Open Source Contributions

Active developer and maintainer of several open-source plugins within the SOFA Framework ecosystem — widely used in simulation-based medical robotics research worldwide.

About the SOFA Ecosystem: SOFA (Simulation Open Framework Architecture) is a leading open-source framework for real-time medical simulation and soft-body physics. The plugins below extend SOFA with Cosserat rod mechanics and inverse-kinematics solvers specifically designed for continuum and soft robots.

Cosserat Plugin for SOFA

SofaDefrost · SOFA Framework ecosystem

Lead Developer

A SOFA plugin implementing the Cosserat rod theory for real-time simulation of flexible, slender structures such as needles, catheters, and continuum robots. It provides accurate deformation models based on the geometric exact approach, enabling constraint-based control directly within the SOFA simulation pipeline. This plugin is the foundation of the needle-insertion and soft-robot guidance work carried out in the DEFROST team.

• Geometric-exact Cosserat rod model
• Real-time FEM deformation
• Needle & catheter simulation
• Continuum robot kinematics
• SOFA constraint integration
• Python scripting support

GitHub Repository Documentation

SoftRobots.Inverse Plugin

SofaDefrost · SOFA Framework ecosystem

Contributor

A SOFA plugin that provides inverse-kinematics and inverse-simulation solvers for soft and continuum robots. It computes actuator commands (cable tensions, pneumatic pressures, rod curvatures) from desired end-effector positions or contact forces, bridging the gap between simulation and real-time robot control. Contributions focus on the integration of Cosserat-based kinematics into the inverse solver pipeline.

• Inverse kinematics solver
• Cable & pneumatic actuators
• Real-time control loop
• Cosserat rod integration
• Contact-based objectives
• Compatible with SoftRobots plugin

GitHub Repository

SOFA Framework

sofa-framework · Open-source medical simulation

Contributor

SOFA is the reference open-source framework for real-time simulation of deformable objects, used extensively in surgical robotics, medical training, and biomechanics research. Contributions include improvements to constraint-based simulation components, documentation, and Python-scripting interfaces used across the DEFROST team's research pipeline.

• Real-time physics simulation
• FEM & constraint solvers
• Medical robotics toolkit
• Python & C++ API
• Cross-platform (Linux, macOS, Win)
• Active international community

Official Website GitHub Repository

More on GitHub

Additional repositories, experiment scripts, and teaching materials are available on my personal GitHub profile.

github.com/adagolodjo