Cosserat model has been introduced in continuum robotics to simulate the deformation of the robot body whose geometry and mechanical characteristics are similar to a rod. By extension, this model can be used to simulate needles, wires. The specificity of Cosserat's theory from the point of view of the mechanics of continuous media, is to consider that: each material point of an object is rigid body(3 translations, 3 rotations), where most other models of continuum media mechanics consider the material point as particles (3 translations). For the modeling of linear structures, it is therefore possible to find a framework very close to the articulated solids with a series of rigid body whose relative position is defined by a strain state. This model can be used to model and control concentric tube robots, continuum robots actuated with cables, or pneumatic soft robots with a constant cross-section.

1. Pieces-wise constant Strain PCS: This feature is base on the paper
   1. Discrete cosserat approach for soft robot dynamics: A new piece-wise constant strain model with torsion and shears Link to the paper
   2. Coupling numerical deformable models in global and reduced coordinates for the simulation of the direct and the inverse kinematics of Soft Robots Link to the paper

2. Pieces-wise Non-constant Strain:
3. DCM with Plastic model

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Direct simulation of a soft gripper	The study the model convergence

DCM Beam actuation using a cable d =	DCM Beam actuation using a cable d =	Beam actuation using a cable d =

DCM Beam actuation using a cable d =	DCM Beam actuation using a cable d =	Beam actuation using a cable d =

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