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Physically-based simulation is a powerful approach for 3D facial animation as the resulting deformations are governed by physical constraints, allowing to easily resolve self-collisions, respond to external forces and perform realistic…
Recent advances in digital avatar technology have enabled the generation of compelling virtual characters, but deploying these avatars on compute-constrained devices poses significant challenges for achieving realistic garment deformations.…
While automatic monitoring and coaching of exercises are showing encouraging results in non-medical applications, they still have limitations such as errors and limited use contexts. To allow the development and assessment of physical…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
This paper introduces a novel human pose estimation approach using sparse inertial sensors, addressing the shortcomings of previous methods reliant on synthetic data. It leverages a diverse array of real inertial motion capture data from…
This paper presents an integrated model-based framework for generating and executing dynamic whole-body dance motions on humanoid robots. The framework operates in two stages: offline motion generation and online motion execution, both…
Accurately recovering human pose and appearance from video is an essential component of scene reconstruction, with applications to motion capture, motion prediction, virtual reality, and digital twinning. Despite significant interest in…
Prosthesis users can regain partial limb functionality, however, full natural limb mobility is rarely restored, often resulting in compensatory movements that lead to discomfort, inefficiency, and long-term physical strain. To address this…
Exoskeletons show great promise for enhancing mobility, but providing appropriate assistance remains challenging due to the complexity of human adaptation to external forces. Current state-of-the-art approaches for optimizing exoskeleton…
High-fidelity digital human representations are increasingly in demand in the digital world, particularly for interactive telepresence, AR/VR, 3D graphics, and the rapidly evolving metaverse. Even though they work well in small spaces,…
Human re-rendering from a single image is a starkly under-constrained problem, and state-of-the-art algorithms often exhibit undesired artefacts, such as over-smoothing, unrealistic distortions of the body parts and garments, or implausible…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
The realism of digital avatars is crucial in enabling telepresence applications with self-expression and customization. While physical simulations can produce realistic motions for clothed humans, they require high-quality garment assets…
How do humans move? Advances in reinforcement learning (RL) have produced impressive results in capturing human motion using physics-based humanoid control. However, torque-controlled humanoids fail to model key aspects of human motor…
Designing effective rehabilitation strategies for upper extremities, particularly hands and fingers, warrants the need for a computational model of human motor learning. The presence of large degrees of freedom (DoFs) available in these…
Low back pain is one of the most common musculoskeletal disorder. To reduce its incidences, some back exoskeletons have been designed and already commercialized. However, there is a gap between the phases of device and testing on subjects.…
Recovering high-quality 3D human motion in complex scenes from monocular videos is important for many applications, ranging from AR/VR to robotics. However, capturing realistic human-scene interactions, while dealing with occlusions and…
Person identification systems often rely on audio, visual, or behavioral cues, but real-world conditions frequently present with missing or degraded modalities. To address this challenge, we propose a multimodal person identification…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
Bone is a living material. It adapts, in an optimal sense, to loading by changing its density and trabeculae architecture - a process termed remodelling. Implanted orthopaedic devices can significantly alter the loading on the surrounding…