An Open-Source User-Friendly Interface for Simulating Magnetic Soft Robots using Simulation Open Framework Architecture (SOFA)

TL;DR

This paper presents an open-source, user-friendly simulation tool based on SOFA for modeling magnetic soft robots, enabling real-time deformation analysis and broad accessibility for researchers.

Contribution

It introduces a dedicated, easy-to-use simulation interface for magnetic soft robots within the SOFA framework, filling a gap in existing modeling tools.

Findings

Successfully simulated four benchmark models demonstrating versatility.

The interface is accessible to users with varying expertise levels.

Future validation will improve simulation accuracy.

Abstract

Soft robots, particularly magnetic soft robots, require specialized simulation tools to accurately model their deformation under external magnetic fields. However, existing platforms often lack dedicated support for magnetic materials, making them difficult to use for researchers at different expertise levels. This work introduces an open-source, user-friendly simulation interface using the Simulation Open Framework Architecture (SOFA), specifically designed to model magnetic soft robots. The tool enables users to define material properties, apply magnetic fields, and observe resulting deformations in real time. By integrating intuitive controls and stress analysis capabilities, it aims to bridge the gap between theoretical modeling and practical design. Four benchmark models -- a beam, three- and four-finger grippers, and a butterfly -- demonstrate its functionality. The software's ease of use makes it accessible to both beginners and advanced researchers. Future improvements will refine accuracy through experimental validation and comparison with industry-standard finite element solvers, ensuring realistic and predictive simulations of magnetic soft robots.