ProMove-ToF is a wireless Time-of-Flight (ToF) prototype device developed in the Sestosenso project. It connects 10 ToF STMicroelectronics VL53L8 units. Using Inertia’s high-speed and low-power wireless technology, a network of maximum 19 ProMove-ToF’s can sample and stream all sensor data synchronized and in real-time. Every ProMove-ToF device samples the 10 ToF sensors at 10 Hz each, with 8×8 separate zones per ToF sensor, and transmits the information over the wireless medium.
Features
- Supports 10 ToF sensors per device
- 64 separate zones at 10 Hz per ToF sensor
- Wireless network connecting up to 19 devices
- Fully integrated and synchronized with ProMove-V IMU
- RF transceiver in the 2.4 GHz band
- 16 GB on-board flash memory for data storage
- Integrated USB-C interface
ProMove-ToF are synchronized, as part of the same network, with our established wireless IMU, the ProMove-V. ProMove-V features a complete set of ultra-low-noise digital sensors, offering multi-modal and 9-DoF (degrees of freedom) sensor data: 3-D low-g acceleration,3-D high-g acceleration, 3-D turn rate, 3-D magnetic field intensity and optionally barometric pressure and GNSS.
The Inertia Studio software enables real-time visualization and configuration of sensors and wireless parameters. All data retrieved by the Inertia Studio software is logged for post-analysis. Inertia Studio retains compatibility with ProMove-V: wireless ProMove-ToF with up to 10 ToF sensors each and wireless ProMove-V IMUs together in the same network.
The video below shows the ProMove-TOF integrated into the exoskeleton, transmitting data in real-time to the computer for proximity detection. One ProMove-ToF device manages the ToF sensors along the spine of the exoskeleton, while two ProMove-ToF devices are assigned to the upper arms.
ProMove-V IMUs are part of the same wireless network and are used for body modelling and posture analysis. The IMUs sample each on-board three-axial sensor at 200 Hz .
The proximity to the surrounding objects is displayed as a point cloud, with different colors depending on the ToF sensor involved. The manikin translates on the screen the movements of the person wearing the exoskeleton using the information received from the IMUs.
