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High-quality data collection is a fundamental cornerstone for training humanoid whole-body visuomotor policies. Current data acquisition paradigms predominantly rely on robot teleoperation, which is often hindered by limited hardware…
Based on the Arduino development platform, Plasduino is an open-source data acquisition framework specifically designed for educational physics experiments. The source code, schematics and documentation are in the public domain under a GPL…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
Microcontroller units (MCUs) are widely used in embedded devices due to their low power consumption and cost-effectiveness. MCU firmware controls these devices and is vital to the security of embedded systems. However, performing dynamic…
Sensing human motions through Inertial Measurement Units (IMUs) embedded in personal devices has enabled significant applications in health and wellness. Labeled IMU data is scarce, however, unlabeled or weakly labeled IMU data can be used…
This project focuses on the design and construction of a prototype mouse based on the Arduino platform, intended for individuals without upper limbs to use computers more effectively. The prototype comprises a microcontroller responsible…
Inertial Odometry (IO) enables real-time localization using only acceleration and angular velocity measurements from an Inertial Measurement Unit (IMU), making it a promising solution for localization in consumer-grade applications.…
This paper presents a novel framework to realize proprioception and closed-loop control for soft manipulators. Deformations with large elongation and large bending can be precisely predicted using geometry-based sensor signals obtained from…
Attitude and heading reference systems (AHRS) play a central role in autonomous navigation systems on land, air and maritime platforms. AHRS utilize inertial sensor measurements to estimate platform orientation. In recent years, there has…
This paper presents a control interface to translate the residual body motions of individuals living with severe disabilities, into control commands for body-machine interaction. A custom, wireless, wearable multi-sensor network is used to…
A wide range of user perception applications leverage inertial measurement unit (IMU) data for online prediction. However, restricted by the non-i.i.d. nature of IMU data collected from mobile devices, most systems work well only in a…
Human motion analysis is used in many different fields and applications. Currently, existing systems either focus on one single limb or one single class of movements. Many proposed systems are designed to be used in an indoor controlled…
This paper presents the validation of a computational tool that serves to obtain continuous measurements of moving objects. The software uses techniques of computer vision, pattern recognition and optical flow, to enable tracking of objects…
Prototyping is an important part in research and development of tangible user interfaces (TUIs). On the way from the idea to a working prototype, new hardware prototypes usually have to be crafted repeatedly in numerous iterations. This…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
With the rapid development of wearable technology, devices like smartphones, smartwatches, and headphones equipped with IMUs have become essential for applications such as pedestrian positioning. However, traditional pedestrian dead…
We introduce a novel approach to user authentication called Motion ID. The method employs motion sensing provided by inertial measurement units (IMUs), using it to verify the persons identity via short time series of IMU data captured by…
With the massive increase in the number of IoT devices being deployed in smart cities, it becomes paramount for middlewares to be able to handle very high loads and support demanding use-cases. In order to do so, middlewares must scale…
Electromagnetic tracking (EMT) is a core platform technology in the navigation and visualisation of image-guided procedures. The technology provides high tracking accuracy in non-line-of-sight environments, allowing instrument navigation in…
Testing the aerodynamics of micro- and nano-UAVs without actually flying is highly challenging. To address this issue, we introduce Open Gimbal, a specially designed 3 Degrees of Freedom platform that caters to the unique requirements of…