Multi-contact interaction force sensing from whole-body motion capture

T.-H. Pham, S. Caron, A. Kheddar, IEEE Transactions on Industrial Informatics (TII), 2017

We present a novel technique that unobtrusively estimates interaction forces exerted by human participants in multi-contact interaction with rigid environments. Our method uses motion capture only, thus circumventing the need to setup cumbersome force transducers at all potential contacts between the human body and the environment. This problem is particularly... [Read More]
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Whole-body contact force sensing from motion capture

T.-H. Pham, A. Bufort, S. Caron, A. Kheddar, "Whole-Body Contact Force Sensing From Motion Capture", in IEEE/SICE International Symposium on System Integration (SII), 2016

In this paper, we challenge the estimation of contact forces backed with ground-truth sensing in human whole-body interaction with the environment, from motion capture only. Our novel method makes it possible to get rid of cumbersome force sensors in monitoring multi-contact motion together with force data. This problem is very... [Read More]
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Capturing and reproducing hand-object interactions through vision-based force sensing

T.-H. Pham, A. Kheddar, A. Qammaz, A. A. Argyros, IEEE ICCV Workshop on Object Understanding for Interaction (OUI), 2015

Capturing and reproducing hand-objects interactions would open considerable possibilities in computer vision, human-computer interfaces, robotics, animation and rehabilitation. Recently, we witnessed impressive vision-based hand tracking solutions that can potentially be used for such purposes. Yet, a challenging question is: to what extent can vision also capture haptic interactions? These induce... [Read More]
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Towards force sensing from vision - observing hand-object interactions to infer manipulation forces

T.-H. Pham, A. Kheddar, A. Qammaz, A. A. Argyros, IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2015

We present a novel, non-intrusive approach for estimating contact forces during hand-object interactions relying solely on visual input provided by a single RGB-D camera. We consider a manipulated object with known geometrical and physical properties. First, we rely on model-based visual tracking to estimate the object’s pose together with that... [Read More]
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