Related papers: STMPL: Human Soft-Tissue Simulation
Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…
Recently, skeleton-based human action has become a hot research topic because the compact representation of human skeletons brings new blood to this research domain. As a result, researchers began to notice the importance of using RGB or…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
Skeletal muscles are living tissues that can undergo large deformations in short periods of time and that can be activated to produce force. In this paper we use the principles of continuum mechanics to propose a dynamic, fully non-linear,…
In this paper, we develop a principled method to model line and surface contact with point contact (we call this point, equivalent contact point) that is consistent with physics-based models of surface (line) contact. Assuming that the set…
We present an approach to robustly track the geometry of an object that deforms over time from a set of input point clouds captured from a single viewpoint. The deformations we consider are caused by applying forces to known locations on…
Statistical shape modeling (SSM) is widely used in biology and medicine as a new generation of morphometric approaches for the quantitative analysis of anatomical shapes. Technological advancements of in vivo imaging have led to the…
We present a novel convex formulation that weakly couples the Material Point Method (MPM) with rigid body dynamics through frictional contact, optimized for efficient GPU parallelization. Our approach features an asynchronous time-splitting…
We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…
This scientific paper explores two distinct approaches for identifying and approximating the simulation model, particularly in the context of the snap process crucial to medical device assembly. Simulation models play a pivotal role in…
Particle-based shape modeling (PSM) is a popular approach to automatically quantify shape variability in populations of anatomies. The PSM family of methods employs optimization to automatically populate a dense set of corresponding…
Accurate and efficient simulation tools are essential in robotics, enabling the visualization of system dynamics and the validation of control laws before committing resources to physical experimentation. Developing physically accurate…
This paper presents a new technique for the virtual reality (VR) visu-alization of complex volume images obtained from computer tomography (CT) and Magnetic Resonance Imaging (MRI) by combining three-dimensional (3D) mesh processing and…
A Finite Element model of the face soft tissue is proposed to simulate the morphological outcomes of maxillofacial surgery. Three modelling options are implemented: a linear elastic model with small and large deformation hypothesis, and an…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
We present a self-supervised method to learn dynamic 3D deformations of garments worn by parametric human bodies. State-of-the-art data-driven approaches to model 3D garment deformations are trained using supervised strategies that require…
Computational modelling offers a cost-effective and time-efficient alternative to experimental studies in biomedical engineering. In cardiac electro-mechanics, finite element method (FEM)-based simulations provide valuable insights into…
Generating realistic intermediate shapes between non-rigidly deformed shapes is a challenging task in computer vision, especially with unstructured data (e.g., point clouds) where temporal consistency across frames is lacking, and…
Inspired by the success of volumetric 3D pose estimation, some recent human mesh estimators propose to estimate 3D skeletons as intermediate representations, from which, the dense 3D meshes are regressed by exploiting the mesh topology.…
In this paper, we consider the problem to automatically reconstruct garment and body shapes from a single near-front view RGB image. To this end, we propose a layered garment representation on top of SMPL and novelly make the skinning…