Ground Reaction Inertial Poser: Physics-based Human Motion Capture from Sparse IMUs and Insole Pressure Sensors
We propose Ground Reaction Inertial Poser (GRIP), a method that reconstructs physically plausible human motion using four wearable devices. Unlike conventional IMU-only approaches, GRIP combines IMU signals with foot pressure data to capture both body dynamics and ground interactions. Furthermore, rather than relying solely on kinematic estimation, GRIP uses a digital twin of a person, in the form of a synthetic humanoid in a physics simulator, to reconstruct realistic and physically plausible motion. At its core, GRIP consists of two modules: KinematicsNet, which estimates body poses and velocities from sensor data, and DynamicsNet, which controls the humanoid in the simulator using the ...
| Authors | Ryosuke Hori, Jyun-Ting Song, Zhengyi Luo et al. |
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| Primary category | cs.CV |
| Published | 17 March 2026 |
| Last updated at source | 27 March 2026 |
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