the updated model and enhances the tracking accuracy in the movement stage. Finally, the experimental results demonstrate a significant improvement in motion accuracy under different trajectory\u2010tracking scenarios (i.e., deviations of &lt;1\u2009mm in position and &lt;0.8\u00b0 in orientation). The example of the multiwire cable sorting proves the feasibility of the proposed scheme in high\u2010precision industrial applications.<\/jats:p>","DOI":"10.1002\/aisy.202300827","type":"journal-article","created":{"date-parts":[[2024,9,10]],"date-time":"2024-09-10T01:12:52Z","timestamp":1725930772000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Data\u2010Driven Modeling and High\u2010Precision Tracking Control of a Soft Continuum Manipulator: Enabling Robotic Sorting of Multiwire Cables"],"prefix":"10.1002","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0628-4484","authenticated-orcid":false,"given":"Yuan","family":"Gao","sequence":"first","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 China"}]},{"given":"Zhi","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1151-1995","authenticated-orcid":false,"given":"Fangxun","family":"Zhong","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 China"}]},{"given":"Xiang","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Automation Tsinghua University  Beijing 100000 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3625-6679","authenticated-orcid":false,"given":"Yun\u2010Hui","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering The Chinese University of Hong Kong  Hong Kong 999077 China"}]}],"member":"311","published-online":{"date-parts":[[2024,9,9]]},"reference":[{"key":"e_1_2_13_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_13_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42254-022-00481-z"},{"key":"e_1_2_13_4_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920917203"},{"key":"e_1_2_13_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"e_1_2_13_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2020.102054"},{"key":"e_1_2_13_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.3028813"},{"key":"e_1_2_13_8_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0007"},{"key":"e_1_2_13_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2023.3253419"},{"key":"e_1_2_13_10_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"e_1_2_13_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2613410"},{"key":"e_1_2_13_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2018.2855129"},{"key":"e_1_2_13_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2021.3090838"},{"key":"e_1_2_13_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967269"},{"key":"e_1_2_13_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2554078"},{"key":"e_1_2_13_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2909758"},{"key":"e_1_2_13_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103961"},{"key":"e_1_2_13_18_1","unstructured":"J.Bosman T. 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