We have developed a new model to simulate contact and rolling motion between two soft fingers and an object by using Finite Element and Constraint Stabilization Methods. This model is more efficient than the penalty method in connecting boundaries of objects through discrete models such as finite element models and particle models. We show the validity of this method through the simulation of grasping and rolling using two soft fingers described by the 2D finite element model.
There are many kinds of deformable objects in our living life. Some of them exhibit rheological behaviors when they are subject to external force, such as human tissues, human organs, and food. If we want to simulate or control such behaviors, we have to know the physical parameters of the object in advance. In this paper, we propose an approach to identify these parameters based on 2D finite element (FE) simulation and measurement of deformation and force. At first, 2D FE model used to simulate rheological deformation was described. Then, identification method was presented according to the analysis of simulation results. Identification results for simulation were also given. Finally, this method was applied to a object made of clay. Deformation and force were measured by camera and tactile sensor respectively. The identification results show the validity and effectiveness of this method.
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