Due to their high motion flexibility and outstanding environmental adaptability, inflatable soft drivers have gradually been adopted to the fields of medical treatment, home service and human movement assistance. They have shown advantages of flexible operation and soft contact. In this chapter, an optimization method for inverse kinematics solving of the inflatable soft driver is proposed, which realizes the fast modeling and operation control. In general, the input air pressure of the inflatable driver forms an n-dimensional vector \(\boldsymbol{p}\) and the output is an m-dimensional vector \(\boldsymbol{r}\) formed by the position of the end of the driver. The forward kinematics model can be described as the calculation of the end position with the given input pressure. The inverse model can be described as calculation of the input pressure with the given end position, i.e., the inverse kinematics problem. At present, the forward model usually adopts the precise or approximate method based on geometric deformation or finite element simulation and so on.