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Zenodo
2026
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| Online Access: | https://doi.org/10.5281/zenodo.18971449 |
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| author | Castro-Perez, Miguel Angel |
| author_facet | Castro-Perez, Miguel Angel |
| contents | <div>Wearable inertial motion capture systems enable portable human motion analysis in applications such as biomechanics, rehabilitation, and virtual environments. However, many existing solutions rely on proprietary platforms or power-intensive wireless technologies that limit scalability, customization and reproducibility. </div> <div> </div> <div>This work presents BLEZ, a low-cost and open-source inertial motion capture system based on a Bluetooth Low Energy (BLE) and Zephyr real‑time operating system (RTOS). The BLEZ system consists of a Central Node that manages multiple wearable Sensor Nodes. Both node types are built around the nRF52840 microcontroller, while the Sensor Nodes are additionally equipped with a BNO055 inertial measurement unit (IMU). The firmware is designed to allow configurable BLE communication parameters, enabling users to adapt the wireless network behavior according to the requirements of different applications. To facilitate system operation, a desktop middleware interface provides tools for network configuration, sensor management, data logging, and real-time streaming to external applications. A visualization module demonstrates real-time motion capture by driving a 3D humanoid model using streamed orientation data. </div> <div> </div> <div>The reference implementation supports six wearable nodes sampling at 50 Hz while maintaining low power consumption through BLE communication. The complete hardware and software design is released as open-source to support reproducibility and further development of wearable motion capture systems.</div> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_18971449 |
| institution | Zenodo |
| language | |
| publishDate | 2026 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | BLEZ: Inertial Motion Capture System based on Bluetooth Low Energy and Zephyr Castro-Perez, Miguel Angel <div>Wearable inertial motion capture systems enable portable human motion analysis in applications such as biomechanics, rehabilitation, and virtual environments. However, many existing solutions rely on proprietary platforms or power-intensive wireless technologies that limit scalability, customization and reproducibility. </div> <div> </div> <div>This work presents BLEZ, a low-cost and open-source inertial motion capture system based on a Bluetooth Low Energy (BLE) and Zephyr real‑time operating system (RTOS). The BLEZ system consists of a Central Node that manages multiple wearable Sensor Nodes. Both node types are built around the nRF52840 microcontroller, while the Sensor Nodes are additionally equipped with a BNO055 inertial measurement unit (IMU). The firmware is designed to allow configurable BLE communication parameters, enabling users to adapt the wireless network behavior according to the requirements of different applications. To facilitate system operation, a desktop middleware interface provides tools for network configuration, sensor management, data logging, and real-time streaming to external applications. A visualization module demonstrates real-time motion capture by driving a 3D humanoid model using streamed orientation data. </div> <div> </div> <div>The reference implementation supports six wearable nodes sampling at 50 Hz while maintaining low power consumption through BLE communication. The complete hardware and software design is released as open-source to support reproducibility and further development of wearable motion capture systems.</div> |
| title | BLEZ: Inertial Motion Capture System based on Bluetooth Low Energy and Zephyr |
| url | https://doi.org/10.5281/zenodo.18971449 |