Abstract
Modifying motion capture to satisfy the constraints of new animation
is difficult when contact is involved, and a critical problem for
animation of hands. The compliance with which a character makes
contact also reveals important aspects of the movement's purpose. We
present a new technique called interaction capture, for
capturing these contact phenomena. We capture contact forces at the
same time as motion, at a high rate, and use both to estimate a
nominal reference trajectory and joint compliance. Unlike traditional
methods, our method estimates joint compliance without the need for
motorized perturbation devices. New interactions can then be
synthesized by physically based simulation. We describe a novel
position-based linear complementarity problem formulation that
includes friction, breaking contact, and the compliant coupling
between contacts at different fingers. The technique is validated
using data from previous work and our own perturbation-based
estimates.
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