A Low-cost, Wearable Opto-inertial 6 DOF Hand Pose Tracking System for VR

Maereg, Anudalem and Secco, Emanuele Lindo and Fikire, Taye and Reid, David and Nagar, Atulya K. (2017) A Low-cost, Wearable Opto-inertial 6 DOF Hand Pose Tracking System for VR. Wearable Technologies, Technologies, 5 (3). p. 49. ISSN 2227-7080 (Accepted for Publication)

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In this paper, a low cost, wearable six Degree of Freedom (6-DOF) hand pose tracking
system is proposed for Virtual Reality applications. It is designed for use with an integrated hand
exoskeleton system for kinesthetic haptic feedback. The tracking system consists of an Infrared (IR)
based optical tracker with low cost mono-camera and inertial and magnetic measurement unit. Image
processing is done on LabVIEW software to extract the 3-DOF position from two IR targets and
Magdwick filter has been implemented on Mbed LPC1768 board to obtain orientation data. Six DOF
hand tracking outputs filtered and synchronized on LabVIEW software are then sent to the Unity
Virtual environment via User Datagram Protocol (UDP) stream. Experimental results show that this
low cost and compact system has a comparable performance of minimal Jitter with position and
orientation Root Mean Square Error (RMSE) of less than 0.2 mm and 0.15 degrees, respectively. Total
Latency of the system is also less than 40 ms.

Item Type: Article
Additional Information and Comments: Article published in Technologies, Vol 5(3), September 2017. Available online at http://www.mdpi.com/2227-7080/5/3/49
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Emanuele Secco
Date Deposited: 31 Jul 2017 13:11
Last Modified: 31 Jul 2017 13:11
URI: https://hira.hope.ac.uk/id/eprint/2098

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