论文标题
弹性上下文:编码纺织品模型的弹性
Elastic Context: Encoding Elasticity for Data-driven Models of Textiles
论文作者
论文摘要
与纺织品(例如辅助敷料)的物理互动依赖于先进的灵巧能力。拉和拉伸时纺织行为的潜在复杂性是由于纱线材料特性和纺织品构造技术所致。如今,尚无评估各种交互或属性识别方法的普遍采用和注释的数据集。影响相互作用的一种重要特性是材料弹性,这是由纱线材料和构造技术引起的:这两个是相互交织的,如果不知道A-Priori,几乎无法通过在机器人平台上使用常见的传感来识别。我们介绍了弹性上下文(EC),该概念整合了影响弹性行为的各种属性,以使其与纺织品进行更有效的物理互动。 EC的定义依赖于纺织工程中常用的压力/应变曲线,我们为机器人应用重新制定了压力/应变曲线。我们使用图形神经网络(GNN)使用EC来学习纺织品的通用弹性行为。此外,我们探索了EC对非线性现实世界弹性行为的准确力建模的影响,突出了当前机器人设置以感知纺织特性的挑战。
Physical interaction with textiles, such as assistive dressing, relies on advanced dextreous capabilities. The underlying complexity in textile behavior when being pulled and stretched, is due to both the yarn material properties and the textile construction technique. Today, there are no commonly adopted and annotated datasets on which the various interaction or property identification methods are assessed. One important property that affects the interaction is material elasticity that results from both the yarn material and construction technique: these two are intertwined and, if not known a-priori, almost impossible to identify through sensing commonly available on robotic platforms. We introduce Elastic Context (EC), a concept that integrates various properties that affect elastic behavior, to enable a more effective physical interaction with textiles. The definition of EC relies on stress/strain curves commonly used in textile engineering, which we reformulated for robotic applications. We employ EC using Graph Neural Network (GNN) to learn generalized elastic behaviors of textiles. Furthermore, we explore the effect the dimension of the EC has on accurate force modeling of non-linear real-world elastic behaviors, highlighting the challenges of current robotic setups to sense textile properties.