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In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact force and overall pose. Our model can incorporate external load at any arbitrary point on the body and deliver positional and force propagation information along the entire backbone. In line with the proposed model, the effectiveness of elasticity versus hyperelasticity assumptions (neo-Hookean and Gent) is investigated and compared. Experiments are carried out with and without external load, and simulations are validated across a range of Young's moduli. Results show best conformity with Hooke's model for limited strains with about 6% average normalized error of position; and a mean absolute error of less than 0.08\u2009N for force applied at the tip and on the body, demonstrating high accuracy in estimating the position and the contact force.<\/jats:p>","DOI":"10.1089\/soro.2018.0060","type":"journal-article","created":{"date-parts":[[2019,1,31]],"date-time":"2019-01-31T11:33:56Z","timestamp":1548934436000},"page":"228-249","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":46,"title":["Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation"],"prefix":"10.1177","volume":"6","author":[{"given":"Ali","family":"Shiva","sequence":"first","affiliation":[{"name":"Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom."},{"name":"Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"S.M. Hadi","family":"Sadati","sequence":"additional","affiliation":[{"name":"Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom."},{"name":"Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yohan","family":"Noh","sequence":"additional","affiliation":[{"name":"Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jan","family":"Fra\u015b","sequence":"additional","affiliation":[{"name":"Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom."},{"name":"Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ahmad","family":"Ataka","sequence":"additional","affiliation":[{"name":"Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom."},{"name":"Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Helge","family":"W\u00fcrdemann","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, University College London, London, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Helmut","family":"Hauser","sequence":"additional","affiliation":[{"name":"Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ian D.","family":"Walker","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, Clemson University, Clemson, South Carolina."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thrishantha","family":"Nanayakkara","sequence":"additional","affiliation":[{"name":"Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kaspar","family":"Althoefer","sequence":"additional","affiliation":[{"name":"Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2019,4,16]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0001"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.precisioneng.2008.10.004"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/aa7ccd"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0013"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2448277"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2325992"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature19100"},{"key":"e_1_3_3_9_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_3_10_2","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/10\/3\/035003"},{"key":"e_1_3_3_11_2","first-page":"1","article-title":"Morphological computation-based control of a modular, pneumatically driven, soft robotic arm","volume":"1864","author":"Eder M","year":"2017","unstructured":"Eder M, , Hisch F, , Hauser H. 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