diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index f656e4fde..a37e610ed 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -1163,6 +1163,17 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
 		}
 		deformable.m_friction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
 	}
+	
+	XMLElement* repulsion_xml = config->FirstChildElement("repulsion_stiffness");
+	if (repulsion_xml)
+	{
+		if (!repulsion_xml->Attribute("value"))
+		{
+			logger->reportError("repulsion_stiffness element must have value attribute");
+			return false;
+		}
+		deformable.m_repulsionStiffness = urdfLexicalCast<double>(repulsion_xml->Attribute("value"));
+	}
 
 	XMLElement* spring_xml = config->FirstChildElement("spring");
 	if (spring_xml)
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 9b99bc36f..d873e4d30 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -225,6 +225,7 @@ struct UrdfDeformable
 	double m_mass;
 	double m_collisionMargin;
 	double m_friction;
+	double m_repulsionStiffness;
 
 	SpringCoeffcients m_springCoefficients;
 	LameCoefficients m_corotatedCoefficients;
@@ -234,7 +235,7 @@ struct UrdfDeformable
 	std::string m_simFileName;
 	btHashMap<btHashString, std::string> m_userData;
 
-	UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_visualFileName(""), m_simFileName("")
+	UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_repulsionStiffness(0.5), m_visualFileName(""), m_simFileName("")
 	{
 	}
 };
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 1ec54f498..b76c3466f 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -404,6 +404,15 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
 	return 0;
 }
 
+B3_SHARED_API int b3LoadSoftBodySetRepulsionStiffness(b3SharedMemoryCommandHandle commandHandle, double stiffness)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+	command->m_loadSoftBodyArguments.m_repulsionStiffness = stiffness;
+	command->m_updateFlags |= LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS;
+	return 0;
+}
+
 B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 7c52708a3..b3d077a28 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -648,7 +648,8 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
 	B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
-    B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
+	B3_SHARED_API int b3LoadSoftBodyRepulsionStiffness(b3SharedMemoryCommandHandle commandHandle, double stiffness);
+	B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
 	B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
 	B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings, double bendingStiffness);
 	
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index e1807e354..48ecba31f 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -8226,6 +8226,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
 	{
 		deformable.m_friction = loadSoftBodyArgs.m_frictionCoeff;
 	}
+	if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS)
+	{
+		deformable.m_repulsionStiffness = loadSoftBodyArgs.m_repulsionStiffness;
+	}
 
 #endif
 }
@@ -8443,6 +8447,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 			psb->setCollisionFlags(0);
 			psb->setTotalMass(deformable.m_mass);
 			psb->setSelfCollision(useSelfCollision);
+			psb->setSpringStiffness(deformable.m_repulsionStiffness);
 		}
 #endif  //SKIP_DEFORMABLE_BODY
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index c0d00ac72..af6cb907b 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -497,17 +497,18 @@ enum EnumLoadSoftBodyUpdateFlags
 	LOAD_SOFT_BODY_UPDATE_MASS = 1<<2,
 	LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 1<<3,
 	LOAD_SOFT_BODY_INITIAL_POSITION = 1<<4,
-        LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
-        LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
-        LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
-        LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
-        LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
-        LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
-        LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
-        LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
-        LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
-    LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
-    LOAD_SOFT_BODY_SIM_MESH = 1<<15,
+	LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
+	LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
+	LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
+	LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
+	LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
+	LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
+	LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
+	LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
+	LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
+	LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
+	LOAD_SOFT_BODY_SIM_MESH = 1<<15,
+	LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS = 1<<16,
 };
 
 enum EnumSimParamInternalSimFlags
@@ -540,6 +541,7 @@ struct LoadSoftBodyArgs
     double m_NeoHookeanDamping;
     int m_useFaceContact;
     char m_simFileName[MAX_FILENAME_LENGTH];
+	double m_repulsionStiffness;
 };
 
 struct b3LoadSoftBodyResultArgs