Abstract
The simulation of fabrics physics and its interaction with the human body has been largely studied in recent years to provide realistic-looking garments and wears specifically in the entertainment business. When the purpose of the simulation is to obtain scientific measures and detailed mechanical properties of the interaction, the underlying physical models should be enhanced to obtain better simulation accuracy increasing the modeling complexity and relaxing the simulation timing constraints to properly solve the set of equations under analysis. However, in the specific field of haptic interaction, the desiderata are to have both physical consistency and high frame rate to display stable and coherent stimuli as feedback to the user requiring a tradeoff between accuracy and real-time interaction. This work introduces a haptic system for the evaluation of the fabric hand of specific garments either existing or yet to be produced in a virtual reality simulation. The modeling is based on the co-rotational Finite Element approach that allows for large displacements but the small deformation of the elements. The proposed system can be beneficial for the fabrics industry both in the design phase or in the presentation phase, where a virtual fabric portfolio can be shown to customers around the world. Results exhibit the feasibility of high-frequency real-time simulation for haptic interaction with virtual garments employing realistic mechanical properties of the fabric materials.
Highlights
Many robotics applications of deformable objects manipulations have spread out in the last years [1] in diverse fields such as the manufacturing industry [2], service robotics [3], and others
It is a fact that the robotic manipulation of deformable objects has not been studied as its rigid counterpart due to the complexity in modeling, perception, and control
The proposed work presents a soft tissue simulator framework that accurately models the interaction of the soft object during haptic interaction
Summary
Many robotics applications of deformable objects manipulations have spread out in the last years [1] in diverse fields such as the manufacturing industry [2], service robotics [3], and others. The recent advances in machine learning techniques and computer graphics helped to give effective modeling techniques and data-driven paradigms for solving some of the issues in traditional methods [4,5,6] It is a common opinion [7] that the interaction with deformable objects is a critical open problem in robotics. During the haptic sensation process, the brain combines several data coming from the mechanoreceptors of the skin, the kinesthetic sensors, and the muscles stimuli in a complex elaboration signal Such a process allows the appreciating and distinguishing of the different fabric properties of tissues by the haptic sensation. Thanks to the haptic system [11] and the tissues simulator presented in the manuscript, the fabric hand of specific garments, either existing or yet to be produced, can be perceived virtually with a high degree of fidelity. The document is organized as follows: in Section 2, a brief introduction of existing projects on the topic is presented; Section 3 discusses in detail possible modeling approaches and the implemented techniques; Section 4 presents the implemented system for the simulation of and interaction with virtual clothes; Section 5 presents the experimental tests to validate the system; and, Section 6 draws the conclusions of the work
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