Modeling and Simulation of Dynamics in Soft Robotics: a Review of Numerical Approaches

Abstract

Purpose of review In this review, we briefly summarize the numerical methods commonly used for the nonlinear dynamic analysis of soft robotic systems. The underlying mechanical principles as well as the geometrical treatment tailored for soft robots are introduced with particular emphasis on one-dimensional models. Additionally, the review encompasses three-dimensional frameworks, available simulation packages, and various types of interaction models, shedding light on the design, actuation, motion control, and internal and external forces of soft robots. Recent findings Reduced-order models can offer high efficiency in characterizing nonlinear deformations, allowing convenient tailoring based on specific structural and material configurations. For pursuing high simulation accuracy and detailed mechanics, the finite element method proves to be a valuable tool through numerous off-the-shelf platforms. Furthermore, machine learning has emerged as a promising tool to effectively address the challenges within the mechanics community. Summary A wide range of kinematic and dynamic numerical models is available for simulating the behaviors of soft robots, offering exceptional adaptability to different geometries and structures based on existing modeling theories and numerical solution algorithms. However, the trade-off between computational complexity and simulation accuracy remains a challenge in achieving fast, accurate, and robust control of soft robots in complex environments.

Continuum Robots and Magnetic Soft Robots: From Models to Interdisciplinary Challenges for Medical Applications

“…Although a plethora of literature has provided non-specialist readers with theoretical overviews of continuum mechanics [ 41 , 124 , 208 , 209 , 210 ] and magnetic soft robotics [ 211 ], offering novices in the field a broad perspective, interdisciplinary researchers still face challenges in selecting appropriate numerical methods and implementing them for numerical solutions. In this context, commercial simulation platforms such as Abaqus [ 212 ] and COMSOL Multiphysics [ 213 ], with their user-friendly interfaces and extensive case libraries, have emerged as powerful tools in interdisciplinary research, significantly lowering the barriers to entry.…”

Cosserat Rod-Based Dynamic Modeling of a Hybrid-Actuated Soft Robot for Robot-Assisted Cardiac Ablation

“…Dynamic movements primarily arise from the structure of the robot, the loading conditions, and the discontinuous changes in loading, rendering quasi-static assumptions inadequate for accurately estimating deformations in soft robots [26]. Numerous approaches have been proposed in the literature for the dynamic modeling of soft robots [27,28]. For instance, the piecewise constant curvature (PCC) representation has been employed to model robot shapes [29,30].…”

Morphing matter: from mechanical principles to robotic applications

“…The exploration of various shape morphing mechanisms over the past few decades has led to a demonstration of various sophisticated soft robotic applications [4,[139][140][141] . In contrast to traditional rigid robots, soft robots are designed to emulate natural organisms and adapt to specific external environments.…”

“…Therefore, the ability to undergo shape morphing becomes a crucial benchmark for evaluating their reconfigurability in diverse surroundings [142,143] . Various actuation strategies have been employed to achieve active shape morphing in soft robotics, including pneumatic [144][145][146][147] , magnetic [140,148,149] , light [150,151] , and heatbased [152,153] methods. These approaches allow soft robots to change their shapes and configurations in response to specific stimuli, making them highly versatile and capable of performing a wide range of tasks.…”