browse-meta - Simulation Open Framework Architecture

3D Physics-Based Registration of 2D Dynamic MRI Data 1

3D strain assessment in ultrasound (straus): A synthetic comparison of five tracking methodologies 1

50 nuances de robots mous ! 1

6D Frictional Contact for Rigid Bodies 1

A Bio-Inspired Active Prostate Phantom for Adaptive Interventions 1

A Combined Force and Thermal Feedback Interface for Minimally Invasive Procedures Simulation 1

A Combined Simulation & Machine Learning Approach for Image-based Force Classification during Robotized Intravitreal Injections 1

A Framework for the Generation of Realistic Synthetic Cardiac Ultrasound and Magnetic Resonance Imaging Sequences from the same Virtual Patients 1

A Mechanical Model to Interpret Cell-Scale Indentation Experiments on Plant Tissues in Terms of Cell Wall Elasticity and Turgor Pressure 1

A Model-based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics 1

A Multi-Front Eikonal Model of Cardiac Electrophysiology for Interactive Simulation of Radio-Frequency Ablation 1

A Multiscale Cardiac Model for Fast Personalisation and Exploitation 1

A Rule-Based Method to Model Myocardial Fiber Orientation for Simulating Ventricular Outflow Tract Arrhythmias 1

A Simulation Framework for Magnetic Continuum Robots 1

A concise guide to modelling the physics of embodied intelligence in soft robotics 1

Accurate interactive animation of deformable models at arbitrary resolution 1

Active Deformation through Visual Servoing of Soft Objects 1

Adaptive Image-based Intersection Volume 1

Advances in Modal Analysis Using a Robust and Multi-scale Method 1

Advances in the inverse biomechanical simulation framework for autonomous robotic needle steering. 1

Alignment of Cortical Vessels viewed through the Surgical Microscope with Preoperative Imaging to Compensate for Brain Shift 1

An Immersed Boundary Method for Detail-Preserving Soft Tissue Simulation from Medical Images 1

An Interactive Physically-based Model for Active Suction Phenomenon Simulation 1

An Open Source Design Optimization Toolbox Evaluated on a Soft Finger 1

An Optimal Control Problem for Elastic Registration and Force Estimation in Augmented Surgery 1

An optimal control formulation for organ registration in augmented surgery 1

Anatomical Mirroring: Real-time User-specific Anatomy in Motion Using a Commodity Depth Camera 1

Anatomy Transfer 1

Animating Shapes at Arbitrary Resolution with Non-Uniform Stiffness 1

Anisotropic soft robots based on 3D printed meso-structured materials: design, modeling by homogenization and simulation 1

Asynchronous Preconditioners for Efficient Solving of Non-linear Deformations 1

Asynchronous haptic simulation of contacting deformable objects with variable stiffness 1

Augmented 3D Catheter Navigation using Constrained Shape from Template 1

Augmented Reality and Numerical Simulations for Hepatic Tumors Resection 1

Augmented Reality during Cutting and Tearing of Deformable Objects 1

Augmented Reality during Open Liver Surgery Using a Markerless Non-rigid Registration System 1

Augmented Reality for Cryoablation Procedures 1

Automated planning for robotic guidewire navigation in the coronary arteries 1

Automatic Alignment of pre and intraoperative Data using Anatomical Landmarks for Augmented Laparoscopic Liver Surgery 1

Automatic Shape Control of Deformable Wires based on Model-Free Visual Servoing 1

Automatic biomechanical graph matching CT-CBCT fusion 1

Avancées du framework de simulation biomécanique inverse pour le pilotage automatique d’aiguilles robotisé 1

Biomechanical Simulation of Electrode Migration for Deep Brain Stimulation 1

Biomechanical graph matching for hepatic intra-operative image registration 1

Biomechanical modeling of brain soft tissues for medical applications 1

Biomechanical modeling of probe to tissue interaction in robotic ultrasound scanning 1

Biomechanics-based graph matching for augmented CT-CBCT 2

Blood vessel modeling for interactive simulation of interventional neuroradiology procedures 1

Brain-shift compensation using intraoperative ultrasound and constraint-based biomechanical simulation 1

Calibration and External Force Sensing for Soft Robots using an RGB-D Camera 1

Calibration basée sur la vision, contrôle de position et détection de force pour robots doux 1

Calibration method for soft robots modeled with FEM: application to anisotropy 1

Calipso: Physics-based Image and Video Editing through CAD Model Proxies 1

Capturing Deformations of Interacting Non-rigid Objects Using RGB-D Data 1

Changements Topologiques dans des Simulations des Objets Deformable 1

CoBra robot for localized cancer treatment and diagnosis under real-time MRI guidance 1

Combinaison entre simulation numérique etapprentissage automatique - Applications à la formation, la planification préopératoire et l’assistance peropératoire 1

Commande dynamique de robots déformables basée sur un modèle numérique 1

Compliance mécanique: d’une théorie de la modélisation pour les robots souples au calcul par la méthode des éléments finis 1

Comprehensive Pre-Clinical Evaluation of a Multi-physics Model of Liver Tumor Radiofrequency Ablation 1

Computation and Visualization of Risk Assessment in Deep Brain Stimulation 1

Computational Biomechanics of the Brain in the Operating Theatre 1

Computer Based Interactive Medical Simulation 1

Computer-based training system for cataract surgery 1

Condensed semi-implicit dynamics for trajectory optimization in soft robotics 1

Constrained Stochastic State Estimation for 3D Shape Reconstruction of Catheters and Guidewires in Fluoroscopic Images 1

Constrained Stochastic State Estimation of Deformable 1D Objects: Application to Single-view 3D Reconstruction of Catheters with Radio-opaque Markers 1

Constraint-based Simulation of Passive Suction Cups 1

Constraint-based haptic rendering of multirate compliant mechanisms 1

Control Design for Soft Robots based on Reduced Order Model 1

Control of Elastic Soft Robots based on Real-Time Finite Element Method 1

Controllability pre-verification of silicone soft robots based on finite-element method 1

Controlling the error on target motion through real-time mesh adaptation: applications to Deep Brain Stimulation 1

Contrôle de la forme d'objets déformables par asservissement 1

Contrôle optimal pour le recalage d’organes en chirurgie augmentée 1

Corotated meshless implicit dynamics for deformable bodies 1

Corotational cut finite element method for real-time surgical simulation: Application to needle insertion simulation 1

Couplage de La rObotique et de la simulatioN médicalE pour des proCédures automaTisées (CONECT) 1

Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots 1

Coupling rObotics aNd mEdical simulations for automatiC percuTaneous procedures (CONECT) 1

Data-Driven Intra-Operative Estimation of Anatomical Attachments for Autonomous Tissue Dissection 1

Data-driven simulation for augmented surgery 1

DeepPhysics: a physics aware deep learning framework for real-time simulation 1

Deformation Aware Augmented Reality for Craniotomy using 3D/2D Non-rigid Registration of Cortical Vessels 1

Deformed Reality 1

Deformed Reality: Proof of concept and preliminary results 1

DejaVu: Intra-operative Simulation for Surgical Gesture Rehearsal 1

Deliberation in autonomous robotic surgery: a framework for handling anatomical uncertainty 1

Deliverable D10.4.1 1

Direct and inverse modeling of soft robots by learning a condensed FEM model 1

Domain Decomposition for real time Simulation of needle insertion 1

Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer 1

Efficient Needle Insertion Simulation using Hybrid Constraint Solver and Isolated DOFs 1

Efficient parallelization strategy for real-time FE simulations 1

Efficient, Physically Plausible Finite Elements 1

Elastic registration based on compliance analysis and biomechanical graph matching 1

Elasticity-based Clustering for Haptic Interaction with Heterogeneous Deformable Objects 1

Enabling the control of a new degree of freedom by using anisotropic material on a 6-DOF parallel soft robot 1

Environment-aware non-rigid registration in surgery using physics-based simulation 1

Estimation of Purkinje Activation from ECG: an Intermittent Left Bundle Branch Block Study 1

Estimation of boundary conditions for patient-specific liver simulation during augmented surgery 2

Exploration des descriptions d'état et des simulations de robots souples pour l'apprentissage et le contrôle 1

Exploring new numerical methods for the simulation of soft tissue deformations in surgery assistance 1

Exploring state descriptions and soft robot simulations for learning and control 1

FEM-based Deformation Control for Dexterous Manipulation of 3D Soft Objects 1

FEM-based Gain-Scheduling Control of a Soft Trunk Robot 1

FEM-based confidence assessment of non-rigid registration 1

Face-based Smoothed Finite Element Method for Real-time Simulation of soft tissue 1

Fast Elastic Registration of Soft Tissues under Large Deformations 1

Fast reconstruction of image deformation field using radial basis function 1

Fast, generic and reliable control and simulation of soft robots using model order reduction 1

FiloGen: A Model-Based Generator of Synthetic 3D Time-Lapse Sequences of Single Motile Cells with Growing and Branching Filopodia 1

Finite element method-based kinematics and closed-loop control of soft, continuum manipulators 1

Finite-time estimation for linear time-delay systems via homogeneous method 1

Force classification during robotic interventions through simulation-trained neural networks 1

Fracture in Augmented Reality 1

Frame-based Elastic Models 1

Frame-based interactive simulation of complex deformable objects 1

Framework for augmented reality in Minimally Invasive laparoscopic surgery 1

From Generic to Specic Musculoskeletal Simulations using an Ontology-based Modeling Pipeline 1

GPU-based Real-Time Soft Tissue Deformation with Cutting and Haptic Feedback 1

Haptic Rendering of FEM-based Tearing Simulation using Clusterized Collision Detection 1

Haptic Rendering of Hyperelastic Models with Friction 1

Haptic Rendering of Interacting Dynamic Deformable Objects Simulated in Real-Time at Different Frequencies 1

Haptic Rendering on Deformable Anatomical Tissues with Strong Heterogeneities 1

Hierarchical Multi-Resolution Finite Element Model for Soft Body Simulation 1

High Fidelity Haptic Rendering for Deformable Objects Undergoing Topology Changes 1

How To Design Your Polymer Artificial Muscle Actuator/ Sensor? 1

Image-based Biophysical Simulation of Intracardiac Abnormal Ventricular Electrograms 1

Image-based Collision Detection and Response between Arbitrary Volumetric Objects 1

Image-driven Stochastic Identification of Boundary Conditions for Predictive Simulation 1

Image-guided Interactive Simulation for Endovascular Surgery 1

Image-guided Simulation for Augmented Reality during Hepatic Surgery 1

Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery 1

Implicit FEM Solver on GPU for Interactive Deformation Simulation 1

Implicit FEM and Fluid Coupling on GPU for Interactive Multiphysics Simulation 1

Information Processing in Computer-Assisted Interventions - Proceedings of the 4th International IPCAI conference, Heidelberg, June 26, 2013. 1

Interactive Blood-Coil Simulation in Real-time during Aneurysm Embolization 1

Interactive Electromechanical Model of the Heart for Patient-Specific Therapy Planning and Training using SOFA 1

Interactive Finite Element model of needle insertion and laceration 1

Interactive Patient-Specific Simulation of Cardiac Electrophysiology 1

Interactive Physical Simulation on Multi-core and Multi-GPU Architectures 1

Interactive Physical Simulation on Multicore Architectures 1

Interactive Planning of Cryotherapy Using Physically-Based Simulation 1

Interactive Training System for Interventional Electrocardiology Procedures 2

Interactive Visualization of Muscle Activity During Limb Movements: Towards Enhanced Anatomy Learning 1

Interactive real time simulation of cardiac radio-frequency ablation 1

Intra-operative Registration for Deep Brain Stimulation Procedures based on a Full Physics Head Model 1

Intra-operative Registration for Stereotactic Procedures driven by a combined Biomechanical Brain and CSF Model 1

Intra-operative Update of Boundary Conditions for Patient-specific Surgical Simulation 1

Intraoperative Biomechanical Registration of the Liver: Does the Heterogeneity of the Liver Matter? 1

Introducing interactive inverse FEM simulation and its application for adaptive radiotherapy 1

Inverse real-time Finite Element simulation for robotic control of flexible needle insertion in deformable tissues 1

Kinematic Modeling and Observer Based Control of Soft Robot using Real-Time Finite Element Method 1

LPV Framework for Non-Linear Dynamic Control of Soft Robots using Finite Element Model 1

Learning control strategy in soft robotics through a set of configuration spaces 1

Learning robotic needle steering from inverse finite element simulations 1

Longitudinal Analysis using Personalised 3D Cardiac Models with Population-Based Priors: Application to Paediatric Cardiomyopathies 1

Machine Learning meets real-time Numerical Simulation - Application to surgical training, preoperative planning and surgical assistance 1

Marker-based Registration for Large Deformations -Application to Open Liver Surgery 1

Mechanical compliance: from soft robot modeling theory to finite element method computation 1

Milieu mécanique déformable multirésolution pour la simulation interactive 1

Mise en correspondance de graphes utilisant la biomécanique pour le recalage intro-opératoire d'images hépatiques 1

Model-Based Disturbance Estimation for a Fiber-Reinforced Soft Manipulator using Orientation Sensing 1

Model-Based Dynamic Control of Soft Robots 1

Model-Based Generation of Synthetic 3D Time-Lapse Sequences of Motile Cells with Growing Filopodia 1

Model-Based Identification of Anatomical Boundary Conditions in Living Tissues 1

Model-based Feature Augmentation for Cardiac Ablation Target Learning from Images 1

Model-based generation of large databases of cardiac images: synthesis of pathological cine MR sequences from real healthy cases 1

Modeling Novel Soft Mechanosensors based on Air-Flow Measurements 1

Modeling and Control of a 5-DOF Parallel Continuum Haptic Device 1

Modeling and Real-Time Simulation of a Vascularized Liver Tissue 1

Modeling of soft robots made of anisotropic mesostructured materials 1

Modularity for Large Virtual Reality Applications 1

Modèle inverse des robots souples basé sur l'optimisation, avec gestion des contacts 1

Modélisation de robots souples fait à partir de matériaux mesostructurés 1

Monocular 3D Reconstruction and Augmentation of Elastic Surfaces with Self-occlusion Handling 1

Motion Control of Cable-Driven Continuum Catheter Robot through Contacts 1

Multi-GPU and Multi-CPU Parallelization for Interactive Physics Simulations 1

Multiorgan Motion Tracking in Dynamic Magnetic Resonance Imaging for Evaluation of Pelvic System Mobility and Shear Strain 1

Multiresolution mechanical model for interactive animation of soft bodies 1

My Corporis Fabrica: Making Anatomy Easy 1

Non linear Biomechanical Model of the Liver 1

Non-Invasive Personalisation of a Cardiac Electrophysiology Model from Body Surface Potential Mapping 1

Non-rigid Contour-Based Registration of Cell Nuclei in 2D Live Cell Microscopy Images Using a Dynamic Elasticity Model 1

Nonprehensile Manipulation of Deformable Objects: Achievements and Perspectives from the RobDyMan Project 1

Nouvelles méthodes numériques pour la simulation temps-réel des déformations des tissus mous dans le cadre de l’assistance peropératoire 1

Numerical Simulation of Cochlear-Implant Surgery: Towards Patient-Specific Planning 1

On the use of simulation in robotics: Opportunities, challenges, and suggestions for moving forward 1

OpenVolumeMesh -A Versatile Index-Based Data Structure for 3D Polytopal Complexes 1

Optimization-Based Inverse Model of Soft Robots With Contact Handling 1

Optimization-based inverse model of soft robots, with contact handling 1

Patient-specific Biomechanical Modeling for Guidance during Minimally-invasive Hepatic Surgery 1

Personal-by-design: a 3D Electromechanical Model of the Heart Tailored for Personalisation 1

Personalization of Cardiac Electrophysiology Model using the Unscented Kalman Filtering 1

Personalization of a Cardiac Electromechanical Model using Reduced Order Unscented Kalman Filtering from Regional Volumes 1

Personnalisation robuste de modèles 3D électromécaniques du cœur. Application à des bases de données cliniques hétérogènes et longitudinales 1

Physically realistic interactive simulation for biological soft tissues 1

Physics-based Augmented Reality for 3D Deformable Object 1

Physics-based Deep Neural Network for Augmented Reality during Liver Surgery 1

Physics-based Deep Neural Network for Real-Time Lesion Tracking in Ultrasound-guided Breast Biopsy 1

Planning of soft-rigid Hybrid arms in Contact with Compliant Environment: application to the transrectal biopsy of the prostate 1

Population-based priors in cardiac model personalisation for consistent parameter estimation in heterogeneous databases 1

Pose Estimation and Non-rigid Registration for Augmented Reality during Neurosurgery 1

Position-based modeling of lesion displacement in Ultrasound-guided breast biopsy 1

Preconditioner-Based Contact Response and Application to Cataract Surgery 1

Predicted Microscopic Cortical Brain Images for Optimal Craniotomy Positioning and Visualization 1

Preserving Topology and Elasticity for Embedded Deformable Models 1

Propagation of Myocardial Fibre Architecture Uncertainty on Electromechanical Model Parameter Estimation: A Case Study 1

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications 1

Ray-traced collision detection for deformable bodies 1

Real-Time Simulation For Control Of Soft Robots With Self-Collisions Using Model Order Reduction For Contact Forces 1

Real-time Error Control for Surgical Simulation 2

Real-time Patient Specific Surgical Simulation using Corotational Cut Finite Element Method: Application to Needle Insertion Simulation 1

Real-time haptic simulation of medical procedures involving deformations and device-tissue interactions 1

Real-time simulation of contact and cutting of heterogeneous soft-tissues 1

Real-time simulation of hydraulic components for interactive control of soft robots 1

Real-time tracking of 3D elastic objects with an RGB-D sensor 1

Real‐Time FE Simulation for Large‐Scale Problems Using Precondition‐Based Contact Resolution and Isolated DOFs Constraints 1

Reconstruction robuste des vaisseaux sanguins pour les simulations médicales interactives à partir de données patients 1

Reduced Order Control of Soft Robots with Guaranteed Stability 1

Registration by interactive inverse simulation: application for adaptive radiotherapy 1

Rest shape computation for highly deformable model of brain. 1

Robot CoBra pour le traitement et le diagnostic localisés du cancer sous guidage IRM en temps réel 1

Robotic Insertion of Flexible Needle in Deformable Structures Using Inverse Finite-Element Simulation 1

Robotic needle insertion in moving soft tissues using constraint-based inverse Finite Element simulation 1

Robotic needle steering in deformable tissues with extreme learning machines 1

Robust Augmented Reality registration method for Localization of Solid Organs’ Tumors Using CT-derived Virtual Biomechanical Model and Fluorescent Fiducials 1

Robust Automatic Graph-based Skeletonization of Hepatic Vascular Trees 1

Robust Fabrication of a Soft Mechanosensor based on Pneumatic Measurements 1

Robust blood vessel surface reconstruction for interactive simulations from patient data 1

Robust control of a silicone soft robot using neural networks 1

Robust personalisation of 3D electromechanical cardiac models. Application to heterogeneous and longitudinal clinical databases 1

Réalité augmentée et simulations numériques pour l'ablation de tumeurs hépatiques 1

Réalité augmentée pour la chirurgie minimalement invasive du foie utilisant un modèle biomécanique guidé par l'image 1

SOFA: A Multi-Model Framework for Interactive Physical Simulation 1

Seamless Adaptivity of Elastic Models 1

Shape control of deformable objects by adaptive visual servoing 1

Shared control strategy for needle insertion into deformable tissue using inverse Finite Element simulation 1

Silhouette-based Pose Estimation for Deformable Organs Application to Surgical Augmented Reality 1

Sim-to-Real Transfer of Soft Robotic Navigation Strategies That Learns from the Virtual Eye-in-Hand Vision 1

Simulation Guidée par l’Image pour la Réalité Augmentée durant la Chirurgie Hépatique 1

Simulation Interactive Guidée par l'Image pour la Chirurgie Endovasculaire 1

Simulation Interactive et Patient-Spécifique de l'Electrophysiologie Cardiaque 1

Simulation of hyperelastic materials in real-time using deep learning 1

Simulation of soft tissue deformation in real-time using domain decomposition 1

Simulation temps-réel d'interventions médicales impliquant des déformations et des interactions mécaniques entre les tissus et les outils (Manuscrit en anglais) 1

Simulations Physiques Interactives sur des Architectures Multi-Core et Multi-GPU 1

Simultaneous Pose Estimation and Augmentation of Elastic Surfaces from a Moving Monocular Camera 1

Simultaneous Tracking and Elasticity Parameter Estimation of Deformable Objects 1

Single View Augmentation of 3D Elastic Objects 1

SmartSIM - a virtual reality simulator for laparoscopy training using a generic physics engine 1

Smoothed Particle Hydrodynamics for Electrophysiological Modeling: An Alternative to Finite Element Methods 1

SofaGym: An open platform for Reinforcement Learning based on Soft Robot simulations 1

Soft Haptic Device to Render the Sensation of Flying Like a Drone 1

Soft robot modeling, simulation and control in real-time 1

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming 1

Sparse Bayesian Non-linear Regression for Multiple Onsets Estimation in Non-invasive Cardiac Electrophysiology 1

Sparse Meshless Models of Complex Deformable Solids 1

Stable Constrained Dynamics 1

Stiffness Control of Deformable Robots Using Finite Element Modeling 1

Stiffness rendering on soft tangible devices controlled through inverse FEM simulation 1

Stochastic Correction of Boundary Conditions during Liver Surgery 1

Surgery Training, Planning and Guidance Using the SOFA Framework 1

Surgical Augmented Reality with Topological Changes 1

Suture en chirurgie virtuelle : simulation interactive et modèles hétérogènes 1

Suture in virtual surgery : interactive simulation and heterogeneous models 1

Template-based Monocular 3D Recovery of Elastic Shapes using Lagrangian Multipliers 1

Testbed for assessing the accuracy of interventional radiology simulations 1

The Role of Ligaments: Patient-Specific or Scenario-Specific ? 1

The effect of discretization on parameter identification. Application to patient-specific simulations 1

Three‐dimensional physics‐based registration of pelvic system using 2D dynamic magnetic resonance imaging slices 1

Time stepping scheme for interactive medical simulations 1

Topological Changes in Simulations of Deformable Objects 1

Toward Shape Optimization of Soft Robots 1

Toward the use of proxies for efficient learning manipulation and locomotion strategies on soft robots. 1

Towards Hyper-Reduction of Cardiac Models using Poly-Affine Deformation 1

Towards Real-Time Computation of Cardiac Electrophysiology for Training Simulator 1

Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery 1

Towards an Interactive Electromechanical Model of the Heart 1

Towards using SOFA to train a controller for neurovascular catheter interventions 1

Tracking Fractures of Deformable Objects in Real-Time with an RGB-D Sensor 1

Trajectory Tracking Control Design for Large-Scale Linear Dynamical Systems With Applications to Soft Robotics 1

Transfer Learning from Simulations on a Reference Anatomy for ECGI in Personalised Cardiac Resynchronization Therapy 1

Turning an Articulated 3-PPSR Manipulator into a Parallel Continuum Robot 1

Unified processing of constraints for interactive simulation 1

Unscented Kalman Filtering for Real Time Thermometry During Laser Ablation Interventions 1

Use of stereo-laparoscopic liver surface reconstruction to compensate for pneumoperitoneum deformation through biomechanical modeling. 1

Using Contours as Boundary Conditions for Elastic Registration during Minimally Invasive Hepatic Surgery 1

Using Physical Modeling and RGB-D Registration for Contact Force Sensing on Deformable Objects 1

Velocity-based Adaptivity of Deformable Models 1

Vessel-based brain-shift compensation using elastic registration driven by a patient-specific finite element model 1

Virtual image correlation of magnetic resonance images for 3D geometric modelling of pelvic organs 1

VisAdapt: Catadioptric Adaptive Camera for scenes of variable density of visual information 1

Vision-Based Sensing of External Forces Acting on Soft Robots Using Finite Element Method 1

Vision-based Force Feedback Estimation for Robot-assisted Surgery using Instrument-constrained Biomechanical 3D Maps 1

Vision-based calibration, position control and force sensing for soft robots 1

Visual Haptic Feedback for Training of Robotic Suturing 1

Visual Servoing Control of Soft Robots based on Finite Element Model 1

Volume Contact Constraints at Arbitrary Resolution 1

Volumetric modeling and interactive cutting of deformable bodies 1