SOFA Week 2021


The SOFA Week is designed to gather the entire SOFA community, to present technological and scientific advances, while fostering the networking within the community. Already two successful editions in 2018, 2019 and 2020, get ready for 2021!

Save the date: 22-26th November — a 2021 edition 100% online!

Open Registration

18th Nov 2021:   Training session

To start the SOFA week, a training session will take place to provide new users (and any interested participant) an efficient introduction to SOFA. The training focuses on the SOFA main principles, the community, theoretical backgrounds on physics simulation, hands-on user and developer tutorials.

22nd Nov 2021:   DRIVEN workshop (free – satellite event)

Opening the week on the Monday 22nd, an open workshop is organized by the DRIVEN project and proposed as a satellite event. Funded by the EU’s Horizon 2020 programme for research and innovation, the DRIVEN project focuses on data-driven simulation.

23rd Nov 2021:   International SOFA Symposium (free)

The symposium focuses on research and scientific achievements based on SOFA. This symposium allows international researchers from the SOFA community to present their scientific work, their plugins and propose live demonstrations. It is also the annual meeting where companies using SOFA can demonstrate their latest products. Finally, it is the opportunity to meet the community and create strong collaborations.

24-26th Nov 2021:   Technical committee (free)

This committee focuses on technical discussions on current and future developments in SOFA. With developers of the community and SOFA Technical Members, the technical roadmap for the next release is jointly designed. It is also a unique opportunity to meet the developer community and code all together.

Day: 18th November 2021
Location: Online
Level: Beginner – Medium (max 8 participants)

Registration costs

  • early bird: 500€ (before the 15th October 2021)
  • regular fare: 650€ excl. tax.

This training session aims at providing a wide introduction to SOFA and its community while ensuring the mathematical, physical and computer science backgrounds in order to start in the best conditions with SOFA.


Time (CET) Training steps
9:00 am – 10:00 am Overview of SOFA and its community
10:00 am -10:30 am Coffee – for a good start!
10:30 am – 11 am Examples of applications with SOFA
11:00 am – noon User Tutorial (part 1)
noon – 1:30 pm Lunch
1:30 pm – 3 pm User Tutorial (part 2)
3 pm – 4 pm Understand physics with SOFA: from the math to the code
4 pm – 4:15 pm Coffee break
4:15 pm – 5:00 pm Developer Tutorial: start your own plugin

Day: 22nd November 2021
Location: Online

For the first time, the SOFA Week 2021 includes a satellite event: a workshop organized by the EU project: DRIVEN. The overall aim of the DRIVEN project is to boost the scientific excellence and innovation capacity in data-driven simulation. Three topics are addressed by the different partners:

  • Mathematical foundations for data-driven simulations (University of Luxembourg and University of Texas Austin)
  • Data-driven simulations for computer-assisted therapy (University of Luxembourg and Inria)
  • Data-driven simulations for functional composite materials (University of Luxembourg and University of Limerick)

Download PDF program


Time (CET) Title Speaker
2:00 pm Welcome address & introduction to the online workshop Stéphane Bordas
2:10 pm Setting the scene for biomechanics Yohan Payan
2:40 pm Real-time deformations using physics-aware artificial neural network Alban Odot
3:10 pm
3:30 pm Finite Element modelling, tissue characterization and inverse Methods to understand the pathways of skin integrity Pierre-Yves Rohan
4:00 pm Modeling, control and applications of soft robots Olivier Goury
4:30 pm Explaining how programmable matter can help mimic life Jakub Lengiewicz
5:00 pm Concluding words Stéphane Bordas

Feel free to join by requesting access when registering!

Day: 23rd November 2021
Location: Online

Researchers and companies from the SOFA community join the Symposium in order to share ideas, experiences and to present their on-going research or products based on SOFA. Several sessions of presentations will be organized regarding various simulation topics and application fields. Booths will also be made available for technology demonstrations. This international event is an exciting opportunity, fostering discussions and new collaborations!

Program (following the Central European Time)

Download PDF program

9:00 am Online welcoming
9:15 am Introduction: SOFA Week 2021
9:30 am Modeling and control of self-healing soft robots with SOFA Ferrentino, Pasquale
9:45 am Modeling of soft jointed miniaturized robot forhigh speed micromanipulation Leveziel, Maxence
10:00 am Parallel continuum robots modeling using SOFA’s SoftRobots plugin Mauzé, Benjamin
10:15 am Evolving soft-robots with realistic fluidic actuators using CPPN-NEAT in SOFA Pienaar, Michael
10:30 am
Break – meet with the speakers online
Numerical methods
for simulation
10:50 am Implementation of a new linear solver using left-looking Cholesky decomposition Pinçon, Philippe
11:05 am FeniCSX: approach for automatic differentiation for hyperelastic simulations Mazier, Arnaud
11:20 am Isolating mechanical DOFs: fast computation of compliance matrix in contact simulations Zeng, Ziqiu
11:35 am An adjoint method for surface matching with SofaPython3 Mestdagh, Guillaume
11:50 am
Break – meet with the speakers online
12:10 am
Lunch & Online networking
1:15 pm SOFA international community & presentation of the SOFA Awards
Medical robotics
1:30 pm Model-based sensing for the implementation of a smart prostate phantom Escaida N., Stefan
1:45 pm Human machine interface for robot-assisted intraluminal procedures Finocchiaro, Martina
2:00 pm A framework for autonomous surgery: the role of simulation Tagliabue, Eleonora
2:15 pm Plastic Cosserat beam model and applications Krewcun, Camille
2:30 pm
Break – meet with the speakers online
Medical simulation:
haptics, AR & VR
2:50 pm InfinyTech3D: haptics and cutting, new SOFA plugins release Pernod, Erik
3:05 pm A visuo-haptic simulator for surgical training Ricci, Serena
3:20 pm A 4-dof input device (for interactive training with SOFA) that you already own Peters, Jorg
3:35 pm Microsurgery simulator of a cerebral aneurysm clipping with interactive deformation in a mixed-reality environment Civilla, Lorenzo
3:50 pm
Break – meet with the speakers online
Medical simulation:
training & planning
4:10 pm A novel VR platofrm for outpatient hysteroscopy training Poliakov, Vladimir
4:25 pm A tumor growth simulation and an open-source viewing tool for SOFA Somers, Peter
4:40 pm A hybrid method for fast realistic soft tissue modeling Bounik, Zahra
4:55 pm
Break – meet with the speakers online
5:15 pm Award Ceremony 2021
5:30 pm Futures developments in SOFA: introduction of the STC#12
Closing of the Symposium

2019 edition

2018 edition

Day: 24-26th, November 2021
Location: Online
Level: Medium – Advanced

The week will close with the 12th SOFA Technical Committee. This technical committee governs and takes all technical decisions for the roadmap towards upcoming releases. It is open and free to all!

Download PDF program


Day 1 (CET) Wednesday 24th November
9:00 am Online welcoming
9:10 am – 9:30 am STC#12 opening & Consortium news
9:30 am – 11:30 am Roundtable
Share your latest activity around SOFA (past and future).
11:30 am – 12:30 pm v21.12 roadmap contributions
Review together v21.12 progress.
12:30 pm – 1:30 pm Lunch
1:30 pm – 2:30 pm Select potential projects for v22.06 roadmap
Select projects that satisfy the roadmap entry criterias.
2:30 pm – 4:30 pm Define 6-month objectives for each potential project
List ~5 objectives per project for the next in 6 months.
4:45 pm – 5:30 pm Review objectives to finalize v22.06 roadmap
For each project, are we satisfied with the objectives?
If yes, the project is added to v22.06 roadmap.

Day 2 (CET) Thursday 25th November
9:15 am – 5:00 pm Technical discussions and coding sprint
See final agenda and sprint tasks.

Day 3 (CET) Friday 26th November
9:15 am – 4:00 pm Technical discussions and coding sprint
See final agenda and sprint tasks.

This year again, the SOFA consortium has the pleasure to organize the Open-Source SOFA Awards!

All contributions are eligible for application: it can be an open-source plugin, a pull-request on GitHub, a video, a tutorial or documentation pages! Two award categories are open for competition:

Organizers’ Prize
Prize: 600€
Public Prize
Prize: 400€


QSofaGLViewTools Somers, Peter This repository provides very easy to use pyqt widgets for viewing Sofa cameras in python3 and makes it easy for users to build their own python-based simulations and have full control over the simulation environment. Features are still being added and examples are included to show usage.
Force field for Reissner-Mindlin flat element Nguyen Huu, Nhan This force field component is particular for bending quad-element (5 DoF for each node) which is not available in SOFA. Although, at this moment, it is assume that 2 degrees of freedom related to rotational displacements of a node in x and y-axis (z is the normal axis of the element) are ignored for the purpose of my research. However, in the near future, I would definitely complete it. I hope that this component will be useful for users who want to simplify your model from 3D element to 2D for fast computation, especially for soft robot simulations.
SofaBenchmark Bilger, Alexandre A Sofa application to benchmark Sofa code using google benchmark. It allows to measure the duration of the execution of simple code snippets, similar to unit tests. The code is executed multiple times until having a statistically stable result.
The project was already used to compare different implementations of the same algorithm in order to choose the fastest one.
SofaCaribou Brunet, Jean-Nicolas The SofaCaribou plugin brings advanced numerical tools to SOFA. Its modern C++ design is based on compile-time polymorphism using comprehensible template metaprogramming. It also mixes high performance with high generecity: most components are completely independent from the element type (triangle, quad, tetrahedron, hexahedron, etc.). It therefore allows the developer of a component to focus on the algorithm itself and delegate to the compiler the generation of any element specific implementation. Moreover, most components are accompanied by their respective python bindings. This plugin is therefore fully on pair with the SofaPython3 plugin.

  • Quadratic triangle, quad, tet and hexa elements
  • Element-generic mass with optional lumping
  • Element-generic optimized hyperelastic forcefield
  • Eigen wrappers for sparse linear solvers
  • Non-linear Newton-Raphson solvers for static and bwd schemes
  • Element-generic barycentric mapping
  • Robust unittests for most components
  • Validation against FEBio and FEniCS, replicable with docker
  • Validation against manufactured solutions
  • Comprehensive user documentation
  • Detailed developer documentation

Awards committee

  • Nazim Haouchine – SPL Harvard Medical School
  • Francois Jourdes – InSimo
  • Damien Marchal – CNRS
  • Frederick Roy – Inria

Previous winners

Organizers’ Prize Public Prize
  • 2020 – Plugin: SofaRHI, by Frédérick R.
  • 2019 – Plugin: SofaPython3, by Damien M. et al.


Allard, Jérémie CTO – InSimo, France Medical simulation
Behnam, Binesh Technical manager – Simedix, Iran Medical simulation
Bianco, Rohan-Jean Co-Founder – Philomec Inc., France Mechanical simulation
Brunet, Jean-Nicolas Engineer – Opal-RT, Canada Mechanical simulation
Coevoet, Eulalie Freelance, France Soft-robotics
Dejean, Lub Managing partner – TranscendanceVC, Singapore Investment VC
Duncan, Chris CEO – Sonovance, USA Simulation, VR/AR
Fougères, Daniel Consultant – Association MICADO, France Biomechanical simulation
Faisal, Mahir Engineer – RRAD, Bangladesh VR simulation
Gasparini, Cesar Engineer – VirtualiSurg, Franc VR
Hajdinjak, Mladen Engineer – HAJ-KOM d.o.o., Croatia Radio technology
Hamze, Noura Research Scientist – MED-EL, Swiss Medical devices
Jourdes, François Research lead – InSimo, France Medical simulation
Lete, Edouard Engineer – Siemens Digital Industries, France Biomechanical simulation
Nikolaev, Sergei Engineer – Freelancer, France Data assimilation
Olsson, Fredrik CEO – Follou, Sweden Haptic interfaces
Péan, Fabien Freelance, France Biomechanics
Pernod, Erik CEO – InfinyTech3D, France VR, Physics simulation
Pinçon, Philippe Engineer – InSimo, France Medical simulation
Pradhan, Simit Engineer – Siemens Technology, India Soft-robotics
Schegg, Pierre PhD Student – Robocath, France Soft-robotics RL
Strunz, Martin Freelancer Image Processing
Tournier, Maxime Dev leader – Anatoscope, France Patient-specific anatomy
Yu, Yang Engineer – QingDao Mimesis Science, China Biomechanical simulation


Adagolodjo, Yinoussa Postdoc – Inria Lille, France Soft-robotics
Al-Zogbi, Lydia PhD Student – Johns Hopkins University, USA Medical Robotics
Albanesi, Alessandro MSc Student – TPStrasbourg, France Medical simulation
Albor, Efraín PhD Student – ICAT – UNAM, Mexico Biomechanical simulation
Alkhodary, Abdelrahman PhD Student – Bahcesehir University, Turkey Soft-robotics
Alshawabkeh, Moham. Researcher – CUAS, Austria Soft-robotics
Arikan, Kaan PhD Student – University of Western Ontario, Canada Biomechanics
Awada, Zeinab PhD Student – LIRMM, France Soft-robotics
Ayed, Anass PhD Student – HITSS, Tunisia Biomechanical simulation
Baird, Austin Researcher – Uni Washington, USA Biomechanical simulations
Baksic, Paul PhD Student – University of Strasbourg, France Medical robotics
Bessard, Rémi Engineer – Inria Strasbourg, France Biomechanical simulation
Bilger, Alexandre Engineer – Inria Lille, France Soft-robotics
Bounik, Zahra PhD Student – Sahand Univ. of Technology, Iran Medical simulation
Chen, Xu PhD Student – Imperial College London, UK Soft-robotics
Basavasagar, K Patil Undergraduate Student – RVCE, India Soft-robotics
Ben Ahmed, Sabrina Medical doctor – ESME, France Biomechanical simulation
Choe, Jaehun PhD Student – MIT, USA Robotics
Civilla, Lorenzo Master Student – Politecnico di Milano, Italy Biomechanical simulation
Courtecuisse, Hadrien Researcher – ICube CNRS, France Simulation, robotics
Crespel, Octave MSc. Student – École Polytechnique, France Soft-robotics
Dall’Alba, Diego Researcher – University Verona, Italy Robotics
Davila, Mariel PhD Student – UAEM, Mexico Soft-robotics
De I. Reyzabal, Mikel PhD Student – King’s College London, UK Soft-robotics
Dehaybe, Louis PhD Student – University of Liège, Belgium Robotics
Delmonte, Alessandro Engineer – Necker Hospital, France AI
Dequidt, Jeremie Researcher – Inria Lille, France Simulation robotics
Desrues, Gaetan PhD Student – Inria Sophia-Antipolis, France Cardiac simulation
Djoumessi, R.Thierry PhD Student – Université de Dschang, Cameroon Cardiac simulation
Duanmu, Sam PhD student – University of Auckland, Australia Mechatronics
Ducrocq, Julien PhD Student – UPJV, France Soft-robotics
Duprez, Michel Researcher – Inria Strasbourg, France Applied mathematics
Duriez, Christian Research Director – Inria Lille, France Soft-robotics
El Jjouaoui, Hamza Engineer – LIRMM, France Soft-robotics
El Hadramy, Sidaty PhD Student – Inria Strasbourg, France Biomechanical simulation
Enjalbert, Robin Engineer – Inria Strasbourg, France Python, IA
Ergun, Serkan PhD Student – University of Klagenfurt, Germany Sensors, robotics
Escaida N., Stefan PostDoc – Inria Lille, France Soft-robotics, Sensing
Eyberg, Christoph Researcher – Fraunhofer IPA, Germany Robotics
Ferrentino, Pasquale PhD Student – Vrije Universiteit of Brussels, Belgium Soft-robotics
Finocchiaro, Martina PhD Student – UPC, Spain Biorobotics
Fogarollo, Stefano PhD Student – Innsbruck University, Austria Soft-robotics
Fok, Alex Researcher – University of Minnesota, USA Biomechanical simulation
Gareta Risangtuni, Ayu PhD student – IT Bandung, Indonesia Soft-robotics
Gerrlich, Victoria Researcher – MARUM, Germany Soft-robotics
Goury, Olivier Researcher – Inria Lille, France Soft-robotics
Grandpierre, Thierry Researcher – ESIEE, France AR/VR surgery
Ha, Thuc Long PhD Student – ICube CNRS, France Robotics
Haide, Ludwig PhD Student – KIT, Germany Biomechanical simulation
Hananel, David Director – UW CREST, USA Healthcare simulation
Haouas, Wissem Associate Professor – FEMTO-ST, France Soft-robotics
Haouchine, Nazim Postdoc – SPL – Harvard Medical School – BWH, USA Vision, simulation
Ho, Van Researcher – JAIST, Japan Soft-robotics
Hockings, Nick Researcher – Veterinary Med. Uni. Vienna, Austria Biomechanical simulation
Jackson, Benjamin PhD Student – King’s College London, UK Soft-robotics
Jiralerspong, Trivoramai PhD Student – Tsinghua University, China Soft-robotics
Ka, Marine Researcher – Boston University, USA Soft-robotics
Kanzira, Aine PhD Student – SJTU, China Surgical simulation
Khan, Zohaib PostDoc – Centralesupelec, France Medical simulation
Koessler, Adrien PostDoc – LCFC, France Robotics
Krewcun, Camille PhD Student – Inria Lille, France Biomechanical simulation
Kruszewski, Alexandre Researcher – Inria Lille, France Soft-robotics
Laurent, Guillaume Researcher – FEMTO-ST, France Soft-robotics
Lecomte, François PhD Student – Inria Strasbourg, France Biomechanical simulation
Lee, Hyun-Joo Researcher – Kyungpook University, South Korea VR/AR
Lengiewicz, Jakub PostDoc – University of Luxembourg, Luxembourg Contact mechanics
Leveziel, Maxence PhD Student – FEMTO-ST, France Soft-robotics
Liu, Jun Researcher – IHPC, A*STAR, Singapore Soft-robotics
Liu, Xiaolong Researcher – Johns Hopkins University, USA Soft-robotics
Mainardi, Vanessa PhD Student – University of Pisa, Italy Biomechanical simulation
Marchal, Damien Lead Engineer – CNRS, France UI, Python, Robotics
Marchal, Maud Professor – Rennes University, France Simulation, interaction
Martin, Claire MSc Student – ICube CNRS, France Biomechanical simulation
Martinez, Diego PhD Student – Instituto Politécnico Nacional, Mexico Soft-robotics
Mauze, Benjamin PostDoc – FEMTO-ST, France Soft-robotics
Mazier, Arnaud PhD Student – University Luxembourg, Luxembourg Biomechanical simulation
Mendizabal, Andrea PostDoc – University Verona, Italy AR, deep learning
Mestdagh, Guillaume PhD Student – Inria Strasbourg, France Biomechanical simulation
Milojevic, Andrija PostDoc – University of Oslo, Norway Soft-robotics
Mohammadpour, A. Bach. Student – University of Kurdistan, Kurdistan Robotics, IoT
Moon, Youngjin Professor – Asan Medical Center, South Korea Medical robotics
Moussa, Karim PhD Student – IMT Atlantique, France Robotics
Navez, Tanguy PhD Student – Inria Lille, France Soft-robotics
Negri, Francesco MSc. Student – University of Genova, Italy Soft-robotics
Nguyen, Van Pho PostDoc – JAIST, Japan Soft-robotics
Nguyen Huu, Nhan PhD Student – JAIST, Japan Soft-robotics
Norouzzadeh, Alireza Research Director – K.N.Toosi University, Iran Robotics
Odot, Alban PhD Student – Inria Strasbourg, France AI, FEM
Otti, Manuela PhD Student – Institut Pascal, France Soft-robotics
Palumbo, Maria Chiara PhD Student – Politecnico di Milano, Italy VR/AR, biomechanics
Parra R., E. Andres PhD Student – Uni. Politénica de Madrid, Spain Soft-robotics
Payan, Yohan Professor – CNRS, France Biomechanics
Peirlinck, Mathias PostDoc – TU Delft, Netherlands Cardiac biomechanics
Perrusi, Pedro Engineer – IHU Strasbourg, France Medical simulation
Persad, Umesh Researcher – UTT, Trinidad and Tobago Biomechanical simulation
Peter, Rebekka PhD Student – Carl Zeiss AG, Germany Biomechanical simulation
Peters, Jorg Researcher – University Florida, USA Surgical simulation
Pienaar, Michael Master Student – Wits University, South Africa Soft-robotics
Poliakov, Vladimir PhD Student – KU Leuven, Belgium Surgical simulation
Postek, Eligiusz Researcher – IPPT PAN, Poland Cell simulation
Pozzoli, Alessio Researcher – Politecnico di Milano, Italy Biomechanical simulation
Pusch, Tim Researcher – Fraunhofer IPA, Germany Medical robotics
Ricci, Serena PostDoc – University of Genova, Italy Medical Training
Rodriguez P., J. Jairo PhD Student – Inria Sophia-Antipolis, France Cardiac simulation
Rogatinsky, Jacob PhD Student – Boston University, USA Soft-robotics
Ruozzi, Veronica Master Student – Politecnico di Milano, Italy Biomechanical simulation
Sadati, S.M.Hadi Researcher – King’s College London, UK Soft-robotics
Saleme, Katerine PostDoc – University of Luxemburg, Luxemburg Biomechanical simulation
Sainsbury, Benjamin PhD Student – UOIT, USA VR
Saitta, Simone PhD Student – Politecnico di Milano, Italy Biomechanical simulation
Santana, Agustin College Student – IPN, Mexico Biomechanical simulation
Scarponi, Valentina PhD Student – Inria Strasbourg, France Biomechanical simulation
Scheikl, Paul PhD Student – KIT, Germany Medical robotics
Serrano K., Dante PhD Student – UNAM, Mexico Biomechanical simulation
Somers, Peter PhD Student – University of Stuttgart, Germany Machine learning
Tagliabue, Eleonora PhD Student – University of Verona, Italy Medical robotics
Teixeira, Alexandre PhD Student – Inria Grenoble, France Contact simulation
Tenenhaus, Nina MSc Student – Inria Lille, France Soft-robotics
Thieffry, Maxime PostDoc – IMT Atlantique, France Robotics
Tripathi, Saurabh PhD Student – IIT Kharagpur, India Metal additive manufacturing
Tymkovych, Maksym PhD Student – Kharkiv NURE, Ukraine Robotics
Vadrevu, Ananya PhD Student – Ohio State University, USA Biomechanical simulation
Vanneste, Félix PhD Student – Inria Lille, France Soft-robotics
Vassena, Paolo Master Student – Politecnico di Milano, Italy Biomechanical simulation
Wandel, Krispin Student & Founder – ETH Zurich, Swiss Computer Sciences
Young, Charles Researcher – Nanchang University, China VR/AR
Zara, Florence Professor – Université Lyon / LIRIS, France Biomechanical simulation
Zeng, Taiping Researcher – University of Tokyo, Japan Soft-robotics
Zeng, Ziqiu PhD Student – ICube CNRS, France Numerical methods
Zhang, Jinao Researcher – Monash University, Australia Biomechanical simulation
Zotto, Nicola PhD Student – Inria Strasbourg, France Biomechanics, IA

Consortium staff

Paran, Guillaume Engineer – SOFA Consortium, France Architecture, DevOps
Roy, Frederick Engineer – SOFA Consortium, France Visualization, achitecture
Talbot, Hugo Engineer – SOFA Consortium, France Community, Biomechanics

Back to Top