Simulation of soft fingertip deformation under contact and rolling constraints using FEM and CSM

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.