Inertial motion capture

Our modular system for untethered real-time kinematic motion capture using sensors with inertial measuring units (IMUs). The system is comprised of a set of small and lightweight inertial sensors. Each sensor provides its own global orientation (3 degrees of freedom) and is physically and computationally independent, requiring only external communication. Orientation information from sensors is communicated via wireless to host computer for processing. The untethered motion capture system has been used for teleoperating the NASA Robonaut.