The Cosserat model has been introduced in continuum robotics to simulate the deformation the robot body whose geometry and mechanical characteristics are similar to a rod. By extension, this model can be used to simulate needles and sutures or wires. Available under the LGPL open-source license, this plugin comes with a documentation file.
For the modeling of linear structures, it is therefore possible to find a framework very close to the articulated solids with a series of rigid solids whose relative position is defined by a strain state. This model can be used to model and control concentric tube robots, continuum robots actuated with cables or pneumatic soft robots with a constant cross-section. There are several formalism to model Cosserat rods.
In this plugin, we have developed the Piecewise Constant Strain (PCS) presented by Federico Renda in the SOFA framework.
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