Basic Study on Grasping of Soft Object by Finite Element Method Considering Gravity

We proposed a method that enables to deform a softobject using a linear Finite Element Method (FEM)in real-time. In the proposed technique, since the cal-culation amount is reduced to On (n: number ofnodes), grasping is enabled in virtual space. In this pa-per, we studied grasping of a soft object taking gravityinto consideration. Some simulations using a stiffnessequation containing gravity demonstrated the validityof our proposal.Keywords: virtual reality, haptic display, soft object,FEM, grasping