Hand-Object Contact Force Estimation from Markerless Visual Tracking

• Published in: IEEE transactions on pattern analysis and machine intelligence Vol. 40; no. 12; pp. 2883 - 2896
• Main Authors: Pham, Tu-Hoa, Kyriazis, Nikolaos, Argyros, Antonis A., Kheddar, Abderrahmane
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.12.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical and Electronics Engineers
• Subjects: Biological system modeling; Computer Science; Computer Vision and Pattern Recognition; Contact force; Equations of motion; Force measurement; Force sensing from vision; hand-object tracking; Kinematics; Machine Learning; manipulation; Object recognition; Object tracking; Optical tracking; Optimization; pattern analysis; Physical properties; Recurrent neural networks; Robotics; Sensors; tracking; Transducers; pattern analysis; Force sensing from vision; sensors; manipulation; tracking; hand-object tracking

We consider the problem of estimating realistic contact forces during manipulation, backed with ground-truth measurements, using vision alone. Interaction forces are usually measured by mounting force transducers onto the manipulated objects or the hands. Those are costly, cumbersome, and alter the...