OpenShoe

A Mat­lab toolbox/program for pro­cess­ing IMU data using a Kalman fil­ter based zero-velocity aided INS algo­rithm has now been released. The frame­work allows the user to process the IMU data using dif­fer­ent error state space mod­els and zero-velocity detec­tors. The Open­Shoe C imple­men­ta­tion is a spe­cial case of the pos­si­ble settings.

We are cur­rently expe­ri­enc­ing some local prob­lems with SSH ser­vice. This mean that a lot of code and doc­u­men­ta­tion has not been upgraded lately. The SSH issue should be resolved by tomor­row (has our com­puter sup­port told us) so then we should be able to update all repositories.

Today we got a batch of updated casings:

The cas­ings are essen­tially the same as the old ones. The changes we have made are:

1) Changed some tol­er­ances to make things fit with­out adjustment.

2) Made the lid 0.5mm thicker to improve the mechan­i­cal stability.

3) Added holes to the bot­tom iden­ti­cal to those on the top to make it pos­si­ble to screw it to some­thing (if needed).

4) Changed the place­ment of the exit hole for the cable to the mid­dle of the side to make it sym­met­ric for left and right foot shoe integration.

5) Some minor changes such as edge round­ing radius etc.

A close-up of the new casing

Yes­ter­day we got a sec­ond revi­sion of the shoes. The new pair of shoes include a chan­nel for the cabling and inte­gra­tion of the cas­ing in the sole.

A con­fer­ence con­tri­bu­tion of the upcom­ming IEEE/ION PLANS 2012 con­fer­ence (con­fer­ence home­page), describ­ing the Open­Shoe imple­men­ta­tion, was accepted today.