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This article presents a new approach of soft material modeling for robotic manipulation which combines physical modeling and tracking of a deformable object. We discuss the construction of geometrical models using MRI system and how to overcome the problem of variability. The physical model focuses on meat/muscles deformation. We introduce the principal criteria for choosing most appropriate models and discuss two modeling methods which suit our problem: mass spring model and tensor mass model. The introduction of anisotropy in these models allows results to be more realistic but evolves an increasing of computing time.
Essahbi et al. (Thu,) studied this question.