The motion capture solution is based on five Teensy LC boards with TDK MPU-6050 six-axis gyro/accelerometer sensors for motion, with the four “limb” units also adding AMS AS5047 magnetic rotary position sensors for joint position. A central Teensy 4.1 connected to each of them orchestrates data collection. Dynamixel servo actuators power the arm using an Arduino MKR-style shield connected to the 4.1. After training the system using all of his real limbs, James then swapped in the 3d-print...
