My homie Raff played a lot of hack back in the day, so he's got a great tactic for picking the poi up. It's just like the hacky move to get the sac off the ground.
Put your foot on top of the head (face the poi so the chain is laying in the wall plane in front of you) and roll your foot back hard enough that the poi roll onto the top of your foot. Then kick your foot up and slightly toward the chain. The chain'll kinda' wrap around your foot, so when you stop moving your foot the chain'll pop up. It's kinda' screwy at first... I still can't do it well at all, but I know it can be done.
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The wispering of the wise never entertains the fools...