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Related Concept Videos

Deformations in a Transverse Cross Section01:21

Deformations in a Transverse Cross Section

When a material is subjected to uniaxial stress, it elongates or contracts in the direction of the applied force, and also undergoes changes in the perpendicular directions. This behavior is crucial for understanding how materials behave under stress and is governed by mechanical properties such as Poisson's ratio v, which measures the ratio of transverse strain to axial strain.
As the material stretches, it expands or contracts in orthogonal directions to the load. This phenomenon varies...
Deformation of Member under Multiple Loadings01:11

Deformation of Member under Multiple Loadings

When a rod is made of different materials or has various cross-sections, it must be divided into parts that meet the necessary conditions for determining the deformation. These parts are each characterized by their internal force, cross-sectional area, length, and modulus of elasticity. These parameters are then used to compute the deformation of the entire rod.
In the case of a member with a variable cross-section, the strain is not constant but depends on the position. The deformation of an...
Deformations in a Symmetric Member in Bending01:18

Deformations in a Symmetric Member in Bending

When analyzing the deformation of a symmetric prismatic member subjected to bending by equal and opposite couples, it becomes clear that as the member bends, the originally straight lines on its wider faces curve into circular arcs, with a constant radius centered at a point known as Point C. This phenomenon helps to understand the stress and strain distribution within the member more clearly.
When the member is segmented into tiny cubic elements, it is observed that the primary stress...
Structural Classification of Joints01:20

Structural Classification of Joints

Joints, also known as articulations, are classified based on their structural characteristics, i.e., based on whether the articulating surfaces of the adjacent bones are directly connected by fibrous connective tissue or cartilage, or whether the articulating surfaces contact each other within a fluid-filled joint cavity. These differences serve to divide the joints of the body into three structural classifications.
A fibrous joint is where the adjacent bones are united by fibrous connective...
Plastic Deformations of Members with a Single Plane of Symmetry01:21

Plastic Deformations of Members with a Single Plane of Symmetry

When a structural member undergoes plastic deformation due to bending, it is crucial to understand the position of the neutral axis and the stress distribution. This member, characterized by a single plane of symmetry, exhibits a uniform stress distribution, with negative stress above the neutral axis and positive stress below. Notably, the neutral axis does not align with the centroid of the cross-section. This misalignment is typical in cases where the cross-section is not rectangular or...
Temperature Dependent Deformation01:12

Temperature Dependent Deformation

In a nonhomogeneous rod made up of steel and brass, restrained at both ends and subjected to a temperature change, several steps are involved in calculating the stress and compressive load. Due to the problem's static indeterminacy, one end support is disconnected, allowing the rod to experience the temperature change freely. Next, an unknown force is applied at the free end, triggering deformations in the rod's steel and brass portions. These deformations are then calculated and added together...

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Related Experiment Video

Updated: May 28, 2026

Three-Dimensional Shape Modeling and Analysis of Brain Structures
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Published on: November 14, 2019

FEM-Based Estimation-Correction with Minimal Indentation Set for Internal Cavity Classification and Geometry

Thibaut Morant1, María Cordero-Alvarado1, Tianyi Yang1

  • 1Department of Medical Engineering, Chiba University, Chiba 263-8522, Japan.

Sensors (Basel, Switzerland)
|May 27, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a new framework to estimate the internal structure of soft objects using indentation. The method accurately identifies cavity types and dimensions from minimal measurements, advancing robotic manipulation.

Keywords:
adaptive graspinginternal structure estimationphysics-based simulationrobotic manipulationrobotic sensing

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Computational Mechanics

Background:

  • Estimating internal structures of deformable objects from sparse data is crucial for robotics.
  • Current methods face challenges in accuracy and efficiency with limited measurements.

Purpose of the Study:

  • To develop a robust three-stage framework for identifying the internal structure (cavity type and geometry) of deformable objects.
  • To improve the accuracy and reliability of internal structure estimation using minimal indentation data.

Main Methods:

  • A classification strategy identifies minimal informative indentation locations using simulated FEM force reactions.
  • An estimation stage detects cavity type and preliminary geometric parameters from measured indentation responses.
  • A correction stage refines parameters by replaying indentation depths in FEM simulations and analyzing force discrepancies.

Main Results:

  • The framework reliably distinguishes between spherical, cuboid, and pyramidal cavity types.
  • Geometric dimensions were reconstructed within error bounds for known cavity families and fixed material parameters.
  • Robust loss functions enhanced reliability by mitigating deviations in local contact conditions.

Conclusions:

  • The proposed three-stage framework offers a reliable method for internal structure estimation of deformable objects using sparse indentation data.
  • The minimal indentation set approach is effective for cavity type classification and parameter estimation.
  • Future work includes extending the framework to non-centered structures and unknown material properties.