Wireless ToF and IMU sensors integrated in exoskeleton for proximity detection and motion capture скачать в хорошем качестве

Wireless ToF and IMU sensors integrated in exoskeleton for proximity detection and motion capture

Wireless Time of Flight (ToF) devices integrated into the exoskeleton transmit their data in real-time to the computer for proximity detection. One wireless ToF device manages the ToF sensors along the spine of the exoskeleton, while two other ToF devices are assigned to the upper arms. ProMove-V IMUs are part of the same wireless network and are used for body modelling and posture analysis. The wireless network is highly-synchronized and high-speed: one wireless ToF device integrates up to 10 ToF sensors, with 8x8 separate zones for each ToF sensor and sampling at 10 Hz. The IMUs sample each on-board three-axial sensor at 200 Hz . The proximity to the surrounding objects is displayed as a point cloud, with different colors depending on the ToF sensor involved. The manikin translates on the screen the movements of the person wearing the exoskeleton using the information received from the IMUs. This work was carried out within the Horizon Europe project Sestosenso (GA 101070310).