material point method 1position-based dynamics 1reinforcement learning 1soft tissue modeling 1surgical simulation 1
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cs.RO2026
Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning
Tleukhan Mussin, Yafei Ou, Mahdi Tavakoli
The paper introduces a GPU‑accelerated simulator that combines position‑based dynamics for sutures with the material point method for soft tissue, enabling realistic two‑way contac…
cs.RO2024
NUSense: Robust Soft Optical Tactile Sensor
Madina Yergibay, Tleukhan Mussin, Saltanat Seitzhan +4
While most tactile sensors rely on measuring pressure, insights from continuum mechanics suggest that measuring shear strain provides critical information for tactile sensing. In t…