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Understanding how an animal can deform and articulate is essential for a realistic modification of its 3D model. In this paper, we show that such information can be learned from user-clicked 2D images and a template 3D model of the target…
Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…
Application of soft and compliant joints in grasping mechanisms received an increasing attention during recent years. This article suggests the design and development of a novel bio-inspired compliant finger which is composed of a 3D…
Dislocation patterning and self-organization during plastic deformation are associated with work hardening, but the exact mechanisms remain elusive. This is partly because studies of the structure and local strain during the initial stages…
Modelling the large deformation of hyperelastic solids under plane stress conditions for arbitrary compressible and nearly incompressible material models is challenging. This is in contrast to the case of full incompressibility where the…
In this thesis we develop a stabilised finite element method for solving the equations of poroelasticity to enable solving complex models of biological tissues such as the human lungs. For the proposed numerical scheme, we use the lowest…
Statistical shape modeling is the computational process of discovering significant shape parameters from segmented anatomies captured by medical images (such as MRI and CT scans), which can fully describe subject-specific anatomy in the…
The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…
In a companion article (Part 1), we presented the development of a thick continuum-based (CB) shell finite element (FE) based on Mindlin-Reissner theory. We verified the accuracy, efficiency and locking insensitivity of the element in…
This work proposes a new efficient approach for calculating the bending stiffness of two-dimensional materials using simple atomistic tests on small periodic unit cells. The tests are designed such that bending deformations are dominating…
Vessels are complex structures in the body that have been studied extensively in multiple representations. While voxelization is the most common of them, meshes and parametric models are critical in various applications due to their…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
This paper presents a general, nonlinear isogeometric finite element formulation for rotation-free shells with embedded fibers that captures anisotropy in stretching, shearing, twisting and bending -- both in-plane and out-of-plane. These…
This paper proposes a computational framework for the design optimization of stable structures under large deformations by incorporating nonlinear buckling constraints. A novel strategy for suppressing spurious buckling modes related to…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
We perform extended studies of an adaptive finite element method applied to the reconstruction of shapes of buried objects from experimental backscattering data. We use experimental data which are collected by a microwave scattering…
Estimating the body shape and posture of a dressed human subject in motion represented as a sequence of (possibly incomplete) 3D meshes is important for virtual change rooms and security. To solve this problem, statistical shape spaces…
This paper establishes a universal framework for the nonlocal modeling of anisotropic damage at finite strains. By the combination of two recent works, the new framework allows for the flexible incorporation of different established…
We present a methodology to simulate the mechanics of knots in elastic rods using geometrically nonlinear, full three-dimensional (3D) finite element analysis. We focus on the mechanical behavior of knots in tight configurations, for which…
Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…