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The OpenSenseRT System is a project using open-source software and hardware to compute the motions of body segments based on inertial measurement unit (IMU) data using the processing power of a microcontroller worn on the body. The architecture can be customized to track specified body segments. The components are off-the-shelf and cost approximately $120 for base components and $20 for each tracked body segment. This page aims to help replicate the system for use in other studies. For full technical details, please read our paper. The hardware can be assembled with common hand tools and does not require coding or soldering. We’ve created a video tutorial to demonstrate the system and the setup process. Check out the example use cases in the video below.<iframe width="560" height="315" src="https://www.youtube.com/embed/aYc-mX_-NAA" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>demonstrations video!
How to Setup the Open-Source SoftwareAnchor steptwo steptwo
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To help simplify assembly we have created a video tutorial rather than text instructions. Please follow the steps in the assembly video. <link assembly video>.
Orienting the IMUs
Once the Raspberry Pi and associated parts are assembled, it is important to double check the orientation of the IMUs on the body. This is necessary for proper calibration which will be discussed in more detail in the “Testing the System” subsection. The proper orientations for the sensors should follow the image below. The x, y, and z axes of the IMU correspond to the red, green, and blue vectors shown on the image. The axes are drawn on the IMU to help with this alignment.
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The third line of the settings.txt file is the computation frequency, the maximum frequency that can be computed depends on how many IMUs are in use. The recommended frequencies based on the number of IMUs is detailed in the research paper <insert paper link>. The fourth line denotes whether the system will run in real-time using the “online” mode or simply save the raw IMU data for computing later in the “offline” mode. The fifth line defines the name of the folder where the recorded kinematics will be saved. The sixth line defines what the maximum recording length can be before the recording is automatically ended. The seventh line acts as a way to calibrate the system for a new IMU configuration. The first time a new IMU setup is used, the word “calibrate” should be added to automatically remove the bias in measurements from the gyroscopes. This line will be automatically deleted from the file after calibration is complete, so the system does not need to be recalibrated for each use.
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