  In this paper, we are interested in the collective friction of a cloud of
particles on the viscous incompressible fluid in which they are moving. The
particles velocities are assumed to be given and the fluid is assumed to be
driven by the stationary Stokes equations. We consider the limit where the
number N of particles goes to infinity with their diameters of order 1/N and
their mutual distances of order (1/N)^{1/3}. The rigorous convergence of the
fluid velocity to a limit which is solution to a stationary Stokes equation set
in the full space but with an extra term, referred to as the Brinkman force,
was proven by Desvillettes, Golse and Ricci when the particles are identical
spheres in prescribed translations. Our result here is an extension to
particles of arbitrary shapes in prescribed translations and rotations. The
limit Stokes-Brinkman system involves the particle distribution in position,
velocity and shape, through the so-called Stokes' resistance matrices.
