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Soft robotics is an emerging field of robotics which requires computer-aided tools to simulate soft robots and provide models for their control. Until now, no unified software framework covering the different aspects exists. In this paper, we present such a framework from its theoretical foundations up to its implementation on top of SOFA, an open-source framework for deformable online simulation. The framework relies on continuum mechanics for modeling the robotic parts and boundary conditionsdoi:10.1109/simpar.2016.7862384 dblp:conf/simpar/DuriezCLBZSCMGD16 fatcat:nozyrvor25glxn5ub2oltlspue