--- _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:10.1109/icra.2018.8461106' apa: '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. Presented at the ICRA: International Conference on Robotics and Automation, Brisbane, Australia: IEEE. https://doi.org/10.1109/icra.2018.8461106' 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. https://doi.org/10.1109/icra.2018.8461106. ieee: 'M. Pozzi et al., “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. Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains. 8461106, IEEE, 2018, doi:10.1109/icra.2018.8461106. 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' ...