Modeling a Sensorized Soft Layer for Adding Compliance to the Environment in Robotic Manipulation

Soft robots are spreading quickly and widely thanks to their adaptability, tolerance to uncertainties, reliability, and intrinsic safety. To predict their behaviour and optimize their design, it is fundamental to devise models that account for the fact that they are made of highly non-linear materials and can be subjected to large, continuous deformations. In this work, we focus on modelling a soft robotic device developed to provide controllable compliance and sensing capabilities to the environment. Different models for non-linear materials in FEM static simulations are tested to evaluate which type of representation is more convenient in terms of accuracy.