{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T09:25:14Z","timestamp":1780392314354,"version":"3.54.1"},"reference-count":43,"publisher":"Association for Computing Machinery (ACM)","issue":"4","license":[{"start":{"date-parts":[[2023,7,26]],"date-time":"2023-07-26T00:00:00Z","timestamp":1690329600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["021-67021-35329"],"award-info":[{"award-number":["021-67021-35329"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2023,8]]},"abstract":"<jats:p>\n            Posing high-contact interactions is challenging and time-consuming, with hand-object interactions being especially difficult due to the large number of degrees of freedom (DOF) of the hand and the fact that humans are experts at judging hand poses. This paper addresses this challenge by elevating contact areas to first-class primitives. We provide\n            <jats:italic>end-to-end art-directable<\/jats:italic>\n            (EAD) tools to model interactions based on contact areas, directly manipulate contact areas, and compute corresponding poses automatically. To make these operations intuitive and fast, we present a novel axis-based contact model that supports real-time approximately isometry-preserving operations on triangulated surfaces, permits movement between surfaces, and is both robust and scalable to large areas. We show that use of our contact model facilitates high quality posing even for unconstrained, high-DOF custom rigs intended for traditional keyframe-based animation pipelines. We additionally evaluate our approach with comparisons to prior art, ablation studies, user studies, qualitative assessments, and extensions to full-body interaction.\n          <\/jats:p>","DOI":"10.1145\/3592117","type":"journal-article","created":{"date-parts":[[2023,7,26]],"date-time":"2023-07-26T15:47:45Z","timestamp":1690386465000},"page":"1-20","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions"],"prefix":"10.1145","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3991-3651","authenticated-orcid":false,"given":"Arjun Sriram","family":"Lakshmipathy","sequence":"first","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, United States of America"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-0129-3021","authenticated-orcid":false,"given":"Nicole","family":"Feng","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, United States of America"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-4303-5543","authenticated-orcid":false,"given":"Yu Xi","family":"Lee","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, United States of America"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-4004-3158","authenticated-orcid":false,"given":"Moshe","family":"Mahler","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, United States of America"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6464-839X","authenticated-orcid":false,"given":"Nancy","family":"Pollard","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Pittsburgh, United States of America"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2023,7,26]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","unstructured":"H. Biermann I. Martin F. Bernardini and D. Zorin. 2002. Cut-and-Paste Editing of Multiresolution Surfaces. 21 3 (jul 2002) 312--321. 10.1145\/566654.566583","DOI":"10.1145\/566654.566583"},{"key":"e_1_2_2_2_1","volume-title":"The IEEE Conference on Computer Vision and Pattern Recognition (CVPR). https:\/\/contactdb.cc.gatech.edu","author":"Brahmbhatt S.","unstructured":"S. Brahmbhatt, C. Ham, C. C. Kemp, and J. Hays. 2019a. ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imaging. In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR). https:\/\/contactdb.cc.gatech.edu"},{"key":"e_1_2_2_3_1","volume-title":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).","author":"Brahmbhatt S.","unstructured":"S. Brahmbhatt, A. Handa, J. Hays, and D. Fox. 2019b. ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact. In 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)."},{"key":"e_1_2_2_4_1","volume-title":"ContactPose: A Dataset of Grasps with Object Contact and Hand Pose. In The European Conference on Computer Vision (ECCV). https:\/\/contactpose.cc.gatech.edu","author":"Brahmbhatt S.","unstructured":"S. Brahmbhatt, C. Tang, C. D. Twigg, C. C. Kemp, and J. Hays. 2020. ContactPose: A Dataset of Grasps with Object Contact and Hand Pose. In The European Conference on Computer Vision (ECCV). https:\/\/contactpose.cc.gatech.edu"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560766"},{"key":"e_1_2_2_6_1","doi-asserted-by":"crossref","unstructured":"S. Christen M. Kocabas E. Aksan J. Hwangbo J. Song and O. Hilliges. 2021. D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactions. arXiv preprint arXiv:2112.03028 (2021).","DOI":"10.1109\/CVPR52688.2022.01992"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/3131280"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1992.219918"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","unstructured":"A. Gehre M. M. Bronstein L. Kobbelt and J. Solomon. 2018. Interactive Curve Constrained Functional Maps. Computer Graphics Forum (2018). 10.1111\/cgf.13486","DOI":"10.1111\/cgf.13486"},{"key":"e_1_2_2_10_1","volume-title":"The IEEE Conference on Computer Vision and Pattern Recognition (CVPR). http:\/\/www.pgrady.net\/contactopt\/","author":"Grady P.","unstructured":"P. Grady, C. Tang, C. D. Twigg, M. Vo, S. Brahmbhatt, and C. C. Kemp. 2021. ContactOpt: Optimizing Contact to Improve Grasps. In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR). http:\/\/www.pgrady.net\/contactopt\/"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508397"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/FG.2011.5771426"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/2887740"},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843619500294"},{"key":"e_1_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/571985.571999"},{"key":"e_1_2_2_16_1","volume-title":"Proceedings of the International Conference on Computer Vision (ICCV).","author":"Jiang H.","unstructured":"H. Jiang, S. Liu, J. Wang, and X. Wang. 2021. Hand-Object Contact Consistency Reasoning for Human Grasps Generation. In Proceedings of the International Conference on Computer Vision (ICCV)."},{"key":"e_1_2_2_17_1","unstructured":"S.G. Johnson. 2017. The NLopt nonlinear-optimization package. http:\/\/ab-initio.mit.edu\/nlopt"},{"key":"e_1_2_2_18_1","volume-title":"Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations. arXiv:2110.15532 [cs.RO]","author":"Lakshmipathy A.","year":"2022","unstructured":"A. Lakshmipathy, D. Bauer, C. Bauer, and N. S. Pollard. 2022. Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations. arXiv:2110.15532 [cs.RO]"},{"key":"e_1_2_2_19_1","volume-title":"Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation. In 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).","author":"Lakshmipathy A.","unstructured":"A. Lakshmipathy, D. Bauer, and N. S. Pollard. 2021. Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation. In 2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)."},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","unstructured":"Y. Lee S. Lee and S.H. Lee. 2017. Multifinger interaction between remote users in avatar-mediated telepresence. Computer Animation and Virtual Worlds 28 (05 2017) e1778. 10.1002\/cav.1778","DOI":"10.1002\/cav.1778"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2007.1033"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.5555\/1632592.1632616"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1137\/0216045"},{"key":"e_1_2_2_24_1","volume-title":"Proceedings of the ACM SIGGRAPH\/Eurographics symposium on computer animation. 137--144","author":"Mordatch I.","unstructured":"I. Mordatch, Z. Popovi\u0107, and E. Todorov. 2012. Contact-invariant optimization for hand manipulation. In Proceedings of the ACM SIGGRAPH\/Eurographics symposium on computer animation. 137--144."},{"key":"e_1_2_2_25_1","doi-asserted-by":"crossref","unstructured":"R. M. Murray S. S. Sastry and L. Zexiang. 1994. A Mathematical Introduction to Robotic Manipulation (1st ed.). CRC Press Inc. USA.","DOI":"10.1201\/9781315136370-1"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620066"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/1073368.1073413"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/1185657.1185664"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2020351"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","unstructured":"R. M. Sanso and D. Thalmann. 1994. A Hand Control and Automatic Grasping System for Synthetic Actors. Computer Graphics Forum (1994). 10.1111\/1467-8659.1330167","DOI":"10.1111\/1467-8659.1330167"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","unstructured":"R. Schmidt C. Grimm and B. Wyvill. 2006. Interactive Decal Compositing with Discrete Exponential Maps. 25 3 (jul 2006) 605--613. 10.1145\/1141911.1141930","DOI":"10.1145\/1141911.1141930"},{"key":"e_1_2_2_32_1","unstructured":"N. Sharp K. Crane et al. 2019a. geometry-central. www.geometry-central.net."},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1145\/3243651"},{"key":"e_1_2_2_34_1","doi-asserted-by":"crossref","unstructured":"B. Siciliano and O. Khatib. 2007. Springer Handbook of Robotics. Springer-Verlag Berlin Heidelberg.","DOI":"10.1007\/978-3-540-30301-5"},{"key":"e_1_2_2_35_1","doi-asserted-by":"publisher","unstructured":"B. Smith C. Wu H. Wen P. Peluse Y. Sheikh J. K. Hodgins and T. Shiratori. 2020. Constraining Dense Hand Surface Tracking with Elasticity. 39 6 Article 219 (nov 2020) 14 pages. 10.1145\/3414685.3417768","DOI":"10.1145\/3414685.3417768"},{"key":"e_1_2_2_36_1","volume-title":"GRAB: A Dataset of Whole-Body Human Grasping of Objects. In European Conference on Computer Vision (ECCV). https:\/\/grab.is.tue.mpg.de","author":"Taheri O.","unstructured":"O. Taheri, N. Ghorbani, M. J. Black, and D. Tzionas. 2020. GRAB: A Dataset of Whole-Body Human Grasping of Objects. In European Conference on Computer Vision (ECCV). https:\/\/grab.is.tue.mpg.de"},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-20068-7_12"},{"key":"e_1_2_2_38_1","volume-title":"SAGA: Stochastic Whole-Body Grasping with Contact. (12","author":"Wu Y.","year":"2021","unstructured":"Y. Wu, J. Wang, Y. Zhang, S. Zhang, O. Hilliges, F. Yu, and S. Tang. 2021. SAGA: Stochastic Whole-Body Grasping with Contact. (12 2021)."},{"key":"e_1_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2003.1207443"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185537"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","unstructured":"H. Zhang Y. Ye T. Shiratori and T. Komura. 2021. ManipNet: Neural Manipulation Synthesis with a Hand-Object Spatial Representation. 40 4 Article 121 (jul 2021) 14 pages. 10.1145\/3450626.3459830","DOI":"10.1145\/3450626.3459830"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/195826.195827"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","unstructured":"W. Zhao J. Zhang J. Min and J. Chai. 2013. Robust Realtime Physics-Based Motion Control for Human Grasping. 32 6 Article 207 (nov 2013) 12 pages. 10.1145\/2508363.2508412","DOI":"10.1145\/2508363.2508412"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3592117","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3592117","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3592117","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T16:37:46Z","timestamp":1750178266000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3592117"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,26]]},"references-count":43,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,8]]}},"alternative-id":["10.1145\/3592117"],"URL":"https:\/\/doi.org\/10.1145\/3592117","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,7,26]]},"assertion":[{"value":"2023-07-26","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}