MOOSE-Based Finite Element Hyperelastic Modeling for Soft Robot Simulations

While soft robotics is an emerging frontier of the robotics field, accurate modeling of large deformations for soft hyperelastic materials remains a challenge. Herein, we build on the existing open-source Multiphysics Object Oriented Simulation Environment (MOOSE) to accurately model neo-Hookean hyperelastic materials under user-defined loads and large strains. Excellent agreement between the simulated and theoretical results is obtained for simple geometries. Next, we show that our application can accurately model and predict the response of a real soft pneumatic actuator. To conclude, we demonstrate that the open-source nature of our simulation environment enables direct control over simulation parameters, allowing users to tailor the accuracy, convergence, and speed of their simulations.