2019
DOI: 10.1089/soro.2018.0047
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A Geometrically Exact Model for Soft Continuum Robots: The Finite Element Deformation Space Formulation

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Cited by 191 publications
(109 citation statements)
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“…Previous efforts to simulate soft robots have focused on Finite Element Method [11][12][13][14][15][16] , voxel-based discretization 17,18 , and modeling of slender soft robot appendages using Cosserat rod theory [19][20][21] . Drawing inspiration from simulation techniques based on discrete differential geometry (DDG) that are widely used in the computer graphics community 22 , we introduce a DDG-based numerical simulation tool for examining the locomotion of limbed soft robots.…”
mentioning
confidence: 99%
“…Previous efforts to simulate soft robots have focused on Finite Element Method [11][12][13][14][15][16] , voxel-based discretization 17,18 , and modeling of slender soft robot appendages using Cosserat rod theory [19][20][21] . Drawing inspiration from simulation techniques based on discrete differential geometry (DDG) that are widely used in the computer graphics community 22 , we introduce a DDG-based numerical simulation tool for examining the locomotion of limbed soft robots.…”
mentioning
confidence: 99%
“…Concentric tubes/ General MIS [22] Bernoulli-Euler elastica theory: statics, 2D Multibackbone [23] Static analysis based on a virtual-work model Serial Segments/ General surgical end-effectors [24,25] Static analysis: Cosserat rod theory Concentric tubes with and without external loads [26] Static analysis: Cosserat rod theory Magnetic Catheter/ General purposes [27] Loaded static analysis: Cosserat rod theory General MIS [28] Dynamic analysis: Cosserat rod model. 3D elesticity Guidewire/ Interventional Radiology procedures [29] FEM: large deformation and inflation Simulations on general medical robots [30] Lumped-parameter model Multiple parallel shafts/ general Magnetic resonance imaging (MRI)-compatible medical manipulators [31] Pseudo-rigid-body model Multiple parallel shafts/ cardiac robotic catheter [32] 2D static analysis: rigid-link modeling Planar tendon-driven continuum manipulator/ general medical robots [33] Static analysis: α Lie group formulation Planar continuum: simulations and bechmark analysis/ intravascular shaping operations [34] 3D static analysis: pseudo rigid body model Magnetic catheter/ General surgical catheters https://doi.org/10.1371/journal.pone.0236121.t001…”
Section: References Modeling Approach and Its Propertiesmentioning
confidence: 99%
“…Others also use FEM but combined in a multiphysics system with spring networks, frictional contact and attachment constraints [GML*19]. And different software tools for FEM simulations are proposed in [GDGS18], or in [HLS*18]. However, it is worth mentioning that SOFA Framework [ACF*07] alongside the Soft Robotics Plugin [CMBL*17], are the most popular applications to model soft robots using FEM because of their different capabilities and performance.…”
Section: State‐of‐the‐artmentioning
confidence: 99%