#  Add Contact Interaction 

 



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#### Create interaction property

First, we create the type of interaction we want to model. In the model tree, double click on **Interaction Properties** and create a new property of the type **Contact**, named 'Universal contact'.

 ![interaction-1](/sites/g/files/omnuum4601/files/2024-11/interaction-1.png)

 

Add **Mechanical > Tangential Behavior** from the dropdown menu, and set friction coefficient as 0.2 (this parameter is of little importance).

 ![interaction-2](/sites/g/files/omnuum4601/files/2024-11/interaction-2.png)

 

Next, add **Mechanical >Normal Behavior** as shown below.

 ![interaction-3](/sites/g/files/omnuum4601/files/2024-11/interaction-3.png)

 

#### Create interaction

Then create an interaction named 'Universal contact', beginning from step 'Initial' with type of **General contact (Standard)**.

 ![interaction-4](/sites/g/files/omnuum4601/files/2024-11/interaction-4.png)

 

Last, edit interaction by selecting **All\* with self** for included surface pairs, **Universal contact** for global property assignment in **Contact Properties** panel.

 ![interaction-5](/sites/g/files/omnuum4601/files/2024-11/interaction-5.png)

 

### Bibliography

Jiang et al. (2016) [Design and Simulation Analysis of a Soft Elastomer Manipulator based on Honeycomb Pneumatic Networks.](/publications/design-and-simulation-analysis-soft-manipulator-based-honeycomb-pneumatic)

Sun et al. (2016) [FLEXIBLE HONEYCOMB PNEUNETS ROBOTS.](/publications/flexible-honeycomb-pneunets-robot)

Jiang et al. (2017) [A Two-Level Approach for Solving the Inverse Kinematics of an Extensible Soft Arm Considering Viscoelastic Behavior.](/publications/two-level-approach-solving-inverse-kinematics-extensible-soft-arm)

Jiang et al. (2016) [Design and Simulation Analysis of a Soft Manipulator Based on Honeycomb Pneumatic Networks.](/publications/design-and-simulation-analysis-soft-manipulator-based-honeycomb-pneumatic)

Giri et al. (2010) [Continuum robots and underactuated grasping](https://softroboticstoolkit.com/publications/continuum-robots-and-underactuated-grasping)

Grissom, et al. (2006) [Design and experimental testing of the OctArm soft robot manipulator](/publications/design-and-experimental-testing-octarm-soft-robot-manipulator).

### Contributors

Hao Jiang

Zhanchi Wang

Xinghua Liu

Xiaotong Chen

Yusong Jin

Hao Sun

Xiaoping Chen