Related papers: An Inextensible Model for Robotic Simulations of T…
Sewing garments using robots has consistently posed a research challenge due to the inherent complexities in fabric manipulation. In this paper, we introduce an intelligent robotic automation system designed to address this issue. By…
Assistive robots should be able to wash, fold or iron clothes. However, due to the variety, deformability and self-occlusions of clothes, creating robot systems for cloth manipulation is challenging. Synthetic data is a promising direction…
A finite element simulation of the mechanical behaviour of woven textile materials at the scale of individual fibers is proposed in this paper. The aim of the simulation is to understand and identify phenomena involved at different scales…
Model-free data-driven computational mechanics replaces phenomenological constitutive functions by numerical simulations based on data sets of representative samples in stress-strain space. The distance of strain and stress pairs from the…
Fabric manipulation is a long-standing challenge in robotics due to the enormous state space and complex dynamics. Learning approaches stand out as promising for this domain as they allow us to learn behaviours directly from data. Most…
Robotic manipulation of cloth is a challenging task due to the high dimensionality of the configuration space and the complexity of dynamics affected by various material properties. The effect of complex dynamics is even more pronounced in…
A complete approach for the determination of the complex constitutive behaviour of textile composites through finite element simulation is presented in this paper. In this work, simulations of different loading cases are carried out on…
This work aims to describe a mathematical model and a numerical method to simulate a thin anisotropic composite membrane moving and deforming in 3D space under a dynamic load of an arbitrary time and space profile. The model and the method…
Knitting turns yarn, a 1D material, into a 2D fabric that is flexible, durable [1], and can be patterned to adopt a wide range of 3D geometries [2]. Like other mechanical metamaterials [3], the elasticity of knitted fabrics is an emergent…
For the task of hanging clothes, learning how to insert a hanger into a garment is a crucial step, but has rarely been explored in robotics. In this work, we address the problem of inserting a hanger into various unseen garments that are…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
Robotic caregivers could potentially improve the quality of life of many who require physical assistance. However, in order to assist individuals who are lying in bed, robots must be capable of dealing with a significant obstacle: the…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key regions, such as corners, are not directly graspable, making manipulation difficult. We propose a system that leverages visual and tactile…
In this paper, we introduce a consistency-driven dual LSTM framework for accurately learning both the forward and inverse kinematics of a pneumatically actuated soft robotic arm integrated into a wearable device. This approach effectively…
Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garment manipulations pose significant challenges. Recent…
Physical experiments can characterize the elastic response of granular materials in terms of macroscopic state-variables, namely volume (packing) fraction and stress, while the microstructure is not accessible and thus neglected. Here, by…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
Fluid-structure simulations of slender inextensible filaments in a viscous fluid are often plagued by numerical stiffness. Recent coarse-graining studies have reduced the computational requirements of simulating such systems, though have…
Robotic sensorimotor extensions (supernumerary limbs, prosthesis, handheld tools) are worn devices used to interact with the nearby environment, whether to assist the capabilities of impaired users or to enhance the dexterity of industrial…