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Technologies 2017, 5(3), 49; doi:10.3390/technologies5030049

A Low-Cost, Wearable Opto-Inertial 6-DOF Hand Pose Tracking System for VR

Robotics Lab, Department of Mathematics and Computer Science, Liverpool Hope University, Liverpool L16 9JD, UK
Author to whom correspondence should be addressed.
Received: 31 May 2017 / Revised: 22 July 2017 / Accepted: 25 July 2017 / Published: 28 July 2017
(This article belongs to the Special Issue Wearable Technologies)
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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. View Full-Text
Keywords: optical tracking; inertial tracking; sensor fusion; virtual reality; low cost optical tracking; inertial tracking; sensor fusion; virtual reality; low cost

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Maereg, A.T.; Secco, E.L.; Agidew, T.F.; Reid, D.; Nagar, A.K. A Low-Cost, Wearable Opto-Inertial 6-DOF Hand Pose Tracking System for VR. Technologies 2017, 5, 49.

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