Finite Element Analysis-Based Soft Robotic Modeling: Simulating a Soft Actuator in SOFA

• Published in: IEEE robotics & automation magazine Vol. 31; no. 3; pp. 97 - 105
• Main Authors: Ferrentino, Pasquale, Roels, Ellen, Brancart, Joost, Terryn, Seppe, Van Assche, Guy, Vanderborght, Bram
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Analytical models; Animation; Engineering education; Finite element analysis; Finite element method; Load modeling; Material properties; Mathematical models; Mechanical systems; Mechanics (physics); Modelling; Programming languages; Python; Robotics; Robots; Simulation; Soft robotics; Source code; Tutorials; XML

Soft robotics modeling is a research topic that is evolving fast. Many techniques are present in literature, but most of them require analytical models with a lot of equations that are time consuming, hard to resolve, and not so easy to handle. For this reason, the help of a soft mechanics simulator...