Highlights

 A bond graph model for dynamics of the soft contact manipulation of a rigid object using two soft
pads is developed.
 A disc is grasped and rolled between the two soft pads so that its center follows a desired
horizontal displacement trajectory.
 A closed-loop feedback control system generates the required force to grasp and control the
instantaneous position of the center of the disc.
 The model determines the instantaneous force distributions that must be applied at the contact
interfaces for the desired manipulation of the object.
 The model is independent of the material of the soft pads, the geometry of the rigid object and is
applicable for any desired input trajectory.