---
_id: '6195'
abstract:
- lang: eng
  text: 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.
article_number: '8461106'
article_processing_charge: No
author:
- first_name: Maria
  full_name: Pozzi, Maria
  last_name: Pozzi
- first_name: Eder
  full_name: Miguel Villalba, Eder
  id: 3FB91342-F248-11E8-B48F-1D18A9856A87
  last_name: Miguel Villalba
  orcid: 0000-0001-5665-0430
- first_name: Raphael
  full_name: Deimel, Raphael
  last_name: Deimel
- first_name: Monica
  full_name: Malvezzi, Monica
  last_name: Malvezzi
- first_name: Bernd
  full_name: Bickel, Bernd
  id: 49876194-F248-11E8-B48F-1D18A9856A87
  last_name: Bickel
  orcid: 0000-0001-6511-9385
- first_name: Oliver
  full_name: Brock, Oliver
  last_name: Brock
- first_name: Domenico
  full_name: Prattichizzo, Domenico
  last_name: Prattichizzo
citation:
  ama: 'Pozzi M, Miguel Villalba E, Deimel R, et al. Efficient FEM-based simulation
    of soft robots modeled as kinematic chains. In: IEEE; 2018. doi:<a href="https://doi.org/10.1109/icra.2018.8461106">10.1109/icra.2018.8461106</a>'
  apa: 'Pozzi, M., Miguel Villalba, E., Deimel, R., Malvezzi, M., Bickel, B., Brock,
    O., &#38; Prattichizzo, D. (2018). Efficient FEM-based simulation of soft robots
    modeled as kinematic chains. Presented at the ICRA: International Conference on
    Robotics and Automation, Brisbane, Australia: IEEE. <a href="https://doi.org/10.1109/icra.2018.8461106">https://doi.org/10.1109/icra.2018.8461106</a>'
  chicago: Pozzi, Maria, Eder Miguel Villalba, Raphael Deimel, Monica Malvezzi, Bernd
    Bickel, Oliver Brock, and Domenico Prattichizzo. “Efficient FEM-Based Simulation
    of Soft Robots Modeled as Kinematic Chains.” IEEE, 2018. <a href="https://doi.org/10.1109/icra.2018.8461106">https://doi.org/10.1109/icra.2018.8461106</a>.
  ieee: 'M. Pozzi <i>et al.</i>, “Efficient FEM-based simulation of soft robots modeled
    as kinematic chains,” presented at the ICRA: International Conference on Robotics
    and Automation, Brisbane, Australia, 2018.'
  ista: 'Pozzi M, Miguel Villalba E, Deimel R, Malvezzi M, Bickel B, Brock O, Prattichizzo
    D. 2018. Efficient FEM-based simulation of soft robots modeled as kinematic chains.
    ICRA: International Conference on Robotics and Automation, 8461106.'
  mla: Pozzi, Maria, et al. <i>Efficient FEM-Based Simulation of Soft Robots Modeled
    as Kinematic Chains</i>. 8461106, IEEE, 2018, doi:<a href="https://doi.org/10.1109/icra.2018.8461106">10.1109/icra.2018.8461106</a>.
  short: M. Pozzi, E. Miguel Villalba, R. Deimel, M. Malvezzi, B. Bickel, O. Brock,
    D. Prattichizzo, in:, IEEE, 2018.
conference:
  end_date: 2018-05-25
  location: Brisbane, Australia
  name: 'ICRA: International Conference on Robotics and Automation'
  start_date: 2018-05-21
date_created: 2019-04-04T09:50:38Z
date_published: 2018-09-10T00:00:00Z
date_updated: 2023-09-19T14:49:03Z
day: '10'
department:
- _id: BeBi
doi: 10.1109/icra.2018.8461106
external_id:
  isi:
  - '000446394503031'
isi: 1
language:
- iso: eng
month: '09'
oa_version: None
publication_identifier:
  isbn:
  - '9781538630815'
publication_status: published
publisher: IEEE
quality_controlled: '1'
scopus_import: '1'
status: public
title: Efficient FEM-based simulation of soft robots modeled as kinematic chains
type: conference
user_id: c635000d-4b10-11ee-a964-aac5a93f6ac1
year: '2018'
...