--- res: bibo_abstract: - In the context of robotic manipulation and grasping, the shift from a view that is static (force closure of a single posture) and contact-deprived (only contact for force closure is allowed, everything else is obstacle) towards a view that is dynamic and contact-rich (soft manipulation) has led to an increased interest in soft hands. These hands can easily exploit environmental constraints and object surfaces without risk, and safely interact with humans, but present also some challenges. Designing them is difficult, as well as predicting, modelling, and “programming” their interactions with the objects and the environment. This paper tackles the problem of simulating them in a fast and effective way, leveraging on novel and existing simulation technologies. We present a triple-layered simulation framework where dynamic properties such as stiffness are determined from slow but accurate FEM simulation data once, and then condensed into a lumped parameter model that can be used to fast simulate soft fingers and soft hands. We apply our approach to the simulation of soft pneumatic fingers.@eng bibo_authorlist: - foaf_Person: foaf_givenName: Maria foaf_name: Pozzi, Maria foaf_surname: Pozzi - foaf_Person: foaf_givenName: Eder foaf_name: Miguel Villalba, Eder foaf_surname: Miguel Villalba foaf_workInfoHomepage: http://www.librecat.org/personId=3FB91342-F248-11E8-B48F-1D18A9856A87 orcid: 0000-0001-5665-0430 - foaf_Person: foaf_givenName: Raphael foaf_name: Deimel, Raphael foaf_surname: Deimel - foaf_Person: foaf_givenName: Monica foaf_name: Malvezzi, Monica foaf_surname: Malvezzi - foaf_Person: foaf_givenName: Bernd foaf_name: Bickel, Bernd foaf_surname: Bickel foaf_workInfoHomepage: http://www.librecat.org/personId=49876194-F248-11E8-B48F-1D18A9856A87 orcid: 0000-0001-6511-9385 - foaf_Person: foaf_givenName: Oliver foaf_name: Brock, Oliver foaf_surname: Brock - foaf_Person: foaf_givenName: Domenico foaf_name: Prattichizzo, Domenico foaf_surname: Prattichizzo bibo_doi: 10.1109/icra.2018.8461106 dct_date: 2018^xs_gYear dct_identifier: - UT:000446394503031 dct_isPartOf: - http://id.crossref.org/issn/9781538630815 dct_language: eng dct_publisher: IEEE@ dct_title: Efficient FEM-based simulation of soft robots modeled as kinematic chains@ ...