Finite element method
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About
The finite element method (FEM) is a numerical computational technique that divides complex structures or geometries into smaller, interconnected elements to solve differential equations governing physical behavior such as stress, deformation, heat transfer, and fluid dynamics. In robotics and AI, FEM is widely applied to simulate and predict the mechanical behavior of components ranging from soft pneumatic actuators and compliant mechanisms to flexible robotic links and biological tissues. It enables engineers to model highly nonlinear materials like silicone elastomers and shape memory alloys, analyze contact mechanics, optimize structural designs before fabrication, and develop real-time control strategies for soft robots. FEM is also essential in surgical robotics for modeling needle insertion forces and patient-specific implant design. Its importance lies in providing accurate, physics-based predictions that reduce costly physical prototyping, enable validation of theoretical models against experimental data, and support the design of safer, more capable robotic systems operating in unstructured or biomechanical environments.
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Modeling of Soft Fiber-Reinforced Bending Actuators
Panagiotis Polygerinos, Zheng Wang, Johannes T. B. Overvelde, Kevin C. Galloway, Robert J. Wood, Katia Bertoldi, Conor J. Walsh
Citations: 883 • 2015
Force Modeling for Needle Insertion Into Soft Tissue
Allison M. Okamura, Christina Simone, M.D. O'Leary
Citations: 815 • 2004
Compliant Mechanisms: Design of Flexure Hinges
Nicolae Lobontiu
Citations: 595 • 2002
Towards a soft pneumatic glove for hand rehabilitation
Panagiotis Polygerinos, Stacey Lyne, Zheng Wang, Luis Fernando Nicolini, Bobak Mosadegh, George M. Whitesides, Conor J. Walsh
Citations: 525 • 2013
Mechanical properties of brain tissue in-vivo: experiment and computer simulation
Karol Miller, Kiyoyuki Chinzei, Girma Orssengo, Piotr Bednarz
Citations: 506 • 2000
Piezoelectric Shells: Distributed Sensing and Control of Continua
H. S. Tzou
Citations: 432 • 1993
Biomechanics of Soft Tissue
Gerhard A. Holzapfel
Citations: 414 • 2001
Design and control of tensegrity robots for locomotion
Chandana Paul, Francisco J. Valero‐Cuevas, Hod Lipson
Citations: 412 • 2006
Recent Progress on Flexible Capacitive Pressure Sensors: From Design and Materials to Applications
Rishabh Mishra, Nazek El‐Atab, Aftab M. Hussain, Muhammad M. Hussain
Citations: 405 • 2021
Shape Memory Alloy-Based Soft Gripper with Variable Stiffness for Compliant and Effective Grasping
Wei Wang, Sung‐Hoon Ahn
Citations: 351 • 2017
3D Printed Reversible Shape Changing Components with Stimuli Responsive Materials
Yiqi Mao, Zhen Ding, Chao Yuan, Shigang Ai, Michael Isakov, Jiangtao Wu, Tiejun Wang, Martin L. Dunn, H. Jerry Qi
Citations: 341 • 2016
A Bending Pneumatic Rubber Actuator Realizing Soft-bodied Manta Swimming Robot
Koichi Suzumori, Satoshi Endo, Takefumi Kanda, Naomi Kato, Hiroyoshi Suzuki
Citations: 338 • 2007
A finite‐element approach to control the end‐point motion of a single‐link flexible robot
Eduardo Bayo
Citations: 331 • 1987
Toward a Common Framework and Database of Materials for Soft Robotics
Luc Maréchal, Pascale Balland, Lukas Lindenroth, Fotis Petrou, Christos Kontovounisios, Fernando Bello
Citations: 326 • 2020
Conservative Congruence Transformation for Joint and Cartesian Stiffness Matrices of Robotic Hands and Fingers
Shih-Feng Chen, Imin Kao
Citations: 322 • 2000
Soft Robots Modeling: A Structured Overview
Costanza Armanini, Frédéric Boyer, Anup Teejo Mathew, Christian Duriez, Federico Renda
Citations: 292 • 2023
Finite Element Modeling of Soft Fluidic Actuators: Overview and Recent Developments
Matheus S. Xavier, Andrew J. Fleming, Yuen Kuan Yong
Citations: 292 • 2020
Control of elastic soft robots based on real-time finite element method
Christian Duriez
Citations: 290 • 2013
Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey
Mingxiang Ling, Larry L. Howell, Junyi Cao, Guimin Chen
Citations: 265 • 2019
A Validated Three-Dimensional Computational Model of a Human Knee Joint
G. Li, Jorge E. Gil, Akira Kanamori, Savio L‐Y. Woo
Citations: 262 • 1999