In the literature, many models of compliant fingers grasping rigid objects have been extensively discussed. However, when the objects are themselves deformable, as in many practical cases, the effect of compliant underactuated fingers onto these soft objects is generally not addressed due to the complexity of the model required for accurate results. This paper aims at addressing this issue by proposing to simulate deformations using a simple mass-spring model. This model discretizes the object similarly to how a pseudo-rigid body technique usually approximates the compliant finger. Comparisons between simulations using the proposed model and finite element analyses demonstrate that for a significant range of deformations our approach offers an efficient and accurate approximation while less computationally intensive.

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