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<p>This work presents a comprehensive framework that combines modeling, simulation and experimental validation of an actuator-based textile draping system. The extended simulation incorporates geometric constraints, including fiber wrapping effects and contact point displacement. A key aspect of the study is the characterization and modeling of hysteresis in pneumatic continuum actuators. Nonlinear pressure–strain behavior is determined experimentally using a dedicated test setup and approximated using data-driven approaches. The accuracy and applicability of these modeling methods are then compared. To validate the results experimentally, a camera-based motion capture system from the company Optitrack is used to record the spatial positions of defined marker points. The acquired displacement data enable a detailed comparison between the nominal and actual draping lines, enabling the identification of systematic deviations. These are then integrated in the simulation model to increase the precision for the calculation of the control data. The integration enhances the tracking accuracy, as defined by the absolute mean deviation of all kinematics. This enhancement increases accuracy in the x-direction by 47% and in the z-direction by 44%, as reflected by the reduction in absolute mean deviation. Future developments will concentrate on the potential for real-time control of the draping line enabled by continuous position tracking.</p>

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Improving kinematic accuracy in soft-actuated textile draping process through hysteresis modeling and camera-based motion tracking

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年6月2日

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  • Berend Denkena,
  • Carsten Schmidt,
  • Lucas Wolf

摘要

This work presents a comprehensive framework that combines modeling, simulation and experimental validation of an actuator-based textile draping system. The extended simulation incorporates geometric constraints, including fiber wrapping effects and contact point displacement. A key aspect of the study is the characterization and modeling of hysteresis in pneumatic continuum actuators. Nonlinear pressure–strain behavior is determined experimentally using a dedicated test setup and approximated using data-driven approaches. The accuracy and applicability of these modeling methods are then compared. To validate the results experimentally, a camera-based motion capture system from the company Optitrack is used to record the spatial positions of defined marker points. The acquired displacement data enable a detailed comparison between the nominal and actual draping lines, enabling the identification of systematic deviations. These are then integrated in the simulation model to increase the precision for the calculation of the control data. The integration enhances the tracking accuracy, as defined by the absolute mean deviation of all kinematics. This enhancement increases accuracy in the x-direction by 47% and in the z-direction by 44%, as reflected by the reduction in absolute mean deviation. Future developments will concentrate on the potential for real-time control of the draping line enabled by continuous position tracking.