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Updated: Jul 23, 2025

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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
Published on: April 21, 2023
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Augmented Incremental Potential Contact for Sticky Interactions.
IEEE Transactions on Visualization and Computer Graphics
|July 14, 2023
Summary
This study introduces a new simulation method for elastoplastic solids with sticky interactions, extending the Incremental Potential Contact (IPC) solver. The enhanced formulation accurately models complex adhesion behaviors, improving simulation capabilities for various geometries.
Area of Science:
- Solid Mechanics
- Computational Physics
- Material Science
Background:
- Simulating elastoplastic solids with adhesion is computationally challenging.
- Existing methods often lack robustness for complex geometries and material behaviors.
- The Incremental Potential Contact (IPC) solver offers a promising foundation but requires extensions for adhesion.
Purpose of the Study:
- To develop a variational formulation for simulating sticky interactions in elastoplastic solids.
- To extend the Incremental Potential Contact (IPC) solver to incorporate advanced adhesion models.
- To enable robust and user-friendly simulation of complex contact phenomena.
Main Methods:
- Augmenting the IPC solver with the Raous-Cangemi-Cocou (RCC) adhesion model.
- Introducing a physically parametrized normal adhesion formulation based on unsigned distance.
- Proposing a smoothly clamped tangential adhesion model for debonding simulation.
Main Results:
- Robust simulation of sticky interactions for arbitrary codimensional geometries (0, 1, and 2).
- Accurate modeling of complex adhesion behaviors, including debonding.
- Demonstrated efficacy through benchmark studies against classical models and experimental data.
Conclusions:
- The proposed variational formulation significantly enhances the capabilities of the IPC solver for elastoplastic adhesion.
- The new method provides a robust and controllable approach for simulating intricate contact scenarios.
- This work advances the simulation of material interactions in solid mechanics.
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