[
    {
        "id": "osp-26153",
        "type": "article-journal",
        "title": "Cosserat Modeling of Trimmed Helicoid Soft Arms with a Separated-Section Constitutive Law",
        "author": [
            {
                "family": "Qin",
                "given": "Zhihang"
            },
            {
                "family": "Hou",
                "given": "Linxin"
            },
            {
                "family": "Zhong",
                "given": "Zeyu"
            },
            {
                "family": "Sun",
                "given": "Yuchen"
            },
            {
                "family": "Xin",
                "given": "Wenci"
            },
            {
                "family": "Zhang",
                "given": "Yueheng"
            },
            {
                "family": "Qi",
                "given": "Ji"
            },
            {
                "family": "Wang",
                "given": "Jie"
            },
            {
                "family": "Wang",
                "given": "Peiyi"
            },
            {
                "family": "Nazeer",
                "given": "Muhammad Sunny"
            },
            {
                "family": "Tan",
                "given": "Yu Jun"
            },
            {
                "family": "Renda",
                "given": "Federico"
            },
            {
                "family": "Laschi",
                "given": "Cecilia"
            }
        ],
        "URL": "https://omanscience.com/en/articles/cosserat-modeling-of-trimmed-helicoid-soft-arms-with-a-separated-section-constitutive-law",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "abstract": "Cosserat rod models for soft robots usually construct sectional stiffness by summing material properties over a common cross-section. This assumption becomes inaccurate for trimmed helicoid arms, where load-bearing helix domains are separated and connected only through sparse fused crossings. This paper formulates a separated-section constitutive law that evaluates each helix domain in its local frame and pulls its constitutive response back to the backbone, yielding an effective backbone stiffness. Sparse-fusion mechanics captures the additional compliance caused by relative motion between neighboring domains and determines channel-wise reduction profiles $η_c(s/L)$ for bending, torsion, and extension. The resulting effective sectional stiffness is strongly anisotropic: bending and extension are reduced by about one order of magnitude, whereas torsion remains close to the effective backbone stiffness. The resulting sectional law is embedded in a geometrically exact dynamic Cosserat model with GVS discretization and routed-tendon actuation. Across 103 measured configurations, the three datasets give pooled normalized position errors of $7.7 \\ \\%$, $6.7 \\ \\%$, and $7.8 \\ \\%$, while each full-arm solve requires approximately $0.3 \\ \\mathrm{s}$ on one CPU core (Intel Xeon, Cascade Lake, $2.8 \\mathrm{GHz}$), enabling rapid model-based planning, state and load estimation, and morphology--control co-design for architected soft robots."
    }
]