Reduced Basis Methods for Efficient Simulation of a Rigid Robot Hand Interacting with Soft Tissue

  title={Reduced Basis Methods for Efficient Simulation of a Rigid Robot Hand Interacting with Soft Tissue},
  author={Shahnewaz Shuva and Patrick Buchfink and Oliver R{\"o}hrle and Bernard Haasdonk},
  booktitle={Large-Scale Scientific Computing},
We present efficient reduced basis (RB) methods for the simulation of a coupled problem consisting of a rigid robot hand interacting with soft tissue material. The soft tissue is modeled by the linear elasticity equation and discretized with the Finite Element Method. We look at two different scenarios: (i) the forward simulation and (ii) a feedback control formulation of the model. In both cases, large-scale systems of equations appear, which need to be solved in real-time. This is essential… 
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