地面反作用力惯性姿态器：基于稀疏 IMU 与鞋垫压力传感器的物理人体运动捕捉
Ground Reaction Inertial Poser: Physics-based Human Motion Capture from Sparse IMUs and Insole Pressure Sensors
用物理仿真器中的合成人形作为数字孪生，把稀疏 IMU 与鞋垫压力信号经 KinematicsNet 估计后，由 DynamicsNet 以残差控制仿真人形，从而得到物理一致的人体运动；这套「运动学估计 + 物理仿真残差修正」的范式可迁移到视频人体运动恢复与物理合理性约束。
原文依据 GRIP uses a digital twin of a person, in the form of a synthetic humanoid in a physics simulator
摘要译文
由模型翻译 · 术语统一 · 请对照原文核对关键结论我们提出地面反作用力惯性姿态器（GRIP），一种仅使用四个可穿戴设备重建物理可信人体运动的方法。与仅使用 IMU 的传统方法不同，GRIP 将 IMU 信号与足部压力数据相结合，以同时捕捉身体动力学与地面交互。此外，GRIP 不局限于纯运动学估计，而是使用一个人的数字孪生——即物理仿真器中的合成人形——来重建真实且物理可信的运动。GRIP 的核心由两个模块组成：KinematicsNet 从传感器数据估计身体姿态与速度，DynamicsNet 则利用 KinematicsNet 预测与仿真人形状态之间的残差来控制仿真器中的人形。为支持稳健的训练与公平的评估，我们引入了一个大规模数据集 PRISM（用于人体运动与交互的压力与惯性传感），其中包含同步的 IMU 与鞋垫压力传感器所捕捉的多样化人体运动。实验结果表明，GRIP 在所有评估数据集上均优于现有的仅 IMU 方法与 IMU-压力融合方法，实现了更高的全局姿态精度与更好的物理一致性。
英文原文摘要 1221 字符
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 residual between the KinematicsNet prediction and the simulated humanoid state. To enable robust training and fair evaluation, we introduce a large-scale dataset, Pressure and Inertial Sensing for Human Motion and Interaction (PRISM), that captures diverse human motions with synchronized IMUs and insole pressure sensors. Experimental results show that GRIP outperforms existing IMU-only and IMU-pressure fusion methods across all evaluated datasets, achieving higher global pose accuracy and improved physical consistency.