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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