  Recently, there has been a growing interest in rescue robots due to their
vital role in addressing emergency scenarios and providing crucial support in
challenging or hazardous situations where human intervention is difficult.
However, very few of these robots are capable of actively engaging with humans
and undertaking physical manipulation tasks. This limitation is largely
attributed to the absence of tools that can realistically simulate physical
interactions, especially the contact mechanisms between a robotic gripper and a
human body. In this letter, we aim to address key limitations in current
developments towards robotic casualty manipulation. Firstly, we present an
integrative simulation framework for casualty manipulation. We adapt a finite
element method (FEM) tool into the grasping and manipulation scenario, and the
developed framework can provide accurate biomechanical reactions resulting from
manipulation. Secondly, we conduct a detailed assessment of grasping stability
during casualty grasping and manipulation simulations. To validate the
necessity and superior performance of the proposed high-fidelity simulation
framework, we conducted a qualitative and quantitative comparison of grasping
stability analyses between the proposed framework and the state-of-the-art
multi-body physics simulations. Through these efforts, we have taken the first
step towards a feasible solution for robotic casualty manipulation.
