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Moven User Manual

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1. Cascade Tile windows Linked views Camera control Follow Camera Show Magnetic Disturbances Shadows and floor sod 3 3 2 Software Development Kit SDK ATI VIS TR AEN Export Save 5 ZOOMING in time SOV deque Edit Fusion Engine Settings Moven User Manual 2007 Xsens Technologies B V 3 3 3 3 ALAA qe MTTH 27 3 4 WORKING WITH MVN AND MVNX FILES ccscceccecsecseceececcecsecsececcseeeececsessessececeecesseeeeeeseeseeeeeeeees 27 3 5 EXPORT MOVEN E 28 3 5 1 POr SC 28 3 5 1 1 Overwrite first frame with T pose eeesssseeeeeeeeeenennneennnnn nennen nnne nnn 28 3 5 1 2 vage 28 3 5 1 3 HUMUM ME MUERE DEUS EINE MM RSEN ME 29 3 5 1 4 FV VSS dla NT E 29 3 5 2 ize mm 29 3 6 POI 30 3 7 e ER EPICURI 34 3 8 NETWORK STREAMING 34 3 8 1 MotionBu llder DIUQ Ih isis eerie oot diode or 36 3 9 RELOCATE EN OP 36 4
2. GUD EN ES S 37 4 1 HS 37 4 1 1 SOF SCC OO 37 4 1 1 1 dE ER 37 4 1 1 2 E TTE 38 4 1 1 3 AS t 38 4 1 1 4 i Mm 38 qu2 Magnelc distur DO 38 41 3 39 4 1 4 MOVeEH FUSION R SOL E ain 39 4 2 a P 39 4 2 1 URP EE 39 A22 40 4 2 2 1 Genra 40 4 2 2 2 BUL 41 4 2 2 3 AM Status 41 4 2 2 4 1 TT T OT mmm 41 4 2 2 5 Setup for serial cable CONNECTION ccccssssecccccesececceeeecececcaeseceessaeueeeesseaaeeeesseaes 42 4 2 3 VUES SCC CIVIL 43 4 2 3 1 WRA Ue LED 43 4 3 OPERATING TIME E mm mm 44 4 3 1 ES E NINE ETT TT Tm 44 4 3 2 External power connector isses eene 44 4 4 OPERATING RANGE oa sins T N 45 4 5 BUFFERING AN
3. 64 7 2 ABSOLUTE MAXIMUM RATINGS ss scd tun vis Devo uut seca e vut eoru Dore Oda dne 64 7 3 AE PST STIL NERO Rt 65 7 4 WARRANTY AND LIABILITY 2 rS oni eU ven 66 7 5 CU TONER duo PIN 66 7 6 CE DECLARATION OF CONFORMITY ese 67 7 7 FCC DECLARATION OF CONFORMITY essetis sese sessio sese 68 8 PLACING MT AND CABLES IN SUIT ccccccecccccccccccccccccccccccccccecccecccccccecccccccscccccccsccceccoeccs 69 8 1 FuLL BODY e E VE RMEiCbPFrC Fi D EE 69 8 2 UPPER BODY CONFIGURATION cU eria its M NUES 72 8 3 LOWER BODY CONFIGURATION cccececceccccececccceccececcacscencscecencecenceceececeeseceacecenseceaceeeacsceeaseceeceneas 73 8 4 83251 74 9 do 75 9 1 QUATERNION ORIENTATION REPRESENTATION ccececececcccccscecececcacscececeacceacs
4. Left Toe 5 3 Moven export formats 5 3 1 FBX FBX Filmbox is a platform independent 3D file format which gives you access to content authored in software packages such as MotionBuilder Maya or Softimage For some software packages an FBX plug in should be installed Moven FBX files contain both position and orientation information of all 23 segments MotionBuilder workflow To import FBX in MotionBuilder the Moven script called MKMoven01 py which can be found in C Program Files Xsens Moven Templates should be copied to one of the following folders C Program Files Autodesk MotionBuilder75 bin config Scripts C Program Files Autodesk MotionBuilder75 Ext2 bin config Scripts 54 Moven User Manual 2007 Xsens Technologies B V 1 Load the template file Moven FBX import fbx In the Viewer window nulls represent the joint positions and rotations of the skeleton e jus Ed 2 Import the motion data gt Import amp Merge Select the Import Scaling option 3 Plot the animation to the control rig this can be done by pressing function key F10 which runs the Moven script A filter is applied to eliminate gimbal lock Neale AU EY Ina mumr m leis 55 Moven User Manual 2007 Xsens Technologies B V 3 4 The skeleton is a character in MotionBuilder and the control rig contains the captured motion You can now simply merge another charac
5. 7 3 Maintenance To wash the suit remove all cables Xbus Masters and MTx s Follow the instructions on the label inside the suit Machine wash at 30 C 85 Do not bleach Do not iron zd Do dry clean Do not tumble dry For the cap remove the sensor and use only cold hand wash The Wireless Receivers Xbus Masters and MTx s will not require any maintenance if properly used Chapter 8 describes how to place the cables and sensors in the suit 65 Moven User Manual 2007 Xsens Technologies B V 3 7 4 Warranty and liability Xsens Technologies B V warrants the products manufactured by it to be free from defects in material and workmanship for a period of 2 years from the date of delivery Products not subjected to misuse will be repaired replaced or credit issued at the sole option of Xsens Technologies B V Contact support moven com for return material authorization RMA prior to returning any items for calibration repair or exchange The product must be returned in its original packaging to prevent damage during shipping The warranty shall not apply to products repaired or altered or removed from the original casing by others than Xsens Technologies B V so as in Xsens Technologies B V opinion to have adversely affected the product products subjected to negligence accidents or damaged by circumstances beyond Xsens Technologies 5 control NOTE Xsens reserves the right
6. The suit seems to connect but does not show a 3D live preview Solution Check polarity and levels of batteries Section 4 2 2 Turn on both Xbus Masters Connect both Wireless Receivers to the computer Section 4 2 3 Use only one running Moven Studio Check Xbus Masters and sensors in Moven Studio Suit Status menu Section 3 2 3 Select Connect to Moven Suit in Moven Studio preferences menu Section 3 3 Check if sensor is connected Sometimes a connector can come loose after putting on the suit Replace cable Replace sensor and relocate sensor ID Section 3 9 Use a computer with at least a DirectX 9 hardware card Turn off all other wireless equipment Bluetooth WiFi etc Section 4 4 Place Wireless receivers at least 1 meter apart Enable the option Automatically show preview window when hardware is ready in Moven Studio Preferences menu Section 3 2 2 Connect the synchronization cable between the two Xbus masters Chapter 8 83 Moven User Manual 2007 Xsens Technologies B V Live preview is active but recording is not possible Directly after the T pose calibration the axes of rotation of the subject do not correspond with 3D character Character sticks to the ground or segments are pulled apart wrongly detected contacts Pelvis is displayed too high Pelvis is displayed too low The system does not run in real time Enter the actor di
7. Excessive shocks or violent handling may damage the motion sensors 7 2 Absolute maximum ratings Stresses above Absolute Maximum Ratings to the MTx sensor may cause permanent damage to the device Shock any axis 20000 m s 2000 g unpowered powered Input Voltage 0 3 V 16 V Interface inputs 25 25 V RX A and inputs Analog IN 0 3 V 5 3 V or 30 mA whichever comes first Sync IN 0 3 V 20 V Operating Storage Temperature 20 C 55 C The latest revision of the Motion Tracker has an absolute maximum input voltage of 34V instead of 16V These Motion Trackers have a serial number of 2000 or higher last four digits only 64 Moven User Manual 2007 Xsens Technologies B V 3 Stresses beyond those listed here may cause permanent damage to device These are stress ratings only and functional operation of the MTx at these or any other conditions beyond those indicated in the specifications is not implied Exposure to absolute maximum rating conditions for extended periods may affect device reliability NOTE Drops onto hard surfaces can cause shocks of greater than 20000 m s 2000 g exceeding the absolute maximum rating of the device Care should be taken when handling to avoid damage Drops causing shock greater than absolute maximum ratings may not destroy the device but will permanently alter the properties of the physical motion sensors which may cause the device to become inaccurate
8. that is one axis must be normal to the line joining the arm s shoulder wrist or the leg s hip ankle 58 Moven User Manual 2007 Xsens Technologies B V 3 Alias MotionBuilder MotionBuilder is a powerful animation package which features many tools for forward and inverse kinematic manipulation and retargeting Use the following steps to drive your model in MotionBuilder 1 Import the BVH motion file into the MotionBuilder 2 On the first frame of the motion set the BVH skeleton reference into the T Pose 3 Characterize the BVH skeleton with the Moven character template The Moven character template Moven BVH Character fbx be found in the folder C Program Files Xsens Moven Templates 4 Import the character model you want to animate 5 In the control rig of the imported model choose as input Character Input Moven BVH 6 Play the animation and plot to character Poser Choose the Poser BVH exporter format when exporting to BVH The exporter will rename certain labels and combine the chest channels since Poser can only handle 1 abdomen and 1 chest channel Load the model you want to animate into Poser Import BVH data and choose the options arms aligned with X axis and Scale Automatically 59 Moven User Manual 2007 Xsens Technologies B V 6 Specification overview Number of trackers Full body configuration Lower body configuration Upper body configuration Optional prop sensors Fu
9. FootSize armSpan ankleHeight hipHeight hipwidth Clear Calibrate Calibration Contral Hands off calibration Delay E ab start E 258 knieeHeight shoulder width shoeSoleHeight Apply Load Save 20 Moven User Manual 2007 Xsens Technologies B V 3 3 2 5 Recording motion To be able to save and export data first you have to calibrate and make a new recording session Ctrl N File gt New Recording Session or icon All recorded and saved files will have the of the session with a trial number added to it e g take will result in trial recordings running take 001 mvn running take 002 mvn etc Press the red record button to start a trial recording Press the same button the white circle will change into a white square to stop recording The short key for starting and stopping recording is Ctrl R Start Stop 3 2 5 1 Markers During or after recording markers can be added to the Timeline to indicate events During recording you can add a marker by clicking the icon in the left lower corner You can also press any alpha numeric key on your keyboard and a marker with the according name will be inserted In the playback window a marker can be added and or edited by double clicking or right click the timeline on a specific frame Add Marker x Name Marker 0001 i a Frame 1572 wi
10. MTx 49A13G25 MTi 28A13G25 MTi 48A13G25 MTi 68A13G25 to which this declaration relates have been tested and found to comply with the limits for a Unintentional Radiator as described in 47 CFR 15 2007 May 04 Edition Class B Digital Device pursuant to Part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation Test results are summarized in the Electromagnetic Compatibility Test Report with the following document numbers 06CO1484RPTO1 06CO1483RPTO1 06CO1482RPTO1 O6CO1481RPTO1 and 07C00496RPTO2 October 31 2007 Enschede the Netherlands Per Slycke CTO Xsens Technologies BV 68 Moven User Manual 2007 Xsens Technologies B V 8 Placing MT and cables in suit 8 1 Full Body Configuration gm 69 Moven User Manual 2007 Xsens Technologies B V To enable fast and easy positioning of the sensors the sensors are provided with a code reflecting their positions in the suit e An T R indicates the left or right side of the suit For the sensors on the pelvis and head no side indication is used e The location ID refers to the corresponding segment number see the configuration sheets at the following pages e The name or abbreviation of the segment at which the sensor should be placed Segment up
11. MVNX format and the definition and origin of each segment axis see Chapter 5 The following table gives an overview of the possibilities with MVN MVNX files By double clicking a MVN or MNVX file in Window Explorer Moven Studio will start and open the file You can also drag amp drop a Moven file to an active Moven Studio 27 Moven User Manual 2007 Xsens Technologies B V MVN MVNX Full playback options playback speed markers multiple windows zooming etc Contact point editing ExporttoBVH FBX move 1 Y Y Edit copy paste to new file Save to MVNX lt lt lt lt Real time network streaming 3 5 Export Moven files Moven MVN and MVNX files can be exported to FBX or BVH format Use File gt Export and select the desired export format For batch processing of all active captures select File gt Export All Open Files To export only a selected portion of an MVN file use File Export Selection For a description of these formats and how to import them in different applications see Section 5 3 3 5 1 Export settings The export settings apply for both the FBX and BVH outputs See Moven Studio Preferences Section 3 3 1 3 5 1 1 Overwrite first frame with T pose To align the mocap data with an animation model the default T pose can be added to the first frame of the data The position and orientation of all segmen
12. The MTx is a complete miniature inertial measurement unit with integrated 3D magnetometers measuring the earth magnetic field 3D linear accelerometers measuring accelerations including gravitational acceleration and 3D rate gyroscopes measuring angular velocities There are two types of sensor units integrated in the suit the MTx and MTx L Each sensor module is identical from the inside but has different connectors The standard MTx has two connectors on the same side and is being used for the pelvis head hands feet and optionally additional props 39 Moven User Manual 2007 Xsens Technologies B V In the MTx L see picture below there is a cable between the casing and connectors They are being used for the shoulder arms and legs How to place the sensors and cables in the suit is described in Chapter 8 4 2 2 Xbus Master The Xbus Master XM interconnects multiple MTx Motion Trackers with an Xbus cable It delivers power to the connected Motion Trackers and retrieves their data ensuring exactly synchronized samples The collected data is transmitted by an optimized 2 4 GHz spread spectrum wireless link to PC laptop or USB serial cable 4 2 2 1 General setup Insert 4x AA type batteries rechargeable type NiMH in the battery compartment The drawings in the battery compartment show the correct polarity of the batteries 40 Moven User Manual 2007 Xsens Technologies B V 3 Alternatively us
13. The recommended operating temperature of the Moven System is between 20 C and 55 C ambient temperature If operated outside this temperature range performance may decrease or the device might be damaged Fast transient temperature fluctuations may cause significant temperature gradients across the device Such gradients cannot be properly modeled by temperature compensation and may therefore decrease performance For optimal performance the ambient temperature should remain constant as much as possible during the measurement NOTE Never expose the MTx sensor module to strong magnetic fields The MTx contains the absolute possible minimum of ferromagnetic materials hard and soft magnetic materials Nonetheless some minor components can be magnetized permanently by exposure to strong magnetic fields This will not damage the unit but will render the calibration of the magnetometers useless typically observed as a large deviation in heading Take care not to expose the MTx to strong magnetic fields such as close proximity of permanent magnets speakers electromotors etc The Wireless Receivers Xbus Masters and MTx s must be kept dry at all times Condense and water may damage the internal electronics The MTx should be protected from electro static discharges or sources of radiation as exposure to such source will damage the internal electronics The MTx should be protected from violent handling such as drops on hard surfaces
14. a body segment with the left mouse button the selected mesh will light up in red The time bar will zoom in and expand with the detected contact points of the selected segment see also the previous section In the contact bar click the right mouse button on the desired time frame s and select the Set Position option In the dialog the X Y and Z positions of the selected segment point of the current time frame are given xi Position 1 870 2 106 0 004 sd 0 010 0 010 0 010 Cancel Clear other Force contacts m Absolute The sd standard deviation is a measure for how much the aiding point is trusted in combination with the computed position of the Moven Fusion Engine Clear other will clear all other detected contacts during the selected frames With the Force no contacts options no other contacts will be detected during the selected frames The Absolute option completely overrules the computed position of the Moven Fusion Engine After editing the co ordinates click the reprocess button The contact bar will show a dot in the centre of the edited frame 3 8 Network streaming The network streamer sends the poses of the active window playback or real time using a UDP packet streaming protocol You can use a network monitor on another or same PC to receive this stream or write your own receiver in another application 34 Moven User Manual 2007 Xsens Technologie
15. at an even higher rate Stored at a lower temperature they discharge at a lower rate A typical daily spontaneous discharge rate is 1 596 a day 4 3 2 External power connector The external power can be used for usage without batteries The Xbus Master will use either the batteries or the external power depending on which power source has highest voltage It will switch instantaneously between the two power sources without short circuiting the sources If external power is applied it will not charge the batteries The specification of the power adapter is 12V DC 1A 44 Moven User Manual 2007 Xsens Technologies B V 3 4 4 Operating range When using the Xbus Masters and Wireless Receivers please keep the following remarks in mind e The maximum range is approximately 150 meters in open field with line of sight The Xbus Masters use a wireless module with a 20dBm 100 mW transmitter e Maximum range and data throughput highly depends on whether or not objects are placed between Xbus Masters and the Wireless Receivers For best results make sure that there is line of sight between Xbus Master and Wireless Receivers e Because the wireless transmission use microwave frequencies 2 4 GHz water has great influence on the transmission Amongst others human bodies can negatively influence or even block the data transmission For best results make sure that no human bodies or water containers reside in the transmission path
16. between shoulders When clicking on a body segment with the left mouse button the selected mesh will light up in red The selected body segment shows spheres with external points of that segment The time bar will zoom in and expand to show the detected contact points of the selected segment per frame The colors of the spheres correspond with the coloring and labeling in the contact bar For example on the foot there are four possible contact points the heel red first metatarsal green fifth metatarsal yellow and the pivot point on the ball of the foot blue When an external point is defined as a contact the related sphere will enlarge for the currently displayed frame You can zoom in further by dragging the time line to the left or right see Section 3 2 7 1 You can step through the time frames by the left and right cursor The time window can be moved by the middle mouse button click the scroll wheel in the time bar and move the mouse 30 Moven User Manual 2007 Xsens Technologies B V Male pRiiahtkleelEaot pREilghtEirstM etatarsal pRightFitthMetatarsal The following section illustrates how to use the contact editing toolbar Example 1 In the originally recorded MVN file a contact on the mid foot has been wrongly detected The result is an unlikely position of the foot segment with respect to the lower leg and a discontinuity in the pos
17. describing the orientation of the segment in the global frame DOSeg is the 1x3 position vector x y z of the origin of the segment in the global frame in When kinematic data other than position and orientation have been selected in the preference menu see Section 3 3 they will be written after the frames section For example velocity data and angular velocity data have been selected velocity G G G Sample 1 lt F v Vseg2 Vseg23 gt Sample 2 lt F v Vsegi Vseg2 Vseg23 gt G G G Sample n XF v Vsegi Vseg2 Vseg23 gt lt velocity gt ang velocity G G G Sample 1 lt F v Wseg2 Wseg23 gt G Sample 2 lt F v Wseg1 Wseg2 Wseg23 gt G G G Sample n lt F v Wseg1 Wseg2 Wseg23 gt lt ang_velocity gt EM is the 1x3 velocity vector x y z of the origin of the segment in the global frame in m s is the 1x3 angular velocity vector x 2 of the origin of the segment in the global frame in rad s 53 Moven User Manual 2007 Xsens Technologies B V The numbering of the segments is presented in the table below Segment Label 1 Pelvis 0 _ 3 8 Right Shoulder 9 Right Upper Arm Oo R LX Left Shoulder Left Upper Arm Left Fore Arm o Upper Leg right tower Leg 18 RightFoot LER I 22 23 Left Lower Leg Left Foot
18. end of the heel Advanced Arm span Top of right fingers to top of left fingers in T pose Ground to most lateral bony prominence of greater trochanter Ground to lateral epicondyle on the femoral bone Ground to distal tip of lateral malleolus Shoe sole Average thickness of the sole of the used shoes This value will thickness add an offset to the ankle height Body height 4 22 Arm span 1 Shoulder width Hip width Hip height 1 z 4a _ Knee height Ankle height Floor T pose with body segment dimensions 16 Moven User Manual 2007 Xsens Technologies B V Acromion Ant sup iliac spine Greater trochanter A y Lateral epicondyle Lateral epicondyle Radial styloid Lateral malleolus Anatomical landmarks on leg left and arm right 3 2 4 2 T pose The T pose is the basic posture for calibration When performing a calibration take care of the following e Stand upright on a horizontal surface e Feet parallel slightly apart e Knees above feet e Hip above knees e Back straight up e Shoulders above hip do not pull the shoulders up e Arms extended and horizontally thumbs forwards e Face forward e Pay attention to symmetry for example keep the arms at an equal height You can check the correct attitude of the arms by bending your elbows The fore arms should move in a horizontal transverse plane when bending Howev
19. files in recent files list o 1 10 e 30 View Control mode see Section 3 2 8 1 o ModeO0 1 2 e Follow camera type when enabled see Section 3 2 8 2 o Fixed angle Trailing camera Pelvis lock Full follow Static camera 1 Static camera 2 e Enable advanced options 26 Moven User Manual 2007 Xsens Technologies B V 3 3 3 3 MVNX Manage which kinematic data are included when a creating a new MVNX file e Contents o Position default Velocity Acceleration Orientation default Angular velocity Angular acceleration O O O X 3 4 Working with MVN and MVNX files MVN Moven native file is the most comprehensive format and contains all measured inertial sensor data and all kinematic data of each segment It is a binary proprietary format and can only be used by Moven Studio or by using the SDK The MVN files contain all original data and can always be used to re process the motion capture using other settings and assumptions or with overruled external contacts if needed When you are working with an MVN file the window shows an M icon on the upper left corner MVNX Moven Open XML format files contain 3D position 3D orientation and optionally 3D acceleration 3D velocity 3D angular rate 3D angular acceleration see Section 3 3 3 of each segment in XML format ASCII When you are working with a MVNX file the window shows an X icon on the upper left corner e For detailed information of the
20. sensor K Cable type Cable with connector am Socket Right Left L Left Right Front Back Placement of the sensors with the battom plate resting at the skin XbusMaster XM1 L XM2 R Label Product code 8 RightShoulder MTx 49A53G25 LX 9 RightUpperArm MDx 49A53G25 X LeftUpperArm MTx 49A53G25 LX LeftForeArm MTx 49A53G25 LX LeftHand MTx 49A53G25 LeftShoulder MTx 49A53G25 LX Length cm Example tagging sensors Segment Sync cable has two 4 pins instead of 5 pins connectors LoclD L or R indicating left or right Arrow pointing in direction of Xbus Masters 72 Moven User Manual 2007 Xsens Technologies B V 8 3 Lower Body Configuration Lower Body Configuration A We 7 Sensor MTx Direction E ol arrow Sensor E T Cable type j Cable with connector d 8 1 5 m od Right Left L d Left Right Front Back Lc z z Placement of the sensors with the bottom plate resting at the skin XbusMaster XM1 L XM2 R Label Product code MTx 49A53G25 RightFoot Cable Length cm Example labeling sensors LB J 3 1 Segment Sync cable has two 4 pins instead of 5 pins connectors LoclID L or R indicating left or right Arrow pointing in direction of Xbus Masters 73 Moven User Manual 2007 Xsens Technologies B V 3 8 4 Cabl
21. the suit e Host connector For data transport via the USB cable see Section 4 2 2 5 41 Moven User Manual 2007 Xsens Technologies B V Sync connector Push button Status LED O 330 XE NO XL Xbus connectors 02 2u G 3 ANO MONDA AN3IN3HDSV3IN 4S8I4 1S0H qx SINOD sn ET Msonc Q Bluetooth Xbus Master External power 12V DC 1A o 6 C External power 4 2 2 5 Setup for serial cable connection Moven is by default configured to operate in wireless transmission mode The following section describes how to setup the Moven system using the USB Cable e Use the USB Cable data cable to connect the Xbus Master using the host connector with a USB communication port of a PC or laptop The next two pictures clarify how to connect the cable to the Xbus Master align the three white dots and twist Make sure that all connectors are fastened to prevent data loss e To switch to serial mode switch off the Xbus Master press and hold the power button until the LED turns green the second time Then release the button The 42 Moven User Manual 2007 Xsens Technologies B V 3 LED will have turned green blue green Switch Xbus Master as usually The LED should now remain green indicating that the Xbus Master is in serial mode e switch to wireless mode switch off the Xbus Master press and hold the p
22. 04 2445 2444 24 244 1 24 2q For further information on quaternion operations and rotations refer to the book J B Kuipers Quaternions and Rotation Sequences Princeton University 75 Moven User Manual 2007 Xsens Technologies B V 9 2 Body planes Sagittal plane Frontal coronal plane v Transverse plane 9 3 Compatibility Moven Studio v1 2 2 0 Make back up files of your old MVN files before you open and reprocess them in Moven Studio v2 0 When opening a MVN file recorded with an earlier version Moven Studio v2 0 can reprocess the file with the newest Moven Fusion Engine Edit gt Re process It will keep the calibration values T pose and subject dimensions but it will change the hierarchy and add some anatomical landmarks MVNX files of version 1 can be played in Moven Studio v2 0 However they cannot be exported to BVH or FBX neither can they be used for network streaming The sections containing the dimensions of the subject and the T pose are not present in MVNX files of version 1 These are necessary for the proper hierarchy and scaling of the export files Create a new MVNX file from the original MVN file or use an older version of Moven Studio MVN amp MNVX files recorded with Moven Studio v2 0 cannot be opened with v1 76 Moven User Manual 2007 Xsens Technologies B V 3 9 4 XSI import workflow 1 In the Edit gt Preferences menu be sure that Overwrite f
23. 9 Fig 10 6 Alternatively you can press Load and select the provided tagt called Moven Tagfile tagt fig 11 This tag file contains tags for all the different nulls we have imported fig 12 This file can be found in the C Program Files Xsens Moven Templates folder 78 Moven User Manual 2007 Xsens Technologies B V Fig 11 Fig 12 7 Before we can re target our FBX rig to another rig we need to cleanup the animation curves Otherwise XSI will produce errors on the up vectors due to Euler angle interpolation Right click the Reference null fig 13 Under the timeline select the Animation button and Convert Euler Rotation to Quaternion fig 14 Now we can make the rotation curves continuous This is also placed under the Animation button Select Make Rotation Keys Continuous fig 15 Parameter 14 15 8 Now FBX file is ready for re targeting Create a new biped mesh by selecting Primitive gt Model gt Body Man fig 16 We also need a rig for our newly created mesh Select Biped gt Rig under Primitive gt Model gt Biped Rig fig 17 k Fig 16 Fig 17 9 The following step is to envelope our mesh to the rig Select our mesh and then select Deform gt Envelope gt Set Envelope fig 18 If you are in another construction mode than the animation construction mode a pop up window will appear
24. An operating microwave oven will negatively influence the data rate throughput e Interference due to other wireless devices such as Bluetooth devices or WiFi devices can disrupt the wireless communication severely If possible disable Bluetooth and WiFi on your cell phone laptop PDA 4 5 Buffering and processing power The Xbus Masters are equipped with an internal buffer to store up to a few seconds of data If data transmission or real time processing temporarily fails the Moven Fusion Engine will first use all data present in the buffer A beep will sound when the buffer is full this means the wireless link has been down for too long The link will be restored automatically when possible All Moven calibration data is also restored automatically so there is usually no need for a re calibration When you experience a time lag in the output your PC is probably lacking processing power to properly run Moven Studio Close all unnecessary applications or choose a faster PC to run Moven Studio For a recommended computer system see Chapter 6 45 Moven User Manual 2007 Xsens Technologies B V 3 4 6 Upper lower body configuration Moven is available in three configurations full body upper body and lower body see Section 1 2 1 In the full body configuration all types of movements are being tracked and all external contact points are possible In the lower body configuration the upper body is fixed to a neutral pose The up
25. Cat 00 26 20 When the marker is set it will become yellow Markers be deleted by pressing the delete button after selecting the marker 21 Moven User Manual 2007 Xsens Technologies B V 3 3 2 6 Export Save as After recording a file can be saved MVN MVNX file or exported BVH FBX movie For a description of these file formats see Sections 3 4 0 and 5 3 It is also possible to export only a part of the recording from an MVN file e g a specific movement This can be done by selecting a number of frames copying it and pasting it to a new file or by exporting the selection directly using File Export Selection 3 2 7 Playback For playback button explanation see Section 3 1 3 The Shift button activates the desired playback action for all active windows 3 2 7 1 Zooming in time For long trials it can be useful to zoom in on a reduced number of frames Move the mouse to the left or right side of the scrollbar above the Timeline The default cursor will change into a double arrow 9 Click the left mouse button and drag the mouse to select the desired time frame This action is also possible by clicking anywhere on the Timeline and using the scroll wheel of the mouse 3 2 7 2 Cascade Tile windows In Moven Studio multiple trials can be opened played back and edited simultaneously During playback of recorded trials viewing of live performance is still possible Use the Window g
26. D PROCESSING POWER scescscssccscerssscncccccecessusceccnusuecscessussuccsccecersensucuccrsusuncensesaeecs 45 4 6 UPPER LOWER BODY CONFIGURATION cccccceecccceececcesececceccceceuccecensuccecaucececausceccaececaucceecuaesesenauess 46 5 MOVEN KINEMATICS AND OUTPUT ccscsccccscscsccccccscscscccescscscececcscscccsccscscececescscscscssescscess 47 5 1 COORDINATE SYSTEM 47 LM MEN IS o PCT 48 5 2 ANATOMICAL MODEL exinde enn mM Sud ue rm D DM CU M EE 48 521 Definition f segment XS uud 48 5 2 2 nnne nennen nennen nennen nennen nnne nnne 48 523 ON 52 53 MOVEN EXPORT FORMATS 54 5 3 1 t E E 54 5 3 2 c 56 5 3 3 Working with different animation 58 6 SPECIFICATION OVERVIEW vi qua vues aa Eo VE ad GV RO FRE VERO E CUR OPER OS Va oa RON 60 Moven User Manual 2007 Xsens Technologies B V 7 IMPORTANT NOTICES RES ERENTERECR EE REEL EUR E ERE C Re ea Sex EFREE VE VS 64 7 1 OPERATING CONDITIONS
27. D viewport on start up the character will most likely not match the pose of the actor Proceed with the Calibration procedure Section 3 2 4 and start a new session Section 3 2 5 13 Moven User Manual 2007 Xsens Technologies B V 3 To play and edit recorded files without the suit open a MVN file By double clicking a MVN or MNVX file in Windows Explorer Moven Studio will start and open the file You can also drag amp drop a Moven file to an active Moven Studio 3 2 2 Preview The Preview amp Recording window shows the real time performance of the actor when the system is properly set up and the Xbus Masters are on The Preview amp Recording window shows an R icon on the upper left corner of the window Q If this window does not show up during start up it can be found under the menu items View or Window 3 2 3 Suit Status Detailed information about the suit can be found under View gt Suit Status If not all sensors are connected properly or the wireless connection fails the following pop up window is shown If you have closed Moven Studio while the Preview and Recording window was closed the next time you start Moven Studio this pop up dialog will not show up You can always review the Suit Status or activate the Preview and Recording window manually Suit Information X Moven Studio is missing or mare MotionTracker s busMaster or detected that some Mot
28. Moven User Manual Xsens Technologies B V e Pantheon 6a phone 31 0 88 9736700 SCG EN Box 559 fax 31 0 88 9736701 7500 AN Enschede e mail moven com motion technologies Netherlands internet www moven com Document Revision C January 2008 Moven User Manual 2007 Xsens Technologies B V Revisions Revision Date Changes a anan mar Tmo araen mo omm Added BVH exporter settings Changed figures of suit configuration Added information of the MVNX format March 16 2007 Changed Moven Software installation procedure Changed description of shoe size calibration Added declaration of conformity for the MTx C January 2008 DRO Major revision Added description of foot mounts Changed added calibration procedures Changed 3D viewport description Added Moven Studio preferences menu Changed export preferences Added FBX description Changed BVH description Added movie export Added contact points editing Added position aiding Added network streaming Added relocate sensors Added user scenarios Added sensor performances Added Moven Fusion Engine Reset Added wireless receiver description Added biomechanical model description Added sensor and cabling labeling Added compatibility v1 v2 0 Added XSI FBX tutorial Added troubleshoot section 2007 2008 Xsens Technologies B V All rights reserved Information in this document is subject to change without notice Xsens is a regis
29. Since we want to apply the envelope deformation as an animation deformer select Yes fig 19 Middle click on the envelope group under the Rig 79 Moven User Manual 2007 Xsens Technologies B V 3 model in the Explorer window followed by a right click to accept fig 20 Close the Automatic Envelope Assignment window that opens up We will not further go into Fig 19 Fig 20 10 Select your Biped Rig model fig 21 Go into MOTOR gt Tag Rig to tag this model as well fig 22 Fig 21 Fig 22 11 Since this is a primitive Rig there is already a tag file created for this type of rig This can be found in the TagTemplates folder inside your Softimage installation folder fig 23 Select the file called biped biped tagt Close the tag file window and select MOTOR gt Rig to Rig fig 24 XSI does not currently support FBX files for the Mocap to Rig function to work so this is the workflow we have to use in order to drive our characters with FBX data Ei Fig 23 80 Moven User Manual 2007 Xsens Technologies B V 3 12 Pick your FBX as the Source and the as the Target and then press Apply fig 25 Now we can scrub in the timeline seeing our Motion capture data driving our character If you look at frame 0 the T pose you can see that our up vectors for arms and legs do not seem to be aligned properly To correct thi
30. UpperLeg 17 RightLowerL eg 21 LeftLowerL eg Blue Xaxis 22 LeftFoot Green Y axis 3 LeftToe Red Zaxis 18 RightFoot 19 RightToe Note that positions of anatomical landmarks are not measured directly as in optical mocap systems They are computed using the measured accelerations and rotations in combination with the anatomical model Relevant points are used for the detection of contacts with the external world and as an indication for scaling of segment lengths The Moven character for visualization is an abstract representation of the human skeleton therefore not all anatomical landmarks are exactly on the mesh The ribcage is connected to T8 and will move accordingly 49 Moven User Manual 2007 Xsens Technologies B V T8 ribcage Upper body neck and left shoulder Right arm and shoulder Left leg and foot Pelvis L5 and right upper leg 50 Moven User Manual 2007 Xsens Technologies B V pTopOfHead pRightAuricularis pLeftAuricularis jC1Head pRightArmLatEpicondyle SN M pLeft rmLatEpicondyle jLeftrist Rightirist 1 RightShoulder LeftShoulder pRightTopOfHand JRIg jRightElbow 1 9 pLeftTopOfHand pRightBallHand n pLefi amp rmMedEpicondyle pLefiBallHand pRightArmMedEpicondyle jRightHip jLeftHip pRightGreaterTrochanter pLeftGreaterTrochanter jRightknee jLeftknee pRightKneeLatEpicondyle pLefKneeLatEpicondyle jRightAnkle jLeft n
31. are possible Static accuracy in homogenous magnetic field Accuracy may depend on type of motion 61 Moven User Manual 2007 Xsens Technologies B V Moven Fusion Engine Output 3D translation capture Magnetic environment Temporary magnetic disturbances 30 seconds Local permanent disturbances Soft tissue artifacts Multiple person capture Full kinematics of each segment position velocity acceleration orientation angular velocity and angular acceleration at 120 Hz Double integration of body segment accelerations allows for jumping running permanent floor contact is not needed 7296 error in traveled distance without external aiding Advanced external contact model detects body world contacts to enable crawling sitting cartwheel etc Various friction models slippage etc are possible Seamless fusion with aiding technologies possible e g 3D position from optical GPS or 2D image correspondences Full immunity Visual warning of disturbed environment High degree of immunity performance will depend on motion and environment Minimized to 2 degrees RMS using redundancy in measurement and biomechanical constraints Yes Ask for possibilities Studio Software Functionality Supported export formats Update rate Data rate Easy and quick calibration Real time preview of motion capture Simultaneous recording and viewing of motion capture data Repla
32. ata on repracess Iv Exporters E a Overwribe First Frame with T Pase W Exporter smoothing smoothing Exporter output scale centimeters Exporter frame skip Far downsampling o Cancel 25 Moven User Manual 2007 Xsens Technologies B V 3 3 3 1 General settings Modify the general options of Moven Studio such as sample rate user scenarios and exporter settings Suit e Sample rate see Section 4 1 o 60 100 default 120 Hz e Suit configuration see Section 4 6 o Full Body Full Body No Hands Lower Body Upper Body Upper Body No Hands e User scenario see Section 4 1 1 o Default flat ground o Pelvis Fixed o Feet fixed e Connect to Moven Suit Display e Max display frame rate Hz 5 500 see Section 3 2 8 Reprocessing e Correct out of range data on reprocess see Section 4 1 3 Exporters see Section 3 5 1 e Overwrite first frame with T Pose e Exporter smoothing o nosmoothing light smoothing default heavy smoothing e Exporter output scale o centimeters decimeters feet inches kilometers meters millimeters e Exporter frame skip o 0 10 3 3 2 Interface settings Modify the user interface options of Moven Studio such as the follow camera modus e notification dialogs that were disabled using a Don t show again checkbox e Automatically show preview window when hardware is ready e Follow camera by default e Show Tool Tips Number of
33. cececsaeacececeatacececeeeaeacecees 75 9 1 1 75 9 2 PODY cT 76 9 3 COMPATIBILITY MOVEN STUDIO V1 2 2 0 0 occ cece ccecececccncecececeacecececececeacecececeaeacecsceceacecececeaeacecees 76 9 4 XSI FBX IMPORT WORKFLOW AA ANAA 77 9 5 IROP HOOT 83 Moven User Manual 2007 Xsens Technologies B V 1 Introduction The Moven inertial motion capture suit is an easy to use cost efficient system for full body human motion capture Moven is based on Xsens state of the art miniature inertial sensors and wireless communication solutions combined with advanced sensor fusion algorithms taking into account biomechanics Moven is a completely portable system it is not restricted to a studio or lab It can be used anywhere outside in the office and on the work floor There are no limitations in measurement volume except the wireless range Examples of fields of use e 3D Animation Enjoy unprecedented ease of use rich and smooth data very short setup time and the absence of cumbersome post processing of markers or lost data e VR training amp simulation Benefit from the highly portable system and a price point enabling full body insertion of multiple actors in VR for highest degree of immersion low latency smooth motion data e Biomechanics healt
34. chnologies B V 3 4 1 3 Sensor performances The full scale range of the inertial sensors is 1200 deg s 21 rad s for the rate gyroscopes and 50 m s 5 for the accelerometers During very dynamic movements e g sports the sensor readings of the extremities typically restricted to hands and feet can go out of range clipping Out of range data can usually be reconstructed successfully during reprocessing Preference menu see Section 3 3 1 The performance will typically degrade during and shortly after clipping of the inertial sensors 4 1 4 Moven Fusion Engine Reset Unexpected or non optimal results can occur when the subject has been in a magnetically disturbed area for a long time or when the sensors have been out of range see previous sections After such an event it is possible to reset the Moven Fusion Engine It will reset all kinematic calculations but keep the calibration values It is recommended to check the locations of the sensors in the suit since these can have shifted during the session If necessary a new T pose calibration should be performed Directly after reset move calmly To perform a reset on a specific frame in a recorded file select a segment in the 3D viewport followed by a click on the right mouse button in the contact bar see Section 3 6 Then select the option Full reset Do not use the reset function excessively and never in the middle of a dynamic movement 4 2 Hardware 4 2 1 MTx
35. d when creating a new recording session The lt meshScale gt data is used for scaling of the visualization of the character in Moven Studio The section segments defines all positions of connecting joints and anatomical landmarks with respect to origin of that segment in body fame B segment 14 16 label RightUpperLeg gt point label jRightHip pos 5 lt 0 000000 0 000000 0 000000 gt point labelz jRightKnee pos 5 0 000000 0 000000 0 417462 Ftc segment The lt tpose gt section describes the positions and rotations of all segments during a T pose All kinematic data is expressed in the global coordinate system The section frames contains the actual mocap data Each time frame consists of one row containing 23 segments X 7 channels per segment 4 quaternion 3 position 161 columns of data 52 Moven User Manual 2007 Xsens Technologies B V A esi poS eg ECT Etc lt tpose v 0 99870 0 00000 0 05087 0 00000 0 00000 0 00000 1 16907 0 99870 0 00000 0 05087 0 00000 n gt lt frames gt _u GB G GB G GB G Sample 1 lt F v 1 POSseg1 2 5 2 P seg23 DOSseg23 gt GB G GB G GB G Sample 2 F v 1 DOSseg1 2 5 2 lt seg23 DOSseg23 gt G Sample n lt F v 1 DOSseg1 2 DOSseg2 a seg23 DOSseg23 gt lt frames gt EM is the 1x4 quaternion vector qi gt qa
36. defines the length and direction of its parents segment The world space is defined as a right handed coordinate system with the Y axis as the world up vector In the default BVH hierarchy the character is in a T pose Use the 3ds Max exporter to write a neutral pose arms parallel to body Use the Poser exporter to reduce the number of chest segments from 4 to 2 56 Moven User Manual 2007 Xsens Technologies B V Hips Chest2 Chest3 Chest4 Neck Head End Site RightCollar RightShoulder RightElbow RightVvrist End Site LeftCollar LeftShoulder LeftElbow LeftWrist EndSite RightHip RightAnkle RightToe End Site LeftHip LeftKnee LeftAnkle LeftToe End Site The motion section begins with the keyword MOTION This line is followed the number of motion frames by the keyword Frames and Frame Time indicating the sampling rate of the data The rest of the file contains the actual motion data the X Y and Z position of the root segmen
37. e accidentally exchanged for example on the hands or feet do not use this function but reconnect the sensors to the appropriate side Sensor Location Redefinition Lise this dialog to redefine the correct location IDs of the connected sensors Make sure that each sensor is where you want it to be in the Moven Suit before you begin When tapping on a sensor use your Fingers only and give a sharp tap until the dialog reports that it has detected your tap If you want to assign new location IDs to props as well connect them and enter the desired location IDs below before pressing Start Prop 1 Location or 0 For none 0 Prop 2 Location or 0 For none 0 Scanning For hardware please wait Detected 16 sensors If you expected more check the cables and try again Tap the Right Hand sensor loc 11 with your Fingers wait 10 seconds to skip 36 Moven User Manual 2007 Xsens Technologies B V 4 Usage guidelines 4 1 General Moven can be used to track many types of movements in almost any environment This chapter describes how to obtain best results from your Moven system Directly after calibration Moven is ready to record the movements of the actor Please bear in mind that the Moven Fusion Engine needs a few seconds to settle completely Therefore it is recommended not to start recording with extreme and rapid movements or enter a heavily magnetically disturbed surrounding such as a car direc
38. e if you need a specific output frame rate it can make your life easier 3 5 2 Movies This option renders the animation to a movie file It will use the selected camera mode see Section 3 2 8 2 Three types of file formats are available XVID encoded file e MPEG encoded mpg file e Apple QuickTime format mov The output frame rate can be 25 33 50 or 100 Hz There are two presets for the window size PAL and NTSC or you can select a custom width and height The bit rate is a measure for the quality of the movie default 48 kbps 29 Moven User Manual 2007 Xsens Technologies B V 3 3 6 Contact points The Moven Fusion Engine uses external contacts of the body with its surroundings to minimize position drift of the computed body model with respect to the Origin defined by starting point A number of points on the anatomical model have been defined that are likely to make contact with the external world An overview of these potential contact points is given in the table below The detection of external contacts is based on measured kinematics of relevant body parts In some cases it can be desirable to overrule the automatically detected contact points With MVN files recorded with an earlier version of Moven Studio not all points are available Contact point Description Heel of the foot FifthMetatarsal Outside ball of foot PivotFoot Center ball of foot Bottom of sternum T4SpinalProcess Vertebra
39. e the provided power adapter to connect Xbus Master to mains The batteries may still be inside but they will not be used nor be charged while the external power is supplied see Section 4 3 2 4 2 2 2 Push Button The push button controls the power state of the Xbus Master To power on the Xbus Master press button once one beep sounds To power off the Xbus Master gt press button three times three beeps sound The reason for the need to press the power button three times to turn off the Xbus Master is that it prevents a user from accidentally powering off the unit The push button can also be used for serial wireless mode switching see Section O 4 2 2 3 XM Status LED The status LED visualizes the active mode of the Xbus Master using a specific color The different Xbus Master modes and their corresponding color are listed in the next table LED color Xbus Master active mode jFautmode 0 0 4 2 2 4 Connectors Each Xbus Master has four connectors on the top side e 2 sensor connectors 5 pins Xbus connector This connector supplies power to the Motion Trackers and interconnects the data transmission lines There is no difference between the two connectors and either one or both can be used NOTE Never connect more than 5 MTx to one Xbus connector e Sync connector 4 pins The sync cable connects Xbus Master 1 with 2 The cable should go through the central orange cable compartment of
40. e when the Moven Suit is operational and a connection has been established 3 2 4 1 Actor Dimension and Calibrations In Moven Studio click on the T pose button in the toolbar or Calibrate button in the lower left corner The basic actor dimension calibration only requires the body height of the actor and the shoe size both in cm Moven Studio will automatically calculate body segment dimensions based on anthropometric models This is generally enough for a quick mocap session In advanced mode see Section 3 3 body segment dimensions can be evaluated and if necessary adjusted for subject specific anthropometry The model based values are presented between brackets e g knee height 50 The specific body segment dimensions are presented in the table below They can be found by palpating the anatomical landmarks and are presented in the figures on the next page However if you are not sure how to determine these dimensions do not change the default values All entered body dimensions can be saved in an actor file MVNA and loaded next time the same subject is wearing the suit After loading an actor file it is still necessary to perform the T pose calibration Once a file has been recorded it is also possible to modify body dimensions see Section 3 2 8 5 15 Moven User Manual 2007 Xsens Technologies B V Dimension Description Basic Body height Ground to top of head when standing upright Top of shoe nose to
41. ed to feet touching the ground but can also occur at other parts of the human body such as hands knees etc In the default scenario the detected contacts always have ground level Z 0 This means that a flat surface is assumed and for example walking on stairs is not supported Timing as well as the exact position of contacts can be modified using the Contact Editing tool bar see Sections 3 6 and 3 7 37 Moven User Manual 2007 Xsens Technologies B V 3 4 1 1 2 Pelvis fixed In the pelvis fixed scenario the pelvis is fixed at a given height The character can move a bit up and down according to measured accelerations of the body but it will always come back to the initial height This scenario can be useful when the subject is sitting riding a bicycle or horse or moving around on a very irregular terrain It can also be used when you are only interested in joint angles and not in the translation of the complete body since no external contacts will influence the computed angles but care must be taken in such a case The pelvis fixed scenario can be selected in the Preferences menu see Section 3 3 1 4 1 1 3 Feet fixed In the feet fixed scenario the pivot points of the feet are fixed to the ground This scenario can for example be useful for the analysis of rowing in which feet are fixed with straps to a foot rest Note that when using this scenario and the person is moving his feet e g during walki
42. endable handle The suitcase dimensions meet the requirements for most airline hand luggage dimensions 1 2 1 Contents The Moven system contains the following items e 1x lycra suit with depending on your system configuration o Full body system 11 embedded inertial motion trackers with embedded wiring 2x Gloves with embedded inertial motion trackers 1x Cap and 1x headband with embedded inertial motion tracker 2x Shoe covers and foot mounts with embedded inertial motion trackers o Upper body system 7 embedded inertial motion trackers with embedded wiring 2x Gloves with embedded inertial motion trackers 1x Cap and 1x headband with embedded inertial motion tracker o Lower body system 5 embedded inertial motion trackers with embedded wiring 2x Shoe covers and foot mounts with embedded inertial motion trackers 2 Xbus Masters 2x Moven Wireless Receivers e 8x AA type batteries battery charger e 2x12 VDC Power adapter e Moven Software Moven Studio o Template files for MotionBuilder amp XSI o optional Moven Software Development Kit o optional MotionBuilder live plug in e Aletter with your individual software license code Moven User Manual this document e Moven Quick Setup sheet Moven User Manual 2007 Xsens Technologies B V 3 1 3 Typical Usage 1 3 1 Moven Studio The easiest way to get started with your Moven System is to use Moven Studio This application uses an intuitive Windows user
43. entation follows the character The height of the camera is computed from the above Static camera2 The position of the camera is fixed The camera always looks at the character 23 Moven User Manual 2007 Xsens Technologies B V 3 To switch the follow camera on or off click on the right mouse button in the 3D viewport and select the Follow Camera item w Follow Camera Center on character Show Magnetic Disturbance w Cast Shadows Shaw Floor Edit Fusion Engine Settings To toggle the Follow Camera on startup select the checkbox Follow Camera by default in the Interface tab of the Moven Studio Preferences menu 3 2 8 3 Show Magnetic Disturbances To determine the most appropriate location for your experiments or evaluate unexpected performance it can be useful to visualize magnetic disturbances Magnetic disturbances are visualized by a red circle with an exclamation mark around the ankle since most unknown disturbances are present in the floor Currently the other sensors do not display any disturbances although they are measured at each location if present The transparency of the exclamation mark is a measure for the magnitude of the disturbance The warning can be toggled by clicking the right mouse and select this item similar to the Follow Camera option The show magnetic disturbances option is only available in the Preview amp Recording window and during playback o
44. er do not move during the calibration procedure Do overextend the elbow since flexion extension may be projected in other axes The basic idea is that you should try to copy the exact pose of the demonstration pose associated with the T pose calibration in Moven Studio see the figure on the previous page The total body can stand in any direction it is not needed to stand in any particular direction with respect to magnetic north However make sure that the calibration is performed at a location with minimal magnetic disturbances no red exclamation mark visible in the 3D viewport of Moven Studio see Section 3 2 8 3 17 Moven User Manual 2007 Xsens Technologies B V 3 Click Calibrations tab in the Calibration window Click on the Calibrate button e The T pose animation is shown in the 3D view pane e Move into T pose e Click the Next button to begin the calibration e Hold T pose for 5 seconds The T pose calibration procedure has now been completed In the calibration window the results of the calibration are presented Before acceptance a preview of the calibrated character can be seen in the Preview window When after the calibration the legs are crossing in the animation when standing with the feet together the feet were too far apart during the T pose calibration The calibration procedure performs several accuracy checks including a measure for standing still homogeneity of the mag
45. es When placing the sensors and cables in the suit make sure that the cables do not make a sharp bend 74 Moven User Manual 2007 Xsens Technologies B V 9 Appendices 9 1 Quaternion orientation representation A unit quaternion vector can be interpreted to represent a rotation about a unit vector n through an angleo q cos 4 nsin 4 A unit quaternion itself has unit magnitude and can be written in the following vector format 45 4 d ds 1 Quaternions are an efficient non singular description of 3D orientation and a quaternion is unique up to sign 4 49 An alternative representation of a quaternion is as vector with a complex part the real component is the first element q The inverse is defined by the complex conjugate of gs ae 04 4 As defined here Bag rotates a vector x in the body co ordinate system B to the global reference co ordinate system G Cy BIR udi d BIR Where represents quaternion multiplication 419942 41 q29 vl v2 gl v2 q2 vl v1xv2 with vl ql q1 q1 v2 q2 q2 q2 and both and x represent the standard dot and cross product respectively Be aware that the order of multiplication is important Quaternion multiplication is not commutative meaning q169q2 4290941 9 1 1 Conversions Quaternion to rotation matrix 1 24 24 24q4 2444 2443 24 4 R 244 2q4 1 24 24 2445 24
46. es Net Streamer Settings Calibrate Suit Start New Recording Session Record MVN File Relocate sensors Reset Live Fusion Engine Play Pause Previous Frame Next Frame Navigate to Start Navigate to End Toggle repeat Linked Views Preview amp Recording Window Suit Status File amp Edit Toolbar Playback Toolbar Status Bar Cascade Tile Arrange Icons Preview amp Recording 11 Short key Ctrl N Ctrl O Ctrl M Ctrl S Ctrl Shift S Alt Enter Alt F4 Ctrl C Ctrl V Ctrl A Ctrl Shift P Ctrl N Ctri R Ctrl Alt F Space Bar Cursor Left Cursor Right Home End R Ctrl Shift L Moven User Manual 2007 Xsens Technologies B V 3 1 2 File amp Edit Toolbar In the File amp Edit Toolbar the most used functions for file handling can be found Task Short key Start new session Ctrl N Open Moven file Ctrl O Save file Ctrl S Te Copy Ctrl C Paste to new Ctrl V all 3 1 3 Playback Toolbar In the Playback Toolbar the familiar playback options can be found The Shift button activates the desired playback action for all active windows For example Shift Space lt simultaneous play pause Task Playback speed Loop recorded IR toggle data Previous frame Cursor left Play Pause Space bar Short key 12 Moven User Manual 2007 Xsens Technologies B V 3 3 1 4 Recording amp Calibration Toolba
47. f MVN files 24 Moven User Manual 2007 Xsens Technologies B V 3 3 2 8 4 Shadows and floor Other features of the 3D viewport are the rendering of the shadow and floor Both options can be toggled by clicking on the right mouse button in the 3D viewport and select the desired modus 3 2 8 5 Edit Fusion Engine Settings A recorded file can be reprocessed using a different scenario or with adapted body segment dimensions Click on the right mouse button in the 3D viewport and select Edit Fusion Engine Settings After a change in the settings press apply and reprocess the file Note that these settings are not reset when reverting to the original file so take care when manipulating them Not all body dimensions can be entered with old MVN files 3 3 Moven Studio Preferences In the Preferences menu see the Edit menu general and interface settings of Moven Studio can be modified and the contents of MVNX file can be selected The following section gives an overview of the settings A more detailed description can be found in the related sections oven Studio Preferences X General Interface hn Modify the general options of Studio here Suit Sample rate Hz 100 m Suit configuration Fui Body User scenario defaut Connect Ea Moven Suit Display Max display Framerate Hz that this also affects streaming output Reprocessing Correct out of range d
48. formity We Xsens Technologies BV of Pantheon 6a 7521 PR Enschede The Netherlands declare under our sole responsibility that our products MT A53G35 MTx 28A53G35 MTx 48A53G35 MTx 49A53G35 MTi 28A53G35 MTi 48A53G35 MTi 68A53G35 MT A33G35 MTx 28A33G35 MTx 48A33G35 MTx 49A33G35 MTi 28A33G35 MTi 48A33G35 MTi 68A33G35 MT A13G35 MTx 28A13G35 MTx 48A13G35 MTx 49A13G35 MTi 28A13G35 MTi 48A13G35 MTi 68A13G35 MT A53G15 MTx 28A53G15 MTx 48A53G15 MTx 49A53G15 MTi 28A53G15 MTi 48A53G15 MTi 68A53G15 MT A33G15 MTx 28A33G15 MTx 48A33G15 MTx 49A33G15 MTi 28A33G15 MTi 48A33G15 MTi 68A33G15 MT A13G15 MTx 28A13G15 MTx 48A13G15 MTx 49A13G15 MTi 28A13G15 MTi 48A13G15 MTi 68A13G15 MT A53G25 MTx 28A53G25 MTx 48A53G25 MTx 49A53G25 MTx 49A53G25 L MTx 49A53G25 LX MTi 28A53G25 MTi 48A53G25 MTi 68A53G25 MT A33G25 MTx 28A33G25 MTx 48A33G25 MTx 49A33G25 MTi 28A33G25 MTi 48A33G25 MTi 68A33G25 MT A13G25 MTx 28A13G25 MTx 48A13G25 MTx 49A13G25 MTi 28A13G25 MTi 48A13G25 MTi 68A13G25 to which this declaration relates are in conformity with the essential requirements of the EMC Directive 89 336 EEC and the following Standards and other Normative Documents EMC Directive 89 336 EEC EN 61326 1997 A1 1998 A2 2001 A3 2003 EN 61000 3 2 2000 EN 61000 3 3 1995 A1 2001 Environment to be used is light industrial laboratory C
49. fortably Take care not to step or stand on top of a sensor or cable 4 Put one arm in the sleeve and use the other arm to pull the suit around the shoulder Follow the same procedure for the other arm 5 To minimize sliding of the sensor on the skin of upper arm place the thumbs through the loops at the end of the sleeves This can also be done after putting on the gloves 6 If you are using the foot mounts refer to the figures on the next page on how to attach them to your shoes If you are using the foot covers put your feet through the foot covers and pull them up above your ankle Put on your shoes and place the covers around the shoes Connect the cables to the sensors 7 Close all zippers and put on the cap or headband Put on the gloves and connect the cables to the sensors 9 Check that all sensors are in the approximate locations as indicated in the figures on the next page 10 Put the Xbus Masters in the pockets and connect all cables to the Xbus Masters for detailed instructions see Section 4 2 2 and Chapter 8 11 You are now ready for calibration see Sections 2 3 and 3 2 4 29 The Moven Suit has predefined pockets where each sensor should be placed on the body When putting on the suit it is possible that the actual position of the sensor on the segment is not optimal Each sensor can be picked up and moved around within a certain range The following table and pictures give an overview of the optimal position of
50. h rehabilitation Benefit from the fully ambulant measurement system advanced functional axes calibration no need to palpate bony landmarks for marker placement direct low noise measurement of acceleration and angular velocity enabling easier internal forces momentum calculations 1 1 Product description A full body Moven system contains 16 inertial motion trackers MTx Each sensor module comprises 3D gyroscopes 3D accelerometers and 3D magnetometers Using advanced sensor fusion algorithms Moven Fusion Engine the inertial motion trackers give absolute orientation values which are used to transform the 3D linear accelerations to global coordinates which in turn give the translation of the body segments The advanced articulated body model 23 segments and 22 joints biomechanical model implements joint constraints to eliminate any integration drift or foot sliding Each joint is modeled as a ball and socket joint specified by different statistical parameters such as joint laxity in both position and orientation 3D joint positions and positions of anatomical landmarks are determined by automated calibration procedures and regression equations An advanced biomechanical model is used to compute the kinematics of the spine and shoulder blades Moven User Manual 2007 Xsens Technologies B V 3 1 2 Overview Moven comes in a strong durable and watertight flight case For easy transportation the case has wheels and an ext
51. h palms against the outside thighs with thumbs to the front side fingers and thumb of each hand outstretched open facing down along the Z axis Legs are together and straight at the knees When all joint rotation values are set to zero for the first frame of the BVH file the results displayed at frame zero in Biped should match the default position of the Biped exactly A Biped has built in anthropomorphic constraints which require that elbows and knees are one degree of freedom hinge joints The axis of rotation of the hinge should ideally always be perpendicular to the arm s shoulder elbow wrist triangle and the leg s hip knee ankle triangle If the hinge joint constraint is violated biped s converter must decide whether to satisfy the orientation data or satisfy the elbow knee positioning based solely on the point locations In the Mocap Conversion Parameters Dialogue Box if the Angle radio button is selected the limb s triangle attempts to match the hinge to the Euler matrix axes This may deviate from the position posture If the Point radio button is specified the limb s triangle matches the positions of the actual points This may deviate from the specified Euler angles However in both cases the limb always moves to hit the IK position of the wrist or ankle so if Euler angles are given that are not aligned with the natural hinge joint the axis is projected to the nearest axis that satisfies the wrist ankle IK constraint
52. he 3D window or you can perform a different movement for example make small circles in all directions e Click the Next button The hand touch calibration procedure has now been completed In the Preview window the calibrated character can be evaluated The performed calibration can be accepted performed again or cleared 3 2 4 5 Squat The squat calibration determines the functional axes of the legs and optimizes the tracker alignment e Stand upright on a horizontal surface similar to the neutral pose e Feet parallel slightly apart e Knees above feet e Hip above knees e Bend the knees and hold for 1 second o Keepthe knees in the sagittal plane see figure below o Do squat too deep knee angle should not exceed 80 degrees e Straighten the legs and hold still for 1 second Repeat squat twice The system will automatically detect the squat periods If no valid squat is detected an error is displayed Good squat Bad squat 19 Moven User Manual 2007 Xsens Technologies B V 3 3 2 4 6 Hands off calibration It is possible to perform a calibration without the help of another person Click the Hands off calibration check box on the bottom of the calibration window and select the delay time Continue the calibration by clicking the Calibrate button The calibration procedure will now automatically be executed after the defined delay 3 2 4 7 Calibration interface An example of the calibrati
53. ight Moven Suit no trackers Weight total on body system with batteries and cables Shipping weight Operation environment 38x 53x 21 mm 1 5 x 2 1x 0 8 inches 100x150x40mm 3 9x5 9x 1 6 inches 559x351x229mm 22 x13 x9 inches Flight case with wheels amp extendable handle Durable amp watertight 30g 10z 200g 0 4 lbs 360g 0 80 165 1900 g 4 2 165 9kg 20165 20 55 deg Celsius non wet ask for options for water proof system Performance MTx inertial tracker 3D orientation accuracy resolution Accelerometer resolution Gyroscope resolution Moven human model System Calibration General Minimum calibration time Advanced calibration see MTx datasheet for detailed specifications 0 5 deg 0 05 deg 2 mg 0 6 deg s Moven uses a 23 segment biomechanical model with 22 joints Each joint is specified by statistical parameters for 6DOF joint laxity An advanced spine and shoulder model is used that computes the kinematics of the spine and shoulder blades Flexible calibration scheme with instant feedback regarding the expected accuracy Calibration can be done without assistance from a second person 10 seconds Basic calibration needs only subject length foot length 10 30 seconds per additional step Advanced subject specific calibration determines tracker alignment and or subject specific dimensions Calibration procedures for subjects with limited range of motion
54. inate system can be found in Section 5 2 Joint origins are determined by the anatomical frame and are defined in the center of the functional axes with the directions of the X Y and Z being related to functional movements For example flexion extension of the knee is described by the rotation about the Y axis of the lower leg with respect to the upper leg abduction adduction is the rotation about the X axis and endo exo rotation is about the Z axis Note that in some studies different anatomical and reference frames definitions are used 1 y i Segment A T i Sensor LB BY segment Global co ordinate system 47 Moven User Manual 2007 Xsens Technologies B V 3 5 1 1 Joint angles Typically a joint rotation is defined as the orientation of a distal segment Ln with respect to a proximal segment _ GBg 49 9 where denotes a quaternion multiplication and the complex conjugate of the quaternion see Section 9 1 There are a few commonly used parameterizations of the joint rotation 495 that describe joint angles e Cardan Euler representation Cole 1993 Woltring 1994 e joint coordinate system Grood amp Suntay 1983 e helical angle Kinzel 1972 Note that all representations of the joint angle are based on the same quaternion or rotation matrix the differences lies only in how the angles are extracted represented from this rotatio
55. interface to let you view the 3D character in real time record edit and export Moven files See Chapter 3 Moven Studio XME DLL 1 3 2 Moven Studio Network Streaming Within Moven Studio the network streamer can be used to send the poses of the active window real time or playback using a UDP packet streaming protocol See Section 3 7 You can use a network monitor on another or same PC to receive this stream or write your own receiver in another application An optional MotionBuilder plug in allows live streaming to MotionBuilder with access to the powerful tools such as retargeting of the motion data to your own character or inverse kinematic manipulation MotionBuilder can also be used for multiple actor recording using Moven TCP IP or UDP Moven Studio i i streaming Application MationBuilder Moven XME DLL Moven User Manual 2007 Xsens Technologies B V 3 1 3 3 Software Development Kit SDK The optional SDK allows easy integration of the Moven System with your own custom application software It provides real time orientation and position data of body segments using a dynamic link library C interface It has access to the calibration and character definition routines and it can handle pre recorded MVN files for post processing With the SDK you can seamlessly combine the Moven System with aiding technologies such as 3D position from optical syste
56. ion Trackers are placed in the wrong position Click View Status to see more detailed information about the Suit status Click Ignore to work without recording and preview capabilities or select escan to search again Ignore View Status Moven Studio will automatically keep rescanning and try to establish a new connection between the suit and the Wireless Receivers e Press Ignore to start Moven Studio in offline mode which enables viewing editing and exporting previously recorded data e Press View Status to open the status window with detailed information about the status of the Xbus Masters and each sensor Xbus Master or sensor working properly Xbus Master or sensor has recovered from an error Sensor connected to the wrong string e g left right hand switched Xbus Master or sensor missing 14 Moven User Manual 2007 Xsens Technologies B V The Maven suit is ready Far all operations Motion Tracker and xbus Master information 100 0130102 Master 1 0320100 Pelvis 0320111 LefEShoulder 0320112 0320113 LeftFareArm 0320104 LeftHand 0320116 LeftUpperLeg 0320117 0320110 LeftFaat 100 0130103 Master 2 0320102 Head 0320107 RightShoulder 0320108 RightLIpperArm 0320109 RightForeArm 0320103 RightHand 0320114 RightUpperLeg 0320115 RightLowerLeg 0320105 RightFaat 3 2 4 Calibrations The calibration procedures are only availabl
57. irst frame with T Pose is checked fig 1 Since the FBX files can become quite cumbersome to work with for longer motion capture sessions it is recommended that you use the Exporter frame skip option as well Go to File gt Export gt Export file and select FBX Exporter fbx air d nt YE Fig2 2 Start Softimage XSI and go to File gt Crosswalk Import FBX fig 3 Moven Studio exports the animation as nulls Check that option in FBX Importer window Set the Rate to correspond to your frame rate in XSI fig 4 Fig 3 i Fig4 3 If your default in frame is set to 1 in the timeline change this to 0 fig 5 On frame 0 we see the T pose that Moven Studio has generated Open Explorer and middle click the Reference null so that the whole hierarchy is selected 77 Moven User Manual 2007 Xsens Technologies B V Fig 5 Fig 6 4 In Model mode go to Create gt Model gt New Model fig 7 It is necessary to create a model out of our FBX file XSI does not treat the nulls as a Rig unless we create a model Name the new model Model fig 8 Model Scene Root Model Generali tol Modell Fig 7 888 5 With the newly created model being selected go into Animate mode and select MOTOR gt Tag Rig fig 9 You can select each null and tag them to the corresponding label creating your own tag file fig 10 BEEN EM Fig
58. ition of the total character Removing this contact will improve the data e Click on the foot segment Step forwards and backwards in time to identify the wrongly detected or missing contacts e Select the identified time frames by clicking the left mouse button The selected frames will be highlighted By manually defining a contact point all other contact points of that frame will be removed including contact points of segments other than selected 31 Moven User Manual 2007 Xsens Technologies B V e To add contact points without removing exciting points hold the shift button when the releasing the mouse button This option should not be used excessively but maybe useful to optimize discrepancies when two segments make contact at the same time frame e f a wrong frame or contact point is selected you can undo this by a click on the right mouse button and select Remove user defined Remove user defined Force no detection Set Position Full reset e To remove all contact points such that no segment has contact click and drag the right mouse button on the desired frames and select Force no detection The contact bar will then show a gray band e After editing the contact points press the reprocess button or Ctrl Shift P The Moven Fusion Engine will now re compute kinematics using the original inertial sensor data taking the overruled contact points into accoun
59. kle pRightFifthMetatarsal pLeftFifthMetatarsal pRigthToe pLeftToe Selection of anatomical landmark BTopOfHead pisightTopOf land pRight inky iFtightElberne jLeftEinaw pLamtFinke pLetoreaberTrochanier jFightzmea pRighti ngeLat picondyte iniit p on dut jRighl amp n de pLefr iftiMetaters al pRightHeet oot 51 Moven User Manual 2007 Xsens Technologies B V 3 5 2 3 MVNX file description MVNX Moven Open XML format files contain 3D position 3D orientation and optionally 3D acceleration 3D velocity 3D angular rate 3D angular acceleration of each segment in XML format ASCII The MVNX file starts with a version number mvnx versionz 2 The lt mvnxInfo gt section contains information about the number of frames the frame rate recording date original MVN file and the contents of velocity acceleration angular velocity or angular acceleration data mvnxlnfo frameCount 1000 frameRate 100 recDate 0 originalFilename c data session 001 mvn velData 1 0 angVelData 1 angAccData O gt The section markers contains description of markers with frame number and marker name if present The section comment contains the text which has been entere
60. lass of emission is B and performance criterion B Test results are summarized in the Electromagnetic Compatibility Test Report with the following document numbers 06CO1484RPTO1 06CO1483RPTO1 06CO1482RPTO1 06C01481RPTO1 and 07C00496RPTO2 February 8 2007 Enschede the Netherlands Per Slycke CTO Xsens Technologies B V 67 Moven User Manual 2007 Xsens Technologies B V 3 7 7 Declaration of Conformity We Xsens Technologies BV of Pantheon 6a 7521 PR Enschede The Netherlands declare under our sole responsibility that our products MT A53G35 MTx 28A53G35 MTx 48A53G35 MTx 49A53G35 MTi 28A53G35 MTi 48A53G35 MTi 68A53G35 MT A33G35 MTx 28A33G35 MTx 48A33G35 MTx 49A33G35 MTi 28A33G35 MTi 48A33G35 MTi 68A33G35 MT A13G35 MTx 28A13G35 MTx 48A13G35 MTx 49A13G35 MTi 28A13G35 MTi 48A13G35 MTi 68A13G35 MT A53G15 MTx 28A53G15 MTx 48A53G15 MTx 49A53G15 MTi 28A53G15 MTi 48A53G15 MTi 68A53G15 MT A33G15 MTx 28A33G15 MTx 48A33G15 MTx 49A33G15 MTi 28A33G15 MTi 48A33G15 MTi 68A33G15 MT A13G15 MTx 28A13G15 MTx 48A13G15 MTx 49A13G15 MTi 28A13G15 MTi 48A13G15 MTi 68A13G15 MT A53G25 MTx 28A53G25 MTx 48A53G25 MTx 49A53G25 MTx 49A53G25 L MTx 49A53G25 LX MTi 28A53G25 MTi 48A53G25 MTi 68A53G25 MT A33G25 MTx 28A33G25 MTx 48A33G25 MTx 49A33G25 MTi 28A33G25 MTi 48A33G25 MTi 68A33G25 MT A13G25 MTx 28A13G25 MTx 48A13G25
61. ll body suit Sizes Accessories On body cabling Power amp data control units Power each XM Battery included Power adapter included Input voltage range Operating time typical Battery charger included Interface Wireless range radius max Outdoor Indoor open space Indoor office Setup time 16 inertial motion trackers MTx 7 inertial motion trackers MTx 10 inertial motion trackers MTx 2 inertial motion trackers MTx Light weight Lycra stretch fabric with cable guides and 11 sensor pockets S M L standard XL XXL 2 gloves with tracker pocket 1 head cap with tracker pocket 1 head band with tracker pocket 2 foot covers with tracker pocket 2 foot mounts with tracker pocket For data communication and power Xbus compliant Only 1 cable needed on each arm leg trackers daisy chained 2 Xbus Masters XM 4 AA NiMH rechargeable batteries EU US UK Power adapter 110 240VAC 12VDC 1A 4 14V 3 hours For 8 AA NiMH batteries Wireless or high speed RS 232 USB 150 meter 150 meter 50 meter Less than 10 minutes Wireless receiver units Number of Wireless Receivers RF technology Interface Power 2 included for all configurations Bluetooth 2 0 optimized Class 1 2 4 GHz USB 1 1 or 2 0 USB powered 60 Moven User Manual 2007 Xsens Technologies B V Physical Dimensions MTx Dimensions XM Dimensions Moven suitcase Weight MTx Weight XM We
62. mensions body height and foot size are mandatory Section 3 2 4 Perform a T pose calibration Section 3 2 4 2 Start a new session Section 3 2 5 Place pelvis sensor flat on the sacral bone with Z axis pointing away from subject Section 2 2 Perform advanced segment calibrations Magnetic field is too disturbed at calibration Use the Show Magnetic Disturbance option in the preview window to find a proper location no red exclamation mark in 3D viewport Section 4 1 2 Enter proper body dimensions of subject Section 3 2 4 1 Perform new T pose optionally other calibrations Choose suitable user scenario default is flat ground assumption Section 4 1 1 MVN file is recorded with old version of Moven Studio Make a copy of the original file and reprocess Section 9 3 Use Moven Studio v2 0 or higher to play the MVN file Close all other running application Check wireless connection maximum range and disable other wireless equipment Section 4 4 Reduce the display framerate and or sample rate in the Moven Studio Preferences menu Section 3 3 Refer to Chapter 6 for the specification of the recommended computer system 94 Moven User Manual 2007 Xsens Technologies B V During recording the rotations of some segments do not correspond with the 3D character During recording the rotations of some segments are not smooth Check if sensors have not moved in the s
63. ms GPS or other systems in development contact support moven com for availability Moreover it allows for multiple actors recording For detailed information please refer to the Moven SDK manual Application AME DLL Moven User Manual 2007 Xsens Technologies B V 2 Moven Setup 2 1 Software installation Note Do not connect your Xsens Wireless Receivers until you have completed the software install procedure detailed below Use the CD to run the Moven Installer setup exe as a user with Administrator or Power User rights if you install on Windows NT 2000 XP VISTA The installer will install Moven Studio the documentation and also the drivers for the Xsens Wireless Receivers e Follow the instructions on the screen e During installation you will be asked for your individual registration number which can be found in the letter accompanying the product e Select the Destination Folder default C Program Files Xsens Moven e By default the installer will install the 32 bit USB hardware drivers If you are using a 64 bit system select the Custom Setup Type installation and activate the 64 bit USB Drivers im InstallShield Wizard Bj x Setup Choose the setup type that best suits your needs Please select a setup type C Typical All program Features will be installed For 32 bit operation Choose which program Feature
64. n The International Society of Biomechanics ISB has proposed standards for rotations sequences for the lower Wu et al 2002 and upper body Wu et al 2005 5 2 Anatomical model 5 2 1 Definition of segment axes The Moven Fusion Engine uses functional axes to describe the kinematics of each segment The next figures show the origins of the segment axes in T pose Their positions in the global reference frame can be found in the tpose section when saving as MVNX file 5 2 2 Bony anatomical landmarks The positions of bony anatomical landmarks with respect to the joint origin of the related segment are presented in the MVNX file Segments are assumed to be rigid bodies Positions of anatomical landmarks in the global frame G can be found by rotating the vector of the landmark in the body frame B to the global frame and adding the global position of the origin G _ 6 GB B GB Pana n P origin q D XG q Or in rotation matrix formulation G G B Dudas Pais 48 Moven User Manual 2007 Xsens Technologies B V The rotation from body to global and global position of the origin Apos are given in the MVNX file see next section i 7 Head J A 8 RightShoulder 9 RightUpperArm P 7 6 Neck 42 Legshoulder 13 LeftUpperArm 11 RightHand RightForeArm 14 LeftForeArm LeftHand De 1 Pelvis 16 RightUpperLeg 20 Left
65. n Tracker Moven User Manual 2007 Xsens Technologies B V 3 2 2 2 Sizes The Moven Suit is available in 5 different sizes Small Medium Large Extra Large and Extra Extra Large The table below gives an indication about the body height and weight of the actor and most appropriate suit The fabric Lycra of the suit is stretchable in each direction This means that for example a Medium size suit can fit to both a short muscular athlete 1 65 m 70 kg and a tall slim person 1 78 m 65 kg When choosing the suit size make sure that is fits tightly to the body Size Body height Weight 155 165 cm 5 1 5 5 ft 50 60 kg 110 132 Ibs m 160 175 cm 5 3 5 9 ft 58 72 kg 127 159 Ibs 175 190 cm 5 9 6 3 ft 154 194 165 A i 185 195 cm 6 0 6 5 ft 85 100 kg 187 220 Ibs XL Up Upp 2 3 Calibrations For an accurate reconstruction of the complete body movement the following should be provided a A description of the dimensions of the actor and different segments b The alignment between each MTx housing and the body segment Moven uses a robust and flexible calibration scheme with instant feedback regarding the expected accuracy The basic calibration procedure takes only a couple of seconds and needs only subject length foot length and a T pose calibration Pay attention to the pose and movements of the subject when performing the calibrations since it will influence the performance of the following captu
66. netic field and the usability of the magnetic field However pay attention to the pose of the subject since it will influence the performance of the recording 3 2 4 3 Neutral pose The neutral pose calibration can be performed after the T pose to optimize the tracker alignment of the shoulders and arms Click on the Neutral pose button in the Calibration tab e Stand upright on a horizontal surface similar to the T pose e Arm extended besides body vertically thumbs forwards e Hold the neutral pose for 5 seconds Check the correct attitude of the arms by bending your elbows The fore arms should move in the vertical sagittal plane with the palms of the hands facing each other Do not move during the calibration procedure Neutral pose 18 Moven User Manual 2007 Xsens Technologies B V 3 3 2 4 4 Hand touch For higher accuracy and a more subject specific calibration of the upper body a hand touch calibration can be performed after the T pose and optionally the neutral pose recommended Note that a good T pose is necessary to obtain the best results Click on the touch button in the Calibration tab e Place palms of the hands together An example of the calibration movement is shown in the 3D view plane e Click the Next button to begin the calibration e Move the arms around slowly while keeping the hands together and shoulders steady 10 seconds You can try to imitate the movie in t
67. ng the calculations will be erroneous 4 1 1 4 Other Using the position aiding interface Section 3 7 or the SDK external contact points can be overruled to fit your custom scenarios Do not hesitate to contact Xsens at support 2moven com if you have a challenging scenario and need our advice 4 1 2 Magnetic disturbances The Moven Fusion Engine uses the earth magnetic field as a reference for rotations in the horizontal plane Metallic objects or other magnetic objects can locally disturb the earth s field The Moven Fusion Engine offers a high grade of rejection against magnetic disturbances using redundant measurements and joint constraints The orientation calculations are immune for temporary 30 seconds disturbances However in case of long term or complex disturbances performance of tracking may degrade The magnetic field during the T pose calibration is a measure for the rest of the recording If the field is disturbed during calibration it will have an effect on the complete recording Temporal disturbances during capturing can be minimized by returning to the location where the T pose calibration was performed During a T pose calibration the homogeneity of the magnetic field is checked and a warning can be given The Show Magnetic Disturbances option as presented in Section 3 2 8 3 is a useful tool to check the environment for local disturbances before recording a new session 38 Moven User Manual 2007 Xsens Te
68. ode 1 the scroll wheel will move the camera along the viewing line but maintain the viewpoint Zooming beyond the viewpoint is not possible In mode 2 the camera will rotate around the camera s position 3 2 8 2 Follow Camera With the Follow Camera enabled the relative position and angle of the camera with respect to the character will automatically be updated according to the selected modus This can be useful when for example the character will walk for a long distance The desired modus can be selected in the Interface tab of the Moven Studio Preference menu see Section 3 3 2 Modus Action Fixed angle The global heading and pitch of the camera are fixed The height of the camera follows the height of the pelvis Trailing The pitch of the camera is fixed The distance of the camera to the character is fixed The height of the camera follows the height of the pelvis The camera heading is determined from the previous and new character position Pelvis lock The pitch of the camera is fixed The heading of the camera is fixed to the heading of the pelvis so when the pelvis rotates the camera rotates to look at it from the same angle again The height of the camera follows the height of the pelvis Full follow Similar to the fixed angle modus but no low pass filter on the height of the camera Static camera1 The pitch of the camera is fixed The position of the camera is fixed in the horizontal plane The camera ori
69. on for proper visualization of the character mesh The optical protocols are only available with the optional MotionBuilder plug in This will output positions of a virtual optical marker set To open a network monitor in Moven Studio click on the Open Network Monitor item under the File menu or press Ctrl M In the listen address bar you can enter the IP address of the sending computer or use localhost when you are sending and receiving on the same PC The maximum streaming output rate in Hz can be set in Max send framerate menu item 35 Moven User Manual 2007 Xsens Technologies B V 3 8 1 MotionBuilder plug in The network streamer Optical Marker Set 1 should be used for the MotionBuilder plug in For detailed information how to use the plug in refer to the Moven MotionBuilder plug in manual 3 9 Relocate sensors Each sensor has a unique location ID The Relocate sensors function in the Tasks menu can be used to redefine the location ID of a connected sensor This can be necessary when you want to work with an additional sensor on a prop or to replace a broken sensor Make sure that each sensor is at the appropriate place in the Moven Suit before you begin Follow the instruction on the screen Give a short tap on the sensor you want to change When tapping on a sensor use your fingers only and give a sharp tap until the dialog reports that is has detected the tap When two sensors ar
70. on interface is presented in the figures below the subject is 170 cm and the shoes are 27 cm long The following dimensions have been entered in advanced mode armspan 175 cm and hipheight 84 cm The other dimensions are calculated by the system and presented between brackets e g kneeheight 48 Each value as calculated by the system can also be overruled by the user After all desirable dimensions have been entered press Apply The system will automatically update all other dimensions of which no user input has been given To clear an entered dimension press Delete In the example of the right figure the T pose was performed properly and during the neutral pose calibration an error was observed This calibration can be cleared by selecting Npose followed by Clear It will take a few seconds to restore the previous calibration values Do not continue with the calibration procedures when the T pose calibration is not performed properly After performing a new T pose calibration it is recommended to clear all other performed calibrations The Calibration window can be closed by clicking the X in the right upper corner x x Calibration Calibration Actor Dims Calibrations Actor Dims Calibrations Set all known sizes of the subject in the Moven Suit here Accurate values will C Tpase improve motion capture values are in cm Set a value to to Mpose leave it undefined Squat HandTouch body Height
71. operating time using the wireless connection with the provided batteries 2700mAh is approximately 3 hours An estimate of the battery level is given in the status bar When the battery level is lower than 596 a warning will be given in Moven Studio The Xbus Masters will beep when the battery voltage drops below 4 7V Usually in this case it is still possible to operate for some time Please take care of the following recharging instructions to ensure maximum battery life For more information read the Powerex Charger manual Rapid Charge Mode charger default not recommended e Shortest recharging time approximately one hour e Suitable for AA batteries with capacity greater than 2000mAh Soft Charging Mode e Maximizes battery life and performance recharging time approximately two hours e Suitable for most batteries e Recommended if recharging time is not critical Conditioning Mode e Aspecial mode which rejuvenates and cycles batteries Applies a special initial charge discharge and recharge cycle which restores battery performance requires up to 14 hours to complete e Conditioning cycle can be used to rescue degraded batteries and exercise infrequently used batteries e Recommended once every ten normal charges for NiMH batteries to ensure performance Stored at 70 degrees F 20 C NiMH batteries will lose up to 4096 of their charge within a month If they are stored at a higher temperature they will self discharge
72. orm a new T pose calibration Ensure that the hip sensor is vertical and safely in its pocket When the lower leg sticks through the foot during the landing after a jump the foot that was pushing off was probably detected as a contact too long By removing the contacts of last few frames before the take off this can be fixed 33 Moven User Manual 2007 Xsens Technologies B V 3 A good indication for the time instance the foot strikes the ground is a change in the angle between foot and lower leg The angle is usually constant in the last phase of the swing and will change when the foot strikes the ground The change is often restricted to one sample It may help to remove all contacts for an interval around the expected contact frame to determine the time frame of contact 3 7 Position aiding With the position aiding interface it is possible to set a contact point at a desired coordinate X Y and Z see Section 5 1 This can be useful in situations which are not supported by one of the user scenarios Section 4 1 1 Examples 1 the starting position of a recording can be set to zero 2 when the subject is hanging on a bar the position of the hands can be fixed at a given height 3 when a subject steps onto an object the height of the contact can be frozen to the height of the object 4 when a subject jumps down from an object the position of the foot can be set to the height of the object before jumping Click on
73. ower button until the LED turns blue Then release the button The LED will have turned green then blue Switch on the Xbus Master as usually The LED should now be either blue or purple depending on the connection status of the wireless connection 4 2 3 Wireless Receiver A Moven System comes with two Wireless Receivers WR A which handle the data traffic between the Xbus Masters and the computer Each Wireless Receiver should be connected to a free USB port a Virtual COM port will be assigned see the Device Manager of the Windows operating system M Status LED USB connector Wireless Receiver The antennas have a uniform radiation pattern orthogonal to the longitudinal direction of the antenna which means they should be in an upright position for maximal coverage For best results it is recommended to place the receivers at least 1 meter apart Make sure all other wireless devices e g Bluetooth or WiFi devices are disabled 4 2 3 1 WR A Status LED The status LED visualizes the active mode of the Wireless Receiver using a specific color The different Wireless Receiver modes and their corresponding color are listed in the next table LED color Wireless Receiver active mode Off Powered Searching Wireless mode connected Blue flashing Wireless mode receiving data 43 Moven User Manual 2007 Xsens Technologies B V 4 3 Operating time 4 3 1 Batteries The typical
74. per body will rotate according the orientation of the pelvis Translation is possible The handtouch calibration will not be functional In the upper body configuration the lower body is fixed to a standing pose and will rotate according the direction of the pelvis The global position of the character will not change The squat calibration will not be functional For the full body and upper body configurations it is possible to perform measurements without sensors on the hands see Section 3 3 1 The hand will rotate according to the proximal fore arm 46 Moven User Manual 2007 Xsens Technologies B V 5 Moven kinematics and output 5 1 Coordinate systems The Moven Fusion Engine calculates the position and orientation and other kinematic data of each body segment B with respect to an earth fixed reference co ordinate system By default the earth fixed reference co ordinate system used is defined as a right handed Cartesian co ordinate system with e Xpositive when pointing to the local magnetic North e Y according to right handed co ordinates West e Zpositive when pointing up After the calibration procedure the right heel of the character is set at the origin 0 0 0 This is the begin point of the red arrow in the 3D viewport pointing in the X direction The orientation output is represented using quaternions For more information about quaternions see Section 9 1 The definition of the segment co ord
75. per arm fARM upper leg ILEG FOOT foot e An arrow indicating the direction in which the sensor should be inserted the arrow should point towards the Xbus Master e Example Left foot location ID 22 L 22 FOOT 70 Moven User Manual 2007 Xsens Technologies B V Full Body Configuration A commis Sensor MTx Directian arrow sensor vl 2 Bw d Cable type Cable with connector t 5 Right Left L Left Right Front Back Placement of the sensors with the bottom plate resting at the skin XbusMaster XM1 L Label Product code 1 Pelvis MDc49A53G25 7 Head MDc49A53G25 8 RightShoulder MTx 49A53G25 X 9 RightUpperArm 49 536254 10 PEN 2 RightHand 13 LeftUpperArm MDx 49A53G25 X LeftForeArm MTx 49A53G25 LX LeftHand RightUpperLeg RightLowerLeg MTx 49A53G25 LX RightFoot 21 22 RightForeArm MTx 49A53G25 LX 1 7 10 11 12 13 21 LeftLowerLeg MTx 49A53G25 LX 22 LeftFoot MTx 49453G25 Cable Length cm Example labeling sensors 16 uLEG Segment LoclID L or R indicating left or right Arrow pointing in direction of Xbus Masters 71 Moven User Manual 2007 Xsens Technologies B V 8 2 Upper Body Configuration Upper Body Configuration A ons we j as i T M E Sensor MTx Direction arrow
76. r Next to the playback buttons the Calibrate button and the Record Stop button can be found On the lower toolbar also the Reprocess and Marker buttons can found Icon Task Short key Q Q Start Stop recording Oo Reprocess Ctrl Shit P Add marker Letter number 3 1 5 Status bar The status of the suit can be monitored in the Status Bar It shows the following items e Std Adv standard advanced mode e Suit status status of wireless connection o Ready Searching Low Power Disabled e Power energy levels of batteries in 96 for each Xbus Master e Radio quality of wireless connection for each Xbus Master o Good Moderate Bad Unknown Sample Frequency Default 100 Hz If the Recording window is out of focus for more than 10 seconds the hardware will enter low power mode It will power off the sensors to save batteries and no data will be transferred The wireless connection will be maintained When the focus is returned to Preview and Recording window the sensors are turned on and the Xbus Masters will start to send data 3 2 Functionalities in Moven Studio 3 2 1 Start up Moven Studio can run both with and without the suit being connected To work with the suit make sure that all sensors are connected correctly Connect both Wireless Receivers to the USB ports and switch on the 2 Xbus Masters If any sensor is not connected correctly the Suit Status window will appear In the 3
77. re The advanced calibrations further optimize tracker alignment and or subject specific dimensions Each type of calibration can be called using a stepwise procedure The number and type of calibrations as well as target body segments can be specified Calibration procedures for subjects with limited range of motion are possible NOTE When entering the subject or body segment dimensions make sure they match the dimensions of the active actor subject wearing the Moven suit and not the dimensions of a character for an animation since it will influence the accuracy of the system The Moven Studio interface for calibration is described in Section 3 2 4 Moven User Manual 2007 Xsens Technologies B V 3 3 Moven Studio 3 1 Overview Moven Studio is an easy to use graphical user interface which can be used for real time viewing and recording It has also functionalities for off line playback and editing of earlier recorded sessions Menu Toolbar Calibration amp Recording aback Moren Studio a Status Toolbar 10 Moven User Manual 2007 Xsens Technologies B V 3 1 1 Menu Toolbar In the menu bar you can find the following menu items Menu Playback Window About Moven Studio LET C New Recording Session Open Open Network Monitor Save Save As Save All Close Properties Export Exit Copy Paste to New Select All Revert to original Reprocess Preferenc
78. s press Adjust fig 26 Fig 25 13 In the Property Panel that pops up we can adjust the Roll on the arms and legs fig 27 Adjust the settings such that the first frame is positioned as closely as possible to our T pose Sometimes these adjustments are easier to see when the character is moving fig 28 If you are satisfied with the result press Plot in the Rig to Rig window Fig 27 Fig 28 14 Click ok on the PlotRetargetPPG window Now the FBX Rig has been transferred to your own Rig The MOTOR function sometimes has problems with the up vectors To fix these problems just scrub and allocate the frames when up vectors moves out of place fig 29 Select the affected frames on the timeline and just delete these frames fig 30 81 Moven User Manual 2007 Xsens Technologies B V Fig 29 15 If you want to alter the movement on your character add another layer under the Animation tab in the KPL window fig 31 Now you can adjust transformations to your controllers without touching your imported motion capture data fig 32 m SO My sone bene Nee TT e 82 Moven User Manual 2007 Xsens Technologies B V 9 5 Troubleshoot Problem The suit does not connect Sensor status remains missing red in Suit Status menu Moven Studio does start Shader compilation validation errors Limited range wireless connection
79. s B V 3 The 3D window shows an N icon on upper left corner when receiving streaming network data Network streaming setting can be found under Edit gt Network Streamer Settings To enable streaming activate the Enabled checkbox The receiving network address can be entered in Destination address Use localhost to send receive on the same computer This can be useful for viewing the character from different angles simultaneously Network Streamer X The network streamer sends the poses of the currently N active document real time capture using a UDP packet streaming protocol You can use network monitor another PC to receive this stream or write your own receiver in another application Enabled Destination address localhost Protocal and data set Quaternion based orientations recommended v Send scale packets send Framerate Hz 30 Cancel Apply There are 4 protocols defined which can be selected in the Preferences menu e orientations Quaternion based orientations recommended e Positions only Joints Optical Marker Set 0 available in advanced mode e Positions only Moven Optical Marker Set 1 not supported for playback in Moven Studio intended for streaming to MotionBuilder Use the Quaternion based orientations protocol to stream from one Moven Studio to another Select the Send scale packages opti
80. s vou want installed and where they will be installed Recommended for advanced users InstallShield lt Back Cancel When connecting the USB connectors of the Wireless Receiver to your computer you will see a notification Found New Hardware in your System Tray Toolbar and the drivers will automatically be installed For detailed information on how to connect the sensors to the Xbus Masters refer to Sections 4 2 2 and 8 For detailed information about the Wireless Receivers refer to Section 4 2 3 Moven User Manual 2007 Xsens Technologies B V 3 2 2 How to put on Moven Suit The Moven suit is made of a stretchable fabric Lycra and allows a surprisingly variability in actor height and weight within one size of the suit Please take care when putting on the suit you are working with delicate materials The actor subject can wear closely fitting shorts and a shirt underneath the Moven Suit Other clothing can be worn on top of the Moven Suit no connection or line of sight is needed to the external world other than the wireless data link Follow these steps to put on the suit 1 Before putting on the suit take out the Xbus Masters and detach the gloves shoe covers and cap or headband with embedded inertial motion trackers to prevent damage from dropping 2 Open the main zipper and two zippers at the end of the legs 3 Step in the lower part of the suit without shoes and pull it up until it fits com
81. t reprocess button Example 2 In the originally recorded MVN file the foot is already on the ground but the contact is detected too late The result is that the character seems to stick at a wrong contact and the foot slides back 32 Moven User Manual 2007 Xsens Technologies B V e Click on the foot segment Step forwards and backwards in time to identify the frames and possible contact points In this case the heel red sphere is the most likely contact point to have contact with the ground e n the contact bar select the frames of the heel upper bar with the left mouse button The selected frames will be highlighted e After editing the contact points press the reprocess button The Moven Fusion Engine will now re compute all kinematics based on the overruled contact points e Verify the modified contacts The red sphere should be enlarged during the selected frames and foot slide should no longer occur during these frames To remove all edited contact points and let the Moven Fusion Engine detect contact points automatically select Edit gt Revert to original If during a recording or in an MVN file many wrong contacts are detected specifically on one side of the body it is most probably due to an inaccurate calibration Check if the sensors on the legs and pelvis have not moved in the suit and whether the entered dimensions match the dimensions of the subject If necessary perf
82. t Cascade Tile menu to select the lay out of the windows The maximum number of windows that can be opened simultaneously in Moven Studio is 20 but may depend on the processing power of your PC 3 2 7 3 Linked views When multiple windows are active their views can be linked When the camera view in one of the windows is changed the view in the other window will change accordingly Use Ctrl Shift L or Playback gt Linked Views to toggle the linked views option 3 2 8 3D viewport The 3D viewport shows the movements of the Moven character in real time or during playback It is automatically shown when the Preview amp Recording window is selected The display frame rate of the 3D viewport can be set in the General tab of the Moven Studio Preference menu see Section 3 3 1 3 2 8 1 Camera control The viewport has to be in focus to change the camera view Click in the 3D viewport to give it focus and to control the camera view 22 Moven User Manual 2007 Xsens Technologies B V Camera movement Hold Ctrl and move mouse Hold Shift and move mouse Ctrl Shift and move mouse Shift left mouse button Focus on character C key Right mouse button followed by Center on character Three types of camera control are available The table above presents the default mode 0 In mode 0 when zooming in out the viewpoint is moved together with the camera In m
83. t and Euler angles of each segment with respect to its parent segment Each line is one sample of motion data The numbers appear in the order of the channel specifications as the skeleton hierarchy was parsed It should be noted that the BVH format is restrictive and it does not reflect the full information as captured with Moven The numerical resolution of BVH files is limited compared to the MVN and MVNX files The Euler angle conversion may cause round off issues in certain poses singularities Since all segments are rigidly connected which is not the case in the Moven Fusion Engine some foot slide may occur since all errors such as mainly soft tissue artifacts are projected on the feet However this can be minimized by using inversed kinematics IK solvers which are usually available in animation applications and which are also necessary for retargeting the motion data to different characters 57 Moven User Manual 2007 Xsens Technologies B V 5 3 3 Working with different animation applications Autodesk 3ds Max In 3ds Max a Biped system provides direct input of BVH files including key frame reduction and footstep extraction Choose the 3ds Max output format when exporting to BVH The exporter wil apply a neutral pose hierarchy instead of the T pose hierarchy The neutral pose for the Biped places the figure upright along the Z axis facing forward along the Y axis left hand on the axis Hands are oriented wit
84. ter in the scene and transfer the animation by using the character input option of MotionBuilder You can also save the animation in the character controls mum B 18 SoftImage XSI A complete tutorial how to import FBX in XSI is presented in Section 9 4 5 3 2 BVH The name BVH stands for BioVision Hierarchical data and embeds captured motion data in ASCII format which can be imported in many animation applications A BVH file consists of two parts a header section which describes the hierarchy and initial pose of the skeleton and a data section which contains the motion data The start of the header section begins with the keyword HIERARCHY The following line starts with the keyword ROOT followed by the name of the root segment of the hierarchy to be defined usually the hips Each segment contains a vector indicating the length and direction from the parent segment The vector is specified by the keyword OFFSET followed by the X Y and Z values The CHANNELS keyword indicates the number of channels for this segment usually 3 Euler angles together with the order of rotation On the next line either you will find the JOINT keyword or the Site keyword The end site information ends the recursion and indicates that the current segment is an end effector has no children The end site definition gives the length of the preceding segment just like the offset of a child
85. tered trademark of Xsens Technologies B V Moven is a trademark of Xsens Technologies B V 3ds Max MotionBuilder and Maya are trademarks of Autodesk Inc Poser is a trademark of Curious Labs Inc and e frontier Inc XSI is a trademark of Softimage Co All other trademarks and trade names are the property of their respective owners Moven User Manual 2007 Xsens Technologies B V Table of Contents 1 441 1 2 1 3 2 1 2 2 2 2 1 2 2 2 2 3 3 1 3 1 1 3 1 2 3 1 3 3 1 4 3 1 5 3 2 3 2 1 3 2 2 3 2 3 Suit Status 3 2 4 Calibrations 3 2 4 1 Actor Dimension and Calibrations 3 2 4 2 3 2 4 3 3 2 4 4 3 2 4 5 3 2 4 6 3 2 4 7 3 2 5 Recording motion 3 2 5 1 3 2 6 3 2 7 Playback 3 2 7 1 3 2 7 2 3 2 7 3 3 2 8 3 2 8 1 3 2 8 2 3 2 8 3 3 2 8 4 3 2 8 5 MOVEN STUDIO PREFERENCES General settings Interface settings 3 3 INTRODUCTION PRODUCT DESCRIPTION OVERVIEW MOVEN Contents TYPICAL USAGE Moven Studio Moven Studio Network Streaming 1 2 1 1 3 1 1 3 2 L33 MOVEN SETUP SOFTWARE INSTALLATION HOW TO PUT ON THE MOVEN SUIT Foot mounts CALIBRATIONS MOVEN STUDIO OVERVIEW Menu Toolbar een File amp Edit Toolbar Playback Toolbar Recording amp Calibration Toolbar Status DAF m FUNCTIONALITIES IN MOVEN STUDIO O UD a
86. the sensors for each segment NOTE It is important that the pelvis sensor is flat on the pelvis sacral bone with the positive Z axis in the sagittal plane pointing away from the subject Any vertical plane dividing a human body into left and right sections is called a sagittal plane see Section 9 2 Moven User Manual 2007 Xsens Technologies B V Sensor on the upper Sensor on the upper leg Sensors on lower Sensors ontowertees Sensor on Sensoronthereet feet Sensor on the head Sensor on the hand Sensor on the fore arm Sensor on the upper arm Xbus Mast us Masters Sensors on the shoulder blades Sensor on the pelvis Sensors on the upper legs Moven User Manual 2007 Xsens Technologies B V Location Optimal position Shoulder Scapula 2 2 1 Foot mounts The foot mounts are designed to fit many types of shoes and are recommended for attaching the Motion Trackers to the feet when wearing shoes Loosen the laces of your shoes and place the mount on the tongue The Moven logo should be on the side of the toes The curved side flaps of the mounts can go under or on top of the fabric leather of the shoes Tighten the laces over the foot mounts Then place the Motion Trackers at 45 deg see picture such that the cable leads to the lateral side outside of the ankle Pull the rubber straps tightly over the Motion Tracker onto the hooks of the foot mount Then connect the cables to the Motio
87. tly after calibration Move around normally calmly in a magnetically benign environment for 20 30 seconds after calibration before starting recording The default sample rate of Moven Studio is 100 Hz This is sufficient to capture all dynamic kinematics of human motion under most circumstances If your application computer does not work with this sample rate you can lower it to 60 Hz However performance of the Moven Fusion Engine will degrade Performance can be enhanced further by using a sample rate of 120 Hz 4 1 1 User scenarios User scenarios utilize optimized Moven Fusion Engine settings based upon the expected type of movements The user scenario as used for recording can be selected in the Moven Studio Preferences menu see Section 3 3 1 An MVN file can also be reprocessed using another scenario Click on the right mouse button in the 3D viewport gt Edit Fusion Engine Settings select the desired User scenario and press Apply Reprocess the file by pressing Ctrl Shift P or the reprocess button see Section 3 2 8 5 4 1 1 1 Default Under most circumstances it can be assumed that the body must be in contact with an external physical world The detection of external contacts of the body with its Surroundings is essential to minimize position drift of the complete computed body model 3D position with respect to a coordinate system not fixed on the body External contacts with the physical world are not limit
88. to make changes in its products in order to improve design performance or reliability Subject to the conditions and limitations on liability stated herein Xsens warrants that the Product as so delivered shall materially conform to Xsens then current specifications for the Product for a period of one year from the date of delivery ANY LIABILITY OF XSENS WITH RESPECT TO THE SYSTEM OR THE PERFORMANCE THEREOF UNDER ANY WARRANTY NEGLIGENCE STRICT LIABILITY OR OTHER THEORY WILL BE LIMITED EXCLUSIVELY TO PRODUCT REPAIR REPLACEMENT OR IF REPLACEMENT IS INADEQUATE AS A REMEDY OR IN XSENS OPINION IMPRACTICAL TO REFUND THE PRICE PAID FOR THE PRODUCT XSENS DOES NOT WARRANT GUARANTEE OR MAKE ANY REPRESENTATIONS REGARDING THE USE OR THE RESULTS OF THE USE OF THE PRODUCT OR WRITTEN MATERIALS IN TERMS OF CORRECTNESS ACCURACY RELIABILITY OR OTHERWISE Xsens shall have no liability for delays or failures beyond its reasonable control 7 5 Customer Support Xsens Technologies B V is glad to help you with any questions you may have about Moven or about the use of the technology for your application Please contact Xsens Customer Support x d by e mail support moven com gt telephone 31 0 88 9736700 To be able to help you please mention your Xbus Master 1 Device ID on the back of the device and software license registration number in your e mail 66 Moven User Manual 2007 Xsens Technologies B V 7 6 CE Declaration of Con
89. ts can be found in the MVNX file in the tpose section see Section 5 2 3 3 5 1 2 Smoothing The highly sensitive sensor modules capture every twitch and deliver very crisp data For some applications more smoothed motion data is desired Three options are available e No smoothing e Light smoothing e Heavy smoothing The Export Smoothing Filter does not introduce a phase lag Light smoothing is generally the recommended option 28 Moven User Manual 2007 Xsens Technologies B V 3 3 5 1 3 Output scale The size of the character and position can be scaled to the desired output unit The default system units for some applications are listed in the table below Application Default unit scaling MotionBuilder centimeter 3 5 1 4 Frame skip The frame skip number n is used to reduce the frame rate of the output The exporter will perform down sampling by skipping every n frames of the original file after smoothing in the output The output rate is given by original sample rate 1 Skip factor For example an MVN file recorded at 100 Hz frame skip 1 output frame rate 50 Hz frame skip 2 output frame rate 33 Hz frame skip 3 output frame rate 25 Hz Or for example an MVN file recorded at 120 Hz frame skip 1 output frame rate 60 Hz frame skip 2 output frame rate 40 Hz frame skip 3 output frame rate 30 Hz So take care when selecting your preferred motion capture update rat
90. uit Perform a new calibration Move calmly for 10 20 seconds directly after calibration Check if the magnetic field is not too disturbed Reset Moven Fusion Engine Section 4 1 4 Check wireless connection Sensors have been out of range Use Correct out of range data on reprocess option in Moven Studio preferences menu and reprocess file Section 4 1 3 Check if magnetic field is not too disturbed Reset Moven Fusion Engine Section 4 1 4 85
91. ying and editing of previous recorded motion data BVH Biovision Hierarchical Data FBX C3D not supported yet ask for possibilities MVNX Moven Open XML format Output 3D position 3D orientation optionally 3D acceleration 3D velocity 3D angular rate 3D angular acceleration 60 120 Hz default 100 Hz 37 MB min 9 60 Hz 62 MB min 100 Hz 74 MB min 120 Hz Some features only available in SDK ask for possibilities 62 Moven User Manual 2007 Xsens Technologies B V 3 Moven Software Development Functionality Easy integration with custom application software Provides real time orientation and position data of body segments using dynamic link library C interface Provides interfaces to calibration routines and character definition routines Handles pre recorded MVN files for post processing Update rate 60 120 Hz default 100 Hz Recommended computer system Operating system Windows XP SP2 or Windows Vista Processor Dual core e g Core2 or AMD X2 minimal Pentium 4 2 6 GHz Graphics card Any graphics card with hardware acceleration for DirectX 9 USB ports 2x USB or hub Warranty 2 Years Support amp Updates 1 Year Optional extended support amp updates Moven and Xsens are trademarks of Xsens Technologies B V Patents Pending WWW Xsens com WWW moven com Moven User Manual 2007 Xsens Technologies B V 7 Important notices 7 1 Operating conditions

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