FEM Models for Pneumatic Actuation of Soft Robots

This dataset contains two finite element (FEM) simulation codes for analyzing pneumatic actuation in soft robotic structures:

1) A reference hyperelastic model simulating large deformations under internal pressure using a body fitted mesh.
2) A porohyperelastic model implementing fluid-solid interactions by means of permeability and stiffness interpolation in a fictitious domain.

Both implementations use the GetFEM framework (in Python) and model a two-chamber pneumatic system undergoing large deformations under pressurization of one of the chambers.