SGER: Modeling of Deformation under Grasping

PI建议研究如何对抓取对象的变形进行建模。一个主要的推力将是寻找一个表面应变能的几何公式，满足线性弹性模型下的应变-位移关系。图形界面的开发不仅是为了模拟的目的，也是为了用三指BarrettHand进行实验测试。基于线弹性的开发模型将扩展到处理大变形，可能与非线性有限元方法（NFEM）的工具相结合。目标是推动基于线性弹性建模的边界，通过利用抓取是由与手指接触区域的变形而不是由整个形状的变形决定的这一事实来实现实时计算。通过理论探索和实验演示的平衡努力，PI希望深入了解变形存在下抓取的几何和力学。这项工作将为设计抓取可变形物体的策略铺平道路，并对触觉学、计算机图形学和医疗机器人技术有潜在的影响。

The PI proposes to investigate how to model the deformations of grasped objects. A main thrust will be on the search for a geometric formulation of surface strain energy that satisfies the strain-displacement relationships under the linear elasticity model. A graphical interface will be developed not only for the simulation purpose, but also to be experimentally tested with a three-fingered BarrettHand. The developed model based on linear elasticity will be extended to deal with large deformations, possibly combined with tools from the Nonlinear Finite Element Method (NFEM). The objective is to push the boundary of linear elasticity based modeling to achieve real-time computation by exploiting the fact that a grasp is decided by deformations in the contact areas with the fingers not by that of the entire shape. With efforts balanced between theoretical inquiry and experimental demonstration, the PI hopes to gain in-depth understanding of the geometry and mechanics of grasping in the presence of deformation. The proposed work will pave the way for designing strategies for grasping deformable objects, and have potential impact on haptics, computer graphics, and medical robotics.