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Movella xsens MVN User Manual

Inertial motion capture system
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13 May 2025
Xsens User Manual

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  • Page 1 13 May 2025 Xsens User Manual...
  • Page 2 Date Changes 13 05 2025 MVN 2025.0 release © 2005-2021, Xsens Technologies B.V. All rights reserved. Information in this document is subject to change without notice. Xsens, Xsens DOT, MVN, MotionGrid, MTi, MTi-G, MTx, MTw, Awinda and KiC are registered trademarks or trademarks of Xsens Technologies B.V.

  • Page 3: Table Of Contents

    Table of Contents Table of Contents Contents Content overview ....................2 Motion Trackers on the extremities ..............6 Software ...................... 6 Getting started ....................8 Installation of software ..................8 Preferred language ..................8 Setup hardware ..................... 8 Xsens Analyze/Animate workflow overview ............9 Software .......................
  • Page 4 8 Preview and Recording ................... 52 8.1 Preview......................52 Recording ....................55 Add comments after recording ................. 56 Recovery of MVN file after system crash ............57 Markers ..................... 57 Network Streamer ..................58 Network Monitor ..................60 9 Reprocessing, Playback, and Editing ................ 61 Reprocess HD ....................
  • Page 5 15.1 MVN usage statistics ................... 100 16 Xsens Ethernet Camera ..................101 Xsens Peripheral Software ................102 17.1 Magnetic Field Mapper (MFM) ................102 17.2 Firmware Updater ..................102 17.3 Software Activation Tool: Offline License Activation or Updating a License .... 102 17.4 Software Activation Tool: Applying an Update ...........
  • Page 6 24.5 Sync In with Xsens Analyze/Animate .............. 153 24.6 Sync Out with Xsens Analyze/Animate ............153 3 rd party Synchronization Examples .............. 153 24.7 24.8 Network sync .................... 153 24.9 Gloves ..................... 154 25 References ....................... 155 MVN User Manual...

  • Page 7: Abbreviations And Terms

    Abbreviations and Terms Abbreviation / Term Description Application Programming Interface Access Point: The method of transporting data from the body pack to the Body Pack, on-body controller unit for the motion trackers, connects to power and wireless transmission of data to host PC via the Access Point .BVH Biovision Hierarchy character animation file format .C3D...

  • Page 8: Default Folders

    Default Folders Description Files Location C:\Program Files\Xsens\Xsens MVN Main program mvn_studio64.exe <version>\MVN Studio Documentation MVN Quick Setup C:\Program Files\Xsens\Xsens MVN <version>\Documentation Sheet.pdf viii MVN User Manual...
  • Page 9 1 Introduction The Xsens MVN inertial motion capture system is an easy to use, cost efficient system for full-body human motion capture. MVN is based on Xsens' state-of-the-art miniature inertial sensors and wireless communication solutions combined with advanced sensor fusion algorithms, using assumptions of biomechanical models.
  • Page 10 2 Content overview 2.1 MVN Link suitcase with contents Figure Description The MVN Link System arrives in a strong, durable and watertight case. The case has wheels and an extendable handle for easy transportation. The suitcase dimensions meet the requirements for most airline hand-luggage.
  • Page 11 2.3 Body Pack (BP), Battery Pack, and Access Point (AP) Figure Description Figure 3 shows the Body Pack (BP). The strings of MTx’s are interconnected by the Body Pack. It delivers power from the battery pack to the connected MTx’s and retrieves their data ensuring exactly synchronized samples.
  • Page 12 2.5 MVN Awinda / MVN Awinda starter neoprene case with contents Figure Description The MVN Awinda arrives in durable neoprene case with protective frame, which contains: • 17(+1) Wireless Motion Trackers (MTw) • 1 Awinda Station • 2 Awinda Chargers •...
  • Page 13 2.8 MVN Awinda Charger Figure Description The MVN Awinda Charger is capable of charging six motions trackers. Charging from empty to full takes about 1.5 hours (old sensor) 2 hours (new sensor) Figure 11: MVN Awinda Charger The 6 3way USB charging cables plus the 6 port USB hub are capable of charging 18 motions trackers.

  • Page 14: Motion Trackers On The Extremities

    Motion Trackers on the extremities The motion trackers are secured to the extremities – the head, hands and feet, using a headband, gloves and a foot pads, as can be seen in the figures below. Accessories for placing motion trackers on the extremities Figure 17: Gloves Figure 16: Headband Figure 18: Foot Pads...
  • Page 15 www.xsens.com...

  • Page 16: Getting Started

    2 Getting started 2.1 Installation of software Note: Do not connect your MVN System (either Access Point or Awinda Station) until software installation is complete (software installation includes installation of relevant drivers which can be finalized, when the hardware is connected).

  • Page 17: Xsens Analyze/Animate Workflow Overview

    • Press the button on the Body Pack once to power on the device, a pulsing fading LED, solid LED, beep and finally blinking LED indicate the startup process. See Section 5.1.2. If using the MVN Awinda (starter) system: • Connect the Wireless Master (see chapter: 2.7) to the computer or laptop •...
  • Page 18 • MVNX is a human readable, XML format which can be imported to many other software programs, including MATLAB and Excel. This format contains the most information, including the sensor data, segment kinematics and joint angles, as well as the subject information needed to recreate a 3D visualization of a character. See Section 15.4.
  • Page 19 alter the properties of the physical motion sensors, which may cause the device to become inaccurate. 2.5.3 Suit, shirt, short maintenance To wash the suit, shirt, shorts remove all cables, BP and MT’s. Follow the instructions on the label inside the suit: Description Icon Machine wash at 30°C –...
  • Page 20 Use only the manufacturer’s power supply and observe terminal polarity.  Place the charger in a cool spot, away from external heat sources.  Caution - during recalibration, the charger may become warm.  www.xsens.com...

  • Page 21: Software

    When using a software license key, license activation is necessary. The Software Activation tool can be started from Start Menu > Xsens MVN 2025.x > Xsens MVN License Manager. Follow the on-screen instructions to start the activation, use the product key sent to you by customer service in email and ‘MVN Letter’.
  • Page 22 Extension licenses or upgrade licenses can be activated on the dongle using the Software Activation tool, which can be started from Start Menu > Xsens MVN 20xx.x> Xsens MVN 20xx.x > License Manager. 3.2.3 Network License Key When using a network license key, the red dongle needs to be used on a pc (server) that runs a service called ‘Sentinel LDK License Manager’.

  • Page 23: Hardware

    4 Hardware 4.1 MVN Link The standard MVN System consists of a combination of hardware and software. The previous section described how to install the software. The following will provide an overview of the hardware, which includes the MTx’s, Body Pack, Sync Station, and Access Point;...
  • Page 24 On the bottom of the Body Pack, there are 2 connectors: • One Ethernet connector which can be used for cabled recordings, when the system is directly connected to the recording PC rather than transferring data via wireless signal. • A micro-USB connector, supported for future use to configure the BP The BP is powered by a single Battery Pack (rechargeable smart Lithium-Ion battery pack).
  • Page 25 • A successful WPS is indicated by a beep and the BP LED will return to intermittent flashing. Any Router that supports WPS can be connected to a Body Pack. See the Tutorial video “WPS connection”. Click the address for a direct link to the tutorial. https://tutorial.xsens.com/video/wps-connection 4.1.2.5 Soft Access Point...
  • Page 26 4.1.3 Battery Charger The CH5000 is a standalone desktop smart, standard battery charger with the added ability to recalibrate the fuel gauge on smart battery packs. 4.1.3.1 Using your Charger Place the charger on a flat, level surface away from sources of heat and moisture. Plug the DC connector from the power supply into the back of the charger and connect the power supply to the mains AC supply using the cable supplied.
  • Page 27 To recalibrate the fuel gauge, press the button on the front of the charger. The charger will automatically begin to charge the battery if the button is not pressed. The blue LED will flash to indicate that the battery is undergoing the recalibration cycle. During calibration the discharge resistors will be cooled by the fan.
  • Page 28 4.1.4 Access Point (AP) The MVN System comes with one Access Point (AP) which handles the data traffic between the BP and the computer. The Access Point should be connected to the PC via Ethernet cable through the Ethernet port or using the supplied Ethernet to USB adapter. Figure 25: Access point 1.
  • Page 29 • Place the wireless router in a centralized area for a maximum wireless coverage for the network devices. • Keep the device away from metal obstructions and away from direct sunlight. • Keep the device away from 802.11g or 20MHz only Wi-Fi devices, 2.4GHz computer peripherals, Bluetooth devices, cordless phones, transformers, heavy- duty motors, fluorescent lights, microwave ovens, refrigerators, and other industrial equipment to prevent signal interference or loss.

  • Page 30: Mvn Awinda / Mvn Awinda Starter

    Note that if synchronizing with a third-party device sending 5V, it is advised to purchase (from e.g. Farnell) a 3.3 - 5V / 5V - 3.3V SMD level translator to prevent damage to the Sync In ports of the Sync Station. 4.2 MVN Awinda / MVN Awinda Starter 4.2.1 Wireless Motion Trackers (MTw/MTw2) The MTw provides 3D angular velocity using rate gyroscopes, 3D acceleration using...
  • Page 31 Flushing Double pulse in sync with Awinda Station (CONN LED). Stand-by OFF. Blinks for 3 s, if motion has been detected, while searching for a radio connection. 4.2.3 MTw/MTw2 Stand-by Mode Following a wireless connection to the Awinda Station or Dongle, the MTw enters measurement mode.
  • Page 32 SyncOut port is fine. Therefore, unless a threshold of 5V of the third-party system is required, in which case the 3.3V-5V SMD level translator will be required. For software configuration of the synchronization channels, see Section 25. 4.2.7 Awinda Station Status LED The Awinda Station has five LED indicators.

  • Page 33: The Suit

    4.2.8 Awinda USB Dongle Figure Description The Awinda USB dongle has the same wireless capabilities as the Awinda Station, in that it can accurately control the reception of data of up to 32 MTw’s. Given that the Dongle does not have an external antenna its Figure 31: Awinda USB dongle range is shorter than the Awinda station;...
  • Page 34 Straps are suitable for most of the adult population and can be placed directly on the skin for close contact, or on top of the clothing for comfort. If worn over clothing, it is advisable to wear relatively tight-fitting clothes. Figure Description The motion trackers are provided with a code...
  • Page 35 Other clothing can be worn on top, 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: Important: • The zip is at the front of the Lycra suit. •...

  • Page 36: Connecting The Hardware And Software

    correctly than with the straps. Therefore, please refer closely to the following information to ensure the best placement. The table below describes the positioning of the motion trackers. Location Abbreviation Optimal position Foot FOOT Middle of bridge of foot Lower leg Flat on the shin bone (medial surface of the tibia) Upper leg Lateral side above knee...

  • Page 37: Xsens Analyze/Animate

    5 Xsens Analyze/Animate Xsens Analyze/Animate is easy-to-use software, which can be used for real-time viewing and recording. Off-line playback, analyzing and editing of previously recorded sessions are also possible with Xsens Analyze/Animate. Figure 36 shows a typical view of Xsens Analyze/Animate when a recording has been made. Figure 36: Xsens Analyze/Animate interface The main tool bar at the top of the Xsens Analyze/Animate interface is displayed in Figure 37 below.

  • Page 38: Status Bar

    ‘Command Prompt’ ‘C:\Program Files\Xsens\Xsens MVN 20xx.x\MVN Studio’ (Shift + RMB > ‘open command window here’). • Run ‘mvn_studio64.exe –h’ to get an overview of the available options. Figure 39: Command line interface Note that the battery indicators are also available in ‘Hardware’ pane. The animated battery in the status bar indicates the battery life of the MTw with the least amount of power.

  • Page 39: Xsens Animate/Analyze 2025.0 (What's New)

    5.3 Xsens Animate/Analyze 2025.0 (What’s New) Xsens Analyze/Animate also has a command line interface to allow users to automate some of the processes. 5.3.1.0 UI/UX update The user interface has been updated for Xsens 2025. Icons have been updated with a fresh look. For the full list of icon updates please see the article at “link to base”...

  • Page 40: Auto Sensor Mapping (Experimental Feature)

    For more detailed information on ASM and how it might be beneficial to your use case, please reference the following article section. https://base.movella.com/s/article/MVN-Calibration Once enabled, you will see a message in your configuration and calibration windows:...

  • Page 41: Biomech 2.0

    "legacy" model is consistent with the models from all previous versions of MVN. For more information on the new Biomechanical Model, please reference this article: https://base.movella.com/s/article/Xsens- Biomechanical-Model Legacy Male Female If you are interested in reading more about enhancing motion tracking accuracy with novel gender-specific models, please see our white paper here : https://base.movella.com/s/article/Xsens- Biomechanical-Model www.xsens.com...

  • Page 42: Workflow And Functionalities In Xsens Analyze/Animate

    6 Workflow and Functionalities in Xsens Analyze/Animate Xsens Analyze/Animate is designed for optimal flow of the steps required for recording and analyzing motion. Different workflow items become active at various stages. Figure 40: The workflow toolbar gives the user an optimal interface setup per functionality: Hardware and Fusion Setup, preview and record, playback and editing and analysis.

  • Page 43: Configure An Mvn System

    hardware can be configured in the Hardware Status panel (see 7.6) and the Navigator panel is described in 7.7. Tutorial video about setting up a recording session: https://tutorial.xsens.com/video/set-up-a-recording-session Configure an MVN System For each of the four possible MVN Systems, the user can configure the individual settings.
  • Page 44 Suit Configuration Picture (green = Number Max Update Max Update rate – MVN rate – MVN active sensors, blue = inactive sensors) Sensors Awinda (Hz) Link (Hz) Full Body Full Body no hands Lower Body Upper Body Upper Body no Hands Lower Body with Sternum...
  • Page 45 6.2.6.0 Scenario Depending on the type of measurement you will carry out, select the type of scenario that will ensure the best results, and minimize post-processing. The scenarios available include: Scenario Description Single Level This scenario assumes that the subject will be walking on level terrain This scenario assumes that the subject will be walking on terrain or varying Multi-Level height, e.g.
  • Page 46 the time of the measurement) in order for Xsens Analyze/Animate to calculate other segment lengths (based on an anthropometric model). Note: A recording cannot be performed if the user does not insert these values; then the following error will be shown at the bottom right of the screen. (Figure 43) Figure 43: Error if closing out of configuration without subject height and foot length.
  • Page 47 Dimension Description Body Height Ground to top of head when standing upright Foot or Shoe length Length of feet or length of shoes if wearing shoes Shoulder Height Ground to C7 spinal process Shoulder Width Right to left distal tip of acromion (acromial angle) Elbow Span Right to left olecranon in T-pose Wrist Span...
  • Page 48 Generally, the motion tracker on the prop is detected automatically when clicking ‘Apply’ in the Prop Configuration window. If this does not occur, go to Tasks >Re-initialize suit(s). The prop mesh (the on-screen image of the prop sensor) can be connected to any defined point on a body segment.

  • Page 49: General Settings

    6.2.11.0 Sync With MVN Awinda, the dialogue to configure the sync settings is in the MVN System configuration. To configure the Sync Station which is the method for synchronizing MVN Link with third party devices, the sync settings are configured via the Sync Station tab, see 7.5 . It is worth noting that sync with MVN Awinda is tighter than with MVN Link due to the tight control of the Awinda Station over the MVN Awinda System.
  • Page 50 Figure 46: Example of camera configuration window If no pictured is displayed, if the image is jagged, or no camera is found, install the dedicated driver, found in C:\Program Files\Allied Vision Technologies. You may have to restart Xsens Analyze/Animate for the camera to be found after this is installed. If no video data is displayed, check or uncheck the Use jumbo packets option to resolve the issue.

  • Page 51: Configuring The Awinda Station (Or Sync Station)

    6.5 Configuring the Awinda Station (or Sync Station) The Awinda Station as part of the MVN Awinda setup can also be used for synchronizing between MVN Link and third-party systems. The user will note that when MVN Link is selected, the text beside Sync Settings states, “Not sync capable”. The Awinda Station (or Sync Station) must be inserted for synchronization with MVN Link (Figure 47).

  • Page 52: Hardware Status

    6.6 Hardware Status To view the Hardware Status, Select the in the configuration window. Hardware status shows a list of all trackers and masters detected by Xsens Analyze/ Animate. The figures below show the hardware status interface and Table 1 details the meaning of the colored markers.
  • Page 53 6.6.1.0 Relocating motion trackers Each Xsens motion tracker has a unique location ID which relates them to the limb segment they should be placed on. If for some reason, a tracker has the wrong ID assigned to it, e.g. if an additional motion tracker is detected or a broken MT needs to be replaced with a spare, this can be done easily by reassigning the MT’s ID to the desired position.
  • Page 54 6.6.2.0 MVN Awinda: Changing Radio Channel For MVN Awinda users, the Hardware Status is necessary in order to configure the network detection status of the system. Figure 48 Shows a list of motion trackers expected to be found by the MVN Awinda system.

  • Page 55: Navigator

    Again, in the Hardware Status window, either right click or double click the number under the letters “Ch”. If a user attempts to make a connection in an existing configuration between an Awinda Station and a tracker used for the first time the option “Forget System”...

  • Page 56: Setup

    7 Setup The setup workflow stage consists of three parts; it shows the subject’s body dimensions (see 6.2.9), data fusion and sensor to segment calibration. The calibration procedures are only available once the MVN system is connected, and the 3D Character has appeared in the view port.
  • Page 57 Figure 51: Segment calibration interface 7.1.2.0 Apply calibration and define x-axis. When the calibration data has been processed, the system will show the quality of estimated calibration parameters and show warnings in case problems were detected (see Section 8.1.4 for more information). Before applying the calibration results, the forward pointing X-axis can be defined.
  • Page 58 Please note that it is always recommended that a calibration is performed before beginning to record data using Xsens Analyze/Animate. However, it is possible to enable a measurement without calibration in the preferences menu (Options >Preferences >General >Recordings). Another option in the preferences menu is “Enable simple calibration routines” in this menu to enable the not recommended N and T-pose.
  • Page 59 Note that a ‘good’ or ‘acceptable’ quality indication does not necessarily mean that the actual calibration is accurate. Xsens Analyze/Animate can perform limited checks of the actual pose of the subject during the calibration due to a natural variation in body physique and locations of the motion trackers on the body.

  • Page 60: Preview And Recording

    8 Preview and Recording 8.1 Preview During the Preview and Recording stage of the workflow, the viewport is active. There are several viewing possibilities, the 3D character in the 3D viewport and orthogonal views. Select the number of windows to view at one time. Figure 53 is an example of a four-window view showing the 3D view and three different orthogonal views.
  • Page 61 8.1.1.0 Viewport Icons The icons above the viewport can be selected to show and hide various parameters, as detailed below. Icon Task Focus on Selected Segments (short key ‘F’) Note: short key ‘C’ always centers on the pelvis Show/hide floor Show/hide origin Show/hide shadows Show/hide center of mass...
  • Page 62 Horizontal Follow (T) Similar to “Trailing”, but the height and angle of the camera is now adjusted to prevent the image from varying with change in pelvis height Circle Around Character (T) Virtual camera will slowly circle around the centered character Coronal posterior (X) Show the back of the character.

  • Page 63: Recording

    real-time graphical data, the recommended setting during real-time preview is “Expand to fit”, or “Full Fit”. 8.1.4.0 Save and Restore Layout To the right of the graph icon are two icons indicating the possibility to save and restore layouts of the interface. To save a layout, use the icon directly to the right of the graph icon, the layout currently in view will be saved.

  • Page 64: Add Comments After Recording

    recording. For this reason, the recorded data is often of better quality than the real-time preview. 8.3 Add comments after recording Adding comments after a recording has finished can be very useful in a later stage when you are opening the recordings. The popup dialog to add comments after a recording can be enabled or disabled (menu >...

  • Page 65: Recovery Of Mvn File After System Crash

    8.4 Recovery of MVN file after system crash If Xsens Analyze/Animate was shut down as a result of a system crash, the MVN file will not be properly closed and not useable. To correct this, when you try to load the corrupted MVN file in Xsens Analyze/Animate it will look for a recovery file (MVR) that can be used to recover the data captured.

  • Page 66: Network Streamer

    8.6 Network Streamer The network streamer sends the poses of the active window (playback or real-time), both UDP and TCP are supported by the network streamer. The UDP Protocol is unidirectional, and contrary to TCP (Transmission Control Protocol, RFC 793) it is stateless and does not require the receiver to answer incoming packets.
  • Page 67 Figure 57 above shows the Network Streamer Options. The table below summarizes the functionality of each selection. Please refer to the Real-Time Network Streaming Protocol Specification for further details. Datagram Description Positions and orientation of each body segment, orientations in Position + Orientation (Quaternion) quaternion format, position units are in meters.

  • Page 68: Network Monitor

    8.7 Network Monitor Xsens Analyze/Animate also implements a Network Monitor that can receive the MVN network stream of motion data. Note that this is meant only to monitor a network stream, and no further functionality is provided than viewing (i.e. no saving, recording, editing etc).

  • Page 69: Reprocessing, Playback, And Editing

    9 Reprocessing, Playback, and Editing When the data has been recorded, Xsens Analyze/Animate offers several options for playback, reprocessing, video synchronization, and editing which will be discussed in this section. Reprocess HD With Xsens Analyze/Animate, a new sophisticated processing option is available called “Reprocess HD”, which includes all data in the file to get the best performance for the recorded motion.

  • Page 70: Playback

    window has opened, the input and output paths can be chosen with the level of reprocessing quality you desire. You can also change the number of parallel processes that are used during processing. This determines the number of files that are reprocessed at the same time.

  • Page 71: Synchronization With Video

    Go to end Shift + End Synchronization with video In Xsens Animate Pro, MVN data with synchronized video is available. The accuracy of the software synchronization depends heavily on the LAN connection to the camera and the wireless link quality to the MVN system. In general, the time offset between the MVN frame, and the video frame is negligible, or less than 1-2 video frames.
  • Page 72 During Playback and Editing, four default bars appear above the timeline, indicating presence of contact points, advanced (floor level), position, and clipping edits (Figure 62). If there is a contact, the contact will be shown in the viewport with a large blue sphere.
  • Page 73 To scrub, drag the time line scroll bar ( ) to the left or right. Step through the time frames using the left and right cursor or keep it pressed to move very slowly though the file, frame by frame. Figure 63: Contact points on the 3D viewport and the contact editing menu 9.5.1.0 Selection of samples...
  • Page 74 9.6.1.0 Contact point editing options 9.6.1.1 Remove user-defined Revert to the original recording for the selected samples. Remove user-defined aiding refers to the positions and floor levels set, as remove user-defined contacts refers to the contact points of the segments. Reprocess to apply changes (see Section 10.5.2.6). 9.6.1.2 Ignore contacts globally Removes all detected contacts for all segments.
  • Page 75 Figure 66: Set position menu during contact point editing The SD slider sets the standard deviation, which is an indication of how much the aiding point can be trusted in combination with the computed position of the MVN Fusion Engine. This option can also be used creatively for example to create a “soft” landing on a mattress.

  • Page 76: Multi-Person Editing

    Figure for example Figure 68: Set floor level menu Right mouse click on a contact bar to set the floor height to the height of that contact. The contact detection will now be applied on the new floor height for all the following samples.

  • Page 77: On Body Recording

    10 On Body Recording On-body Recording’ allows you to record motions everywhere without the need for a laptop or PC by storing motions on the Body Pack (only for MVN Link). The Body Pack has internal memory that has the capacity to record up to 15 hours of data. This functionality is enabled by a firmware update (Body Pack firmware 1.1.4).

  • Page 78: Swap Trackers

    Figure 70: import MTB files menu The bottom part of this dialog allows you to manage the recordings on your Body Pack. You can select the recording that contains the Npose + Walk or Tpose + Walk, which can then be applied to the other recordings. Body Dimensions and Scenario can be set here before you import it to a specific path on you pc.

  • Page 79: Remote On-Body Recording

    Figure 72: Swap trackers configuration Select the strings you desire to swap and click on the green and blue circular arrows, these will appear in the swapped trackers list. Select which processing mode you desire and finally click Swap. 10.5 Remote On-Body Recording The Remote On Body Recording (Remote OBR) feature allows you to synchronously trigger multiple body packs to initialize and stop the On Body Recording (OBR) functionality.
  • Page 80 Figure 74: Bodypack Configuration interface The Access point will begin scanning for the Body Packs, once discovered, each Body Pack will appear with the Device ID and Name with the ability to select/deselect which Body Pack you want to record with. For each Body Pack the Recording status, battery status, Wi-Fi strength and Sync is also listed on the right side of the interface.

  • Page 81: Positional Aiding

    11.1 GNSS 11.1.1.0 Introduction The recent addition of GNSS (Global Navigation Satellite System) to Xsens MVN allows position aiding to your inertial motion capture. The GNSS refers collectively to GPS (USA including QZSS (Japan) and GLONASS (Russia) for this 1 release.
  • Page 82 When configuring a new session, open up the Position tab (Figure 75) and select the GNSS option. When this is enabled, the system will record and use the data collected from the GNSS antenna. The scenario can be set to 3 scenarios’: Single level, Multi level and No level.

  • Page 83: Htc Vive

    Figure 76: GNSS set-up in MVN It is also possible to set up the GNSS in On-Body Recording (OBR), by opening up the Configure On-Body Recording tab, selecting Data and checking the GNSS checkbox. 11.2 HTC Vive 11.2.1.0 Background MVN allows for position aiding with HTC Vive. With the feature, the MVN fusion engine combines the Motion Tracker data from the Motion Capture System (Link or Awinda) and the HTC Vive position tracking to improve the global position.
  • Page 84 Vive Hardware Location visuals Pelvis Place the Vive Tracker just above Pelvis Motion Tracker Fore Arm (R/L) Place the Vive Tracker at 1/2 of the forearm (halfway from wrist to elbow) on the outer side of the arm in n- pose.
  • Page 85 Hand (R/L) Hold the controller in your hand as if you are holding it, playing a game 11.2.3.0 Setting up To work with HTC Vive as positional aiding, make sure you set up Steam, Steam VR and HTC Vive. Please follow the steps in the BASE article below. https://base.xsens.com/hc/en-us/articles/360012457659-HTC-Vive-Setup-Guide Placement of the Vive trackers on the body is explained in this tutorial: https://base.xsens.com/hc/en-us/articles/360012351440-Position-Aiding-HTC-Vive...
  • Page 86 Figure 77: Motion capture configuration - Position - HTC vive Note: An octagon will appear on the avatar to indicate the status and location of the Vive trackers: Icon Color meaning green Vive Ready and receiving position data yellow Vive Tracker ready but not receiving position data.
  • Page 87 Figure 78: Select the Vive Tracker ID to attach to this actor 6. Select the location on the body where the tracker is placed in the ‘Location’ drop down menu. (Figure 78) Figure 79: Preview of the tracker location on the body, from left to right: pelvis, left lower leg, right lower leg, left lower arm, right lower 7.
  • Page 88 After calibration, you are ready to record. 1. Make sure you are in the bounds of the Play Area. 2. Press the Record button (or Ctrl + R) to start the recording. 3. Press the Record button (or Ctrl + R) again to stop the recording. 4.

  • Page 89: Data Analysis

    13 Data Analysis The final stage of the workflow is ‘Data Analysis’. The major feature of the analysis stage is kinematic graphs. 13.1.0 Graphs In the analysis workflow stage, a graph appears in the interface. To view a graph of a given parameter, click and drag the parameter from tree view to the graph.
  • Page 90 Figure 82: Time vs. Parameter on the left-hand side and parameter vs. parameter on the right-hand side 13.1.4.0 Graph handling Zoom and pan in the graph using the icons in the toolbar. The time on the time vs. parameter graphs conforms to that shown in the time bar. 13.1.5.0 Graph toolbar Icon...
  • Page 91 13.1.7.0 Zoom To zoom, select the “No auto scaling” option. Zoom only takes place on the vertical axis. To zoom in time, use the mouse wheel in the timeline to zoom horizontally to a point in time. 13.1.8.0 To use the pan function, enable “no auto scaling”, click in the graph area with the left mouse button and drag up or down, to pan.

  • Page 92: Cascade / Tile Windows

    13.1.12.0 Amount and layout of graphs There are a number of pre-defined layouts available, which can be selected from the drop-down menu. Additionally, there is a possibility for the user to define a custom amount and layout of the graphical representation. When “Custom” is selected, a new area appears where the user can insert the number of rows by columns to view.

  • Page 93: Saving And Exporting

    Saving and Exporting When a recording has been made that contains more than just the motion data of a single actor (e.g. multi-actor or video), two files are created and saved automatically, one with the file extension “.mvn” and the other with the file extension “.mvns”. If synchronized video data is recorded, a movie file “.mpg”...
  • Page 94 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.
  • Page 95 not the case in the MVN Fusion Engine) some foot slide may occur since all errors such as mainly soft tissue artefacts are ‘projected’ on the feet. Further optimization can be done 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.
  • Page 96 14.1.3.0 Output Presets Several Output Presets are available that fit specific applications: • Motion Builder • 3D Studio Max • Poser 6 14.1.4.0 Output Unit Select the desired output unit that is used in the animation program. 14.2 C3D C3D means “Coordinate 3D”; as the name suggests it is a file format designed to contain 3D coordinate data, usually in the form of bony landmarks.

  • Page 97: Fbx

    14.2.1.0 Points exported in C3D Exporter For an illustration of the location of the points, see Figure 93. points points pHipOrigin pRightTopOfHand pRightASI pRightPinky pLeftASI pRightBallHand pRightCSI pLeftTopOfHand pLeftCSI pLeftPinky pRightIschialTub pLeftBallHand pLeftIschialTub pRightGreaterTrochanter pSacrum pRightKneeLatEpicondyle pL5SpinalProcess pRightKneeMedEpicondyle pL3SpinalProcess pRightMiddleKneeCap (or pRightPatella) pT12SpinalProcess pLeftGreaterTrochanter pLeftKneeLatEpicondyle...

  • Page 98: Mvnx

    Figure 87: FBX Preferences Menu FBX files contain both position and orientation information of all 23 segments. The FBX file will also contain the frame time format. Go to >Options >Preferences >Exporters >FBX … and select the timestamp output mode. To store the appropriate time code in an FBX file, the FBX exporter plug-in must be set to “Dynamic time increments"...
  • Page 99 MVNX contains as default, 3D segment and position data. Additional values can be exported as Figure 88 shows, including: • 3D Position, linear and angular acceleration and velocity of all 23 segments. • 3D Joint angles of 22 joints. • Center of Mass position of the body •...
  • Page 100 Global frame Figure 89: Segment coordinate system at each segment origin, as is used in MVN. Legend: red, green, z: blue This section describes the MVNX definition based on version 4 (available since MVN 4.3.7). This version contains some important fixes with respect to the previous version and it is recommended to use this version.
  • Page 101 The entire MVNX structure is as follows: <?xml version="1.0" encoding=" UTF-8"?> <mvnx version=“4”> <mvn version=“…” build=“…”/> <comment></comment> <subject label=“Suit…” frameRate=“…”segmentCount=“…”recDate=“…”originalFilename=“…”> <comment></comment> <segments> <segment label=“…” id=“…”> <points> <point label=“…”> <pos_b>X Y Z</pos_b/> </point> etc. </points> </segment> etc. </segments> <sensors> <sensor label =“…”/>...
  • Page 102 body); the date that the recording took place, and the filename of the original recording on which the MVNX file is based. When creating a recorded file, a user can insert a comment. This is available in the exported MVNX: (this field usually has the same contents as the comment field after the <mvn>...
  • Page 103 The “ergonomic joint angles” section is a list of specific joint angles used in ergonomic analysis contained, and the segments and connections for each given joint: <ergonomicJointAngles> <ergonomicJointAngle label=“ T8_Head” index="0" parentSegment="T8" childSegment="Head"/> etc. </ergonomicJointAngles> The “foot contact definition” section is a list of the given foot contact points, and their index in the foot contact definition array for every given time frame, if the point is in contact with the ground, it is given the value 1, whilst if it is not in contact, given the value 0:...
  • Page 104 The selection in the preferences menu determines the MVNX contents. Orientation and Position are mandatory, all others are optional and may depend on the license. <frame time= “…” index="frame number" tc="15:57:47:02" ms="1418227067039" type =“normal”> <orientation> …etc… </orientation> seg1 seg2 seg23 <position>...
  • Page 105 The numbering is presented in the table below. Number Segment Label Tracker Joint Pelvis Pelvis jL5S1 jL4L3 Head jL1T12 RightShoulder jT9T8 RightUpperArm jT1C7 RightForeArm Neck jC1Head RightHand Head jRightC7Shoulder LeftShoulder Right Shoulder jRightShoulder LeftUpperArm Right Upper Arm jRightElbow LeftForeArm Right Forearm jRightWrist LeftHand Right Hand...

  • Page 106: Export Movie

    denoting the T-pose using MVN anatomical coordinate frame, and “npose” denoting the relation between the body frames of the T-pose and MVN anatomical pose. 14.5 Export Movie Exporting movie data enables the user to export the 3D viewport of Xsens Analyze/ Animate to either .m4v or .avi.

  • Page 107: Export Excel

    14.6 Export Excel It is now possible to export your data into an excel spreadsheet, simply put the output path, and file name in. Under Exporter select “Excel Exporter (*.xlsx)”. And click Export. Each corresponding section of the navigator (ie. Segments, joints etc.) will have its own tab in the xlsx file, each joint/segment will have its own column, with the frames listed in rows.

  • Page 108: Features Of Xsens Software

    15 Features of Xsens Software A range of additional features become available when using another license for MVN system. Additionally, the Xsens Animate and Xsens Analyze software has been restructured into: - Record: free to download software, to create MVN files - Live: stream to your third-party software - Pro: all features included See the full comparison of the different Record, Live, and Pro licenses below.

  • Page 109: Xsens Ethernet Camera

    16 Xsens Ethernet Camera Xsens Analyze/Animate can record synchronized MVN and video data. This is possible using the Ethernet camera (Prosilica GS650) provided with the PRO system. The camera is a high-quality professional GigE camera with a C mount. The GigE interface enables the use of long cables (max 100m) and standard 1 Gigabit Ethernet cards for interfacing.

  • Page 110: Xsens Peripheral Software

    Xsens Peripheral Software 17.1 Magnetic Field Mapper (MFM) When a motion tracker is mounted to an object that contains ferromagnetic materials, the measured (Earth) magnetic field can become distorted, causing errors in measured orientation. To correct for known magnetic disturbances, for example, an MT attached to a steel prosthesis or prop, or simply that the magnetic field has become distorted due to an event or over time, a separate software product has been developed to allow users to remap the magnetic field.

  • Page 111: Software Activation Tool: Applying An Update

    4. Click “Next” and browse to the V2C files you have received to open it The license is activated/updated. 17.4 Software Activation Tool: Applying an Update You can use the Software Activation tool to apply an update to the licenses stored in your Sentinel protection keys.
  • Page 112 How to activate a network license: https://base.xsens.com/hc/en-us/articles/360012632119-How-to-activate-a-Network- License www.xsens.com...

  • Page 113: Troubleshoot

    18 Troubleshoot Problem Solution Device driver error Awinda Station with docked MTw’s results in "Driver Software Installation" error. See figure to the right displaying the pop-up warning: This is a timing issue because Xsens motion trackers send data to the PC continuously to guarantee a fast set up time. To solve, remove the tracker from the station then redock.
  • Page 114 Character sticks to the Enter the correct body dimensions of subject (Section 7.2.9). ground or segments are pulled apart (wrongly Perform a new calibration pose. detected contacts). Choose suitable user scenario (default is flat ground assumption) (Section 7.2.6). Make sure the feet trackers are mounted rigidly. Character appears to This is likely to be caused by visualization rather than data issues.
  • Page 115 Change the radio channel. (See 23.11.1) With MVN Awinda there appears to be a large latency This does not happen often, if it does, it means that the MTw has crashed. To restore it to normal, switch it off, by pressing the button MTw LED shows for 6s.

  • Page 116: Warranty And Liability

    19 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.

  • Page 117: Regulatory Notices Mvn Link

    Regulatory Notices MVN Link 20.1 Radio Frequency Exposure and Emission The MVN Link system contains a small radio transmitter and receiver. During communication with other Wi-Fi products the system receives and transmits radio frequency (RF) electromagnetic fields (microwaves) in the frequency range 2400 to 2500 MHz or 5200 to 5700MHz.
  • Page 118 CE Declaration of Conformity MVN Link 2.10 www.xsens.com...
  • Page 119 Certificate of Conformity for Radio Equipment in EU 2.11 www.xsens.com...

  • Page 120: Fcc Statement

    FCC Statement 2.12 Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.

  • Page 121: Fcc Declaration Of Conformity Mvn Link

    FCC Declaration of Conformity MVN Link 2.13 www.xsens.com...
  • Page 122 Certificate of Conformity for Radio Equipment in Japan 2.14 5GHz product for indoor use only using frequencies within 5.15-5.35GHz. The product may be used indoor and/or outdoor using frequencies within 5.47-5.72 GHz. www.xsens.com...

  • Page 123: Regulatory Notices Mvn Awinda

    21 Regulatory Notices MVN Awinda 21.1 Radio Frequency Exposure and Emission The MTw2, Awinda dongle and station contains a small radio transmitter and receiver. During communication with the Awinda Master it receives and transmits radio frequency (RF) electromagnetic fields (microwaves) in the frequency range 2400 of 2500 MHz. The output power of the radio transmitter is very low.

  • Page 124: Ce Declaration Of Conformity Mtw2, Awinda Station, Awinda Dongle

    21.2 CE Declaration of Conformity MTw2, Awinda Station, Awinda Dongle www.xsens.com...
  • Page 125 21.3 Statements This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications.
  • Page 126 21.4 FCC Declaration of Conformity MTw2 www.xsens.com...
  • Page 127 21.5 FCC Declaration of Conformity Awinda Station www.xsens.com...
  • Page 128 21.6 FCC Declaration of Conformity Awinda Dongle www.xsens.com...
  • Page 129 21.7 Certificate of Radio Equipment in Japan MTw2 www.xsens.com...
  • Page 130 21.8 Certificate of Radio Equipment in Japan Awinda Station www.xsens.com...
  • Page 131 21.9 Certificate of Radio Equipment in Japan Awinda Dongle www.xsens.com...

  • Page 132: Appendices

    22 Appendices 22.1 Lycra suit sizes overview The typical height and weight of a subject that will fit into a given suit size is related. While this is generally accurate, it is an indication, therefore test the suit size, to ensure that it is tight enough to keep MTx’s in place during measurement while remaining relatively comfortable.

  • Page 133: Body Planes

    × and both represent the standard dot and cross product, respectively. Be aware ⋅ that the order of multiplication is important. Quaternion multiplication is not commutative, meaning: q1⊗ q2 ≠ q2 ⊗ q1 22.2.2.0 Conversions Quaternion to rotation matrix:  q ...
  • Page 134 Figure 90: Body planes www.xsens.com...

  • Page 135: Coordinate Systems

    Coordinate systems The MVN 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, G. By default, the earth-fixed reference co-ordinate system used is defined as a right- handed Cartesian co-ordinate system with: Global reference frame: X positive when pointing to the local magnetic North (red).

  • Page 136: Anatomical Model

    Anatomical model 22.2.1.0 Definition of segment axes To describe motion capture data in clinically meaningful data, e.g. joint rotations, it is necessary to define a coordinate reference frame attached to the body segment. The ISB proposal for standardization for joint coordinate systems is currently based on positions (optical markers) of bony landmarks.
  • Page 137 Figure 92: a) Segment coordinate system at each joint origin, as is used in MVN to determine joint angles. b) Joint centers connected, forming a skeleton Legend: red, green, z: blue Note that positions of anatomical landmarks are not measured directly as they are with optical measurement systems.
  • Page 138 Upper body T8, ribcage, neck and shoulders Right arm and shoulder Left leg and foot Pelvis, L5 and right upper leg www.xsens.com...

  • Page 139: Segment Axes Definitions And Origin Definitions

    pPIJ Figure 93: Selection of anatomical landmarks. Above, anterior view. Below, posterior view. Segment axes definitions and Origin Definitions Note: To ease comparison between the MVN segment co-ordinate systems with the International Society of Biomechanics recommendation, currently based on optical www.xsens.com...
  • Page 140 position tracking systems, the ISB recommendation is presented next to the MVN definition. The MVN segment axes definition and origins have been chosen as closely as possible to the ISB recommendation where whenever possible. Midpoint between right and left hip Coincident with hip center of center of rotation rotation...
  • Page 141 22.4.2.0 Neck: Segment 6 jT1C7 Not described in ISB Perp. to Y and Z Pointing forward jT1C7 to jC1Head Pointing right Note: The neck segment is not measured directly in MVN; it is calculated using a model of the neck. 22.4.3.0 Head: Segment 7 jC1Head...
  • Page 142 22.4.5.0 Upper Arm (Humerus): Segment 9 Right and Segment 13 Left There are two segment coordinate systems described in ISB. The system described below is option 1. jRightUpperArm GH jLeftUpperArm GH Sagittal plane Line perp. Plane EL-EM-GH Pointing forward Pointing forward Right: jRightElbow to jRightShoulder Line connecting GH to mid-point EL- Left: jLeftElbow to jLeftShoulder...
  • Page 143 Note: In MVN, the joint center is the midpoint between the styloids. No metacarpals are measured in MVN. This description is for the anatomical pose. When the subject stands in the N-pose, X will no longer point anteriorly, but medially. 22.4.8.0 Upper Leg (Femur): Segment 16 Right and Segment 20 Left jRightHip/jLeftHip...

  • Page 144: Joint Angles

    Tibia. In the MVN model the lateral and medial epicondyles and lateral and medial malleoli are the same height. 22.4.10.0 Foot (Calcaneus): Segment 18 Right and Segment 22 Left [ii] jRightAnkle jLeftAnkle Sagittal plane forward Line perp. to frontal plane of tib/fib in neutral configuration.

  • Page 145: Xsens Motion Capture Engine

    [Wu et al, 2002ii] and upper body [Wu et al 2005iii]. 22.5.1.0 Euler Extractions for the joint angles In order to produce validated joint angle output, Xsens MVN works closely to the ISB and Grood and Suntay recommendations [i,ii,iii,vi] . Almost all angles follow the ISB Euler angle extractions of Z (flexion/extension), X (abduction/adduction) Y (internal/external rotation).

  • Page 146: Update Rate Versus Sample Frequency

    to-segment calibration procedure to an estimate of sensor orientation and applying a (scaled) biomechanical model of the human body. Each of these components will introduce errors, but the most dominant error sources are generally the magnetic distortions which are present anywhere (e.g. common materials in buildings, furniture, and surrounding electronic equipment).

  • Page 147: Strap Down Integration

    The intentional difference in terminology is needed to highlight that data from new Xsens motion trackers (MTx and MTw) undergo a mathematical method called Strap Down Integration. This ensures that no loss of accuracy is experienced, even though the data is transmitted to the PC at lower update rates.
  • Page 148 Figure 94: Overview of channels operating around 2.4GHz; for ease of channel selection www.xsens.com...

  • Page 149: System Specifications

    System Specifications Recommended computer system Operating system Windows 10/11 (64 bit) Processor Quad core or higher (2.7 GHz or faster) Hard drive SSD 256 GB or more Memory 8 GB RAM (64-bit) Graphics card Hardware acceleration for DirectX 11 Dedicated memory 512 MB or more Network card Gigabit Ethernet, support for jumbo frames (9014 Bytes) USB ports...
  • Page 150 Communication Interface Wireless (WiFi or Awinda Protocol) Wireless range radius (max) Awinda Station Awinda dongle Outdoor 150 meter (492 ft.) ~50m (164 ft.) ~20m Indoor open space 150 meter (492 ft.) ~20m () ~10m Indoor office 50 meter (164 ft.) ~20m () ~10m Wireless receiver units:...
  • Page 151 Environmental Operation environment 0 – +50 deg Celsius, non-wet Humidity 20-80%RH NC Tracker Performance Static accuracy (Roll/Pitch) 0.2 deg Static Accuracy (Heading) 0.5 deg Dynamic Accuracy 1 deg RMS Accelerometer range MTx: ± 160 m/s (16 g) MTw: ±160m/s (16g) Gyroscope range ±...
  • Page 152 MVN Fusion Engine 3D translation capture ~1% 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.
  • Page 153 Package Label www.xsens.com...

  • Page 154: System Block Diagrams

    System block diagrams 22.8.1.0 The purpose of the MTw wireless motion tracker is to give accurate orientation data. This is done by sampling digital sensors and processing this data at an MCU (Microcontroller unit) to angular velocity, acceleration, magnetic field and barometric pressure information.
  • Page 155 22.8.3.0 Awinda Dongle ANT The AWINDA dongle works as a master and together with the MTw it forms a wireless motion tracker system. The AWINDA dongle communication is based on CC2541 hardware, using a proprietary TDMA (Time Division Multiple Access) AWINDA™ protocol. Figure 97: Awinda Dongle ANT block diagram 22.8.4.0 Awinda Station...

  • Page 156: Contact Point Editing

    23 Contact point editing For examples of contact point editing please check this link: https://base.xsens.com/hc/en- us/articles/360013009559-Contact-Point-editing2 www.xsens.com...

  • Page 157: Synchronization With External Devices

    24 Synchronization with External Devices 24.1 The Hardware MVN Awinda uses the Awinda Station for synchronization. Details on initializing the synchronization of MVN are provided in Section 7.2.9. The purpose of this section is to provide some in-depth information about the synchronization possibilities.

  • Page 158: Sync In

    24.2 Sync In Sync In means that an external device sends a control signal to the Awinda Station. The Awinda Station can detect polarity changes on the input lines. This trigger may be a rising or falling edge as illustrated in the following figures: When a trigger is detected on one of the input lines, the Awinda Station can be configured to perform a certain action.

  • Page 159: Sync Out

    24.3 Sync Out Sync Out is the command that enables the Xsens system to send a trigger pulse for synchronization purposes. A control signal is sent via the Awinda/Sync Station, from Xsens Analyze/Animate to the third-party hardware. Sync Type Description Start Recording Upon clicking the record button in Xsens Analyze/Animate, the Awinda Station starts the recording and consequently sends a start...

  • Page 160: Important Notices For Sync In

    24.3.1.0 Settings in Xsens Analyze/Animate By opening the motion capture configuration window and select sync station configuration (Figure 99) Figure 99: Sync settings window in Xsens Analyze/Animate To add a synchronization type, click “Add”, all settings become available, to be set manually or using the drop-down menus.

  • Page 161: Sync In With Xsens Analyze/Animate

    24.4.1.0 Sync In Recommended Settings Note that the preferences menu includes “Skip first” and “Skip Factor”. The definitions of these have been provided above; however, for practical use consider the following: When the Awinda Station is triggered to start and stop a recording, on one line, it will blindly receive 3.3 V pulses on that line.

  • Page 162: Gloves

    24.9 Gloves Manus: https://base.xsens.com/hc/en-us/articles/360017254919-Setting-up-Manus- Prime-2-Gloves-with-MVN StretchSense: https://base.xsens.com/hc/en-us/articles/360017745539-Streaming- StretchSense-Glove-Data-into-MVN www.xsens.com...

  • Page 163: References

    25 References Wu G, Cavanagh PR (1995). ISB recommendations for standardization in the reporting of kinematic data. J. Biomech. 28: 1257-261 Wu G., Siegler, S., Allard, P., Kirtley, C., Leardini, A., Rosenbaum, D., Whittle, M., D’Lima, D., Cristofolini, L., Witte, H., Schmid, O., Stokes, I., (2002). ISB recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motion—part I: ankle, hip, and spine.
  • Page 164 Table of Contents Table of Contents Contents Content overview ....................2 Motion Trackers on the extremities ..............6 Software ...................... 6 Getting started ....................7 Installation of software ..................7 Preferred language ..................7 Setup hardware ..................... 7 Xsens Analyze/Animate workflow overview ............8 Software .......................
  • Page 165 8 Preview and Recording ................... 51 8.1 Preview......................51 Recording ....................54 Add comments after recording ................. 55 Recovery of MVN file after system crash ............56 Markers ..................... 56 Network Streamer ..................57 Network Monitor ..................59 9 Reprocessing, Playback, and Editing ................ 60 Reprocess HD ....................
  • Page 166 15.1 MVN usage statistics ..................99 16 Xsens Peripheral Software ................... 100 16.1 Magnetic Field Mapper (MFM) ................100 16.2 Firmware Updater ..................100 16.3 Software Activation Tool: Offline License Activation or Updating a License ....100 16.4 Software Activation Tool: Applying an Update ............. 101 16.5 RUS Utility: Rehosting a Sentinel protection key ..........
  • Page 167 23.6 Sync Out with Xsens Analyze/Animate ............150 3 rd party Synchronization Examples .............. 150 23.7 23.8 Network sync .................... 150 23.9 Gloves ..................... 151 24 References ....................... 152 MVN User Manual...
  • Page 168 Abbreviations and Terms Abbreviation / Term Description Application Programming Interface Access Point: The method of transporting data from the body pack to the Body Pack, on-body controller unit for the motion trackers, connects to power and wireless transmission of data to host PC via the Access Point .BVH Biovision Hierarchy character animation file format .C3D...
  • Page 169 Default Folders Description Files Location C:\Program Files\Xsens\Xsens MVN Main program mvn_studio64.exe <version>\MVN Studio Documentation MVN Quick Setup C:\Program Files\Xsens\Xsens MVN Sheet.pdf <version>\Documentation viii MVN User Manual...
  • Page 170 1 Introduction The Xsens MVN inertial motion capture system is an easy to use, cost efficient system for full-body human motion capture. MVN is based on Xsens' state-of-the-art miniature inertial sensors and wireless communication solutions combined with advanced sensor fusion algorithms, using assumptions of biomechanical models.
  • Page 171 2 Content overview 2.1 MVN Link suitcase with contents Figure Description The MVN Link System arrives in a strong, durable and watertight case. The case has wheels and an extendable handle for easy transportation. The suitcase dimensions meet the requirements for most airline hand-luggage.
  • Page 172 2.3 Body Pack (BP), Battery Pack, and Access Point (AP) Figure Description Figure 3 shows the Body Pack (BP). The strings of MTx’s are interconnected by the Body Pack. It delivers power from the battery pack to the connected MTx’s and retrieves their data ensuring exactly synchronized samples.
  • Page 173 2.5 MVN Awinda / MVN Awinda starter neoprene case with contents Figure Description The MVN Awinda arrives in durable neoprene case with protective frame, which contains: • 17(+1) Wireless Motion Trackers (MTw) 1 Awinda Station • 2 Awinda Chargers • MTw full body Velcro straps, including 3 shirts, headband, •...
  • Page 174 2.8 MVN Awinda Charger Figure Description The MVN Awinda Charger is capable of charging six motions trackers. Charging from empty to full takes about 1.5 hours (old sensor) 2 hours (new sensor) Figure 11: MVN Awinda Charger The 6 3way USB charging cables plus the 6 port USB hub are capable of charging 18 motions trackers.

  • Page 175: Motion Trackers On The Extremities

    Motion Trackers on the extremities The motion trackers are secured to the extremities – the head, hands and feet, using a headband, gloves and a foot pads, as can be seen in the figures below. Accessories for placing motion trackers on the extremities Figure 17: Gloves Figure 18: Foot Pads Figure 16: Headband...

  • Page 176: Getting Started

    2 Getting started 2.1 Installation of software Note: Do not connect your MVN System (either Access Point or Awinda Station) until software installation is complete (software installation includes installation of relevant drivers which can be finalized, when the hardware is connected).

  • Page 177: Xsens Analyze/Animate Workflow Overview

    • Press the button on the Body Pack once to power on the device, a pulsing fading LED, solid LED, beep and finally blinking LED indicate the startup process. See Section 5.1.2. If using the MVN Awinda (starter) system: Connect the Wireless Master (see chapter: 2.7) to the computer or laptop •...
  • Page 178 MVNX is a human readable, XML format which can be imported to many other • software programs, including MATLAB and Excel. This format contains the most information, including the sensor data, segment kinematics and joint angles, as well as the subject information needed to recreate a 3D visualization of a character. See Section 15.4.
  • Page 179 alter the properties of the physical motion sensors, which may cause the device to become inaccurate. 2.5.3 Suit, shirt, short maintenance To wash the suit, shirt, shorts remove all cables, BP and MT’s. Follow the instructions on the label inside the suit: Description Icon Machine wash at 30°C –...
  • Page 180 Use only the manufacturer’s power supply and observe terminal polarity.  Place the charger in a cool spot, away from external heat sources.  Caution - during recalibration, the charger may become warm.  www.xsens.com...

  • Page 181: Software

    When using a software license key, license activation is necessary. The Software Activation tool can be started from Start Menu > Xsens MVN 2025.x > Xsens MVN License Manager. Follow the on-screen instructions to start the activation, use the product key sent to you by customer service in email and ‘MVN Letter’.
  • Page 182 Extension licenses or upgrade licenses can be activated on the dongle using the Software Activation tool, which can be started from Start Menu > Xsens MVN 20xx.x> Xsens MVN 20xx.x > License Manager. 3.2.3 Network License Key When using a network license key, the red dongle needs to be used on a pc (server) that runs a service called ‘Sentinel LDK License Manager’.

  • Page 183: Hardware

    4 Hardware 4.1 MVN Link The standard MVN System consists of a combination of hardware and software. The previous section described how to install the software. The following will provide an overview of the hardware, which includes the MTx’s, Body Pack, Sync Station, and Access Point;...
  • Page 184 On the bottom of the Body Pack, there are 2 connectors: One Ethernet connector which can be used for cabled recordings, when the system is • directly connected to the recording PC rather than transferring data via wireless signal. A micro-USB connector, supported for future use to configure the BP •...
  • Page 185 • A successful WPS is indicated by a beep and the BP LED will return to intermittent flashing. Any Router that supports WPS can be connected to a Body Pack. See the Tutorial video “WPS connection”. Click the address for a direct link to the tutorial. https://tutorial.xsens.com/video/wps-connection 4.1.2.5 Soft Access Point...
  • Page 186 4.1.3 Battery Charger The CH5000 is a standalone desktop smart, standard battery charger with the added ability to recalibrate the fuel gauge on smart battery packs. 4.1.3.1 Using your Charger Place the charger on a flat, level surface away from sources of heat and moisture. Plug the DC connector from the power supply into the back of the charger and connect the power supply to the mains AC supply using the cable supplied.
  • Page 187 To recalibrate the fuel gauge, press the button on the front of the charger. The charger will automatically begin to charge the battery if the button is not pressed. The blue LED will flash to indicate that the battery is undergoing the recalibration cycle. During calibration the discharge resistors will be cooled by the fan.
  • Page 188 4.1.4 Access Point (AP) The MVN System comes with one Access Point (AP) which handles the data traffic between the BP and the computer. The Access Point should be connected to the PC via Ethernet cable through the Ethernet port or using the supplied Ethernet to USB adapter. Figure 25: Access point 1.
  • Page 189 • Place the wireless router in a centralized area for a maximum wireless coverage for the network devices. Keep the device away from metal obstructions and away from direct sunlight. • Keep the device away from 802.11g or 20MHz only Wi-Fi devices, 2.4GHz •...

  • Page 190: Mvn Awinda / Mvn Awinda Starter

    Note that if synchronizing with a third-party device sending 5V, it is advised to purchase (from e.g. Farnell) a 3.3 - 5V / 5V - 3.3V SMD level translator to prevent damage to the Sync In ports of the Sync Station. 4.2 MVN Awinda / MVN Awinda Starter 4.2.1 Wireless Motion Trackers (MTw/MTw2) The MTw provides 3D angular velocity using rate gyroscopes, 3D acceleration using...
  • Page 191 Flushing Double pulse in sync with Awinda Station (CONN LED). Stand-by OFF. Blinks for 3 s, if motion has been detected, while searching for a radio connection. 4.2.3 MTw/MTw2 Stand-by Mode Following a wireless connection to the Awinda Station or Dongle, the MTw enters measurement mode.
  • Page 192 SyncOut port is fine. Therefore, unless a threshold of 5V of the third-party system is required, in which case the 3.3V-5V SMD level translator will be required. For software configuration of the synchronization channels, see Section 25. 4.2.7 Awinda Station Status LED The Awinda Station has five LED indicators.

  • Page 193: The Suit

    4.2.8 Awinda USB Dongle Figure Description The Awinda USB dongle has the same wireless capabilities as the Awinda Station, in that it can accurately control the reception of data of up to 32 MTw’s. Given that the Dongle does not have an external antenna its Figure 31: Awinda USB dongle range is shorter than the Awinda station;...
  • Page 194 Straps are suitable for most of the adult population and can be placed directly on the skin for close contact, or on top of the clothing for comfort. If worn over clothing, it is advisable to wear relatively tight-fitting clothes. Figure Description The motion trackers are provided with a code...
  • Page 195 Other clothing can be worn on top, 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: Important: The zip is at the front of the Lycra suit. •...

  • Page 196: Connecting The Hardware And Software

    correctly than with the straps. Therefore, please refer closely to the following information to ensure the best placement. The table below describes the positioning of the motion trackers. Location Abbreviation Optimal position Foot FOOT Middle of bridge of foot Lower leg Flat on the shin bone (medial surface of the tibia) Upper leg Lateral side above knee...

  • Page 197: Xsens Analyze/Animate

    5 Xsens Analyze/Animate Xsens Analyze/Animate is easy-to-use software, which can be used for real-time viewing and recording. Off-line playback, analyzing and editing of previously recorded sessions are also possible with Xsens Analyze/Animate. Figure 36 shows a typical view of Xsens Analyze/Animate when a recording has been made. Figure 36: Xsens Analyze/Animate interface The main tool bar at the top of the Xsens Analyze/Animate interface is displayed in Figure 37 below.

  • Page 198: Status Bar

    ‘Command Prompt’ ‘C:\Program Files\Xsens\Xsens MVN 20xx.x\MVN Studio’ (Shift + RMB > ‘open command window here’). Run ‘mvn_studio64.exe –h’ to get an overview of the available options. • Figure 39: Command line interface Note that the battery indicators are also available in ‘Hardware’ pane. The animated battery in the status bar indicates the battery life of the MTw with the least amount of power.

  • Page 199: Xsens Animate/Analyze 2025.0 (What's New)

    5.3 Xsens Animate/Analyze 2025.0 (What’s New) Xsens Analyze/Animate also has a command line interface to allow users to automate some of the processes. 5.3.1.0 UI/UX update The user interface has been updated for Xsens 2025. Icons have been updated with a fresh look. For the full list of icon updates please see the article at “link to base”...

  • Page 200: Auto Sensor Mapping (Experimental Feature)

    For more detailed information on ASM and how it might be beneficial to your use case, please reference the following article section. https://base.movella.com/s/article/MVN-Calibration Once enabled, you will see a message in your configuration and calibration windows:...

  • Page 201: Biomech 2.0

    "legacy" model is consistent with the models from all previous versions of MVN. For more information on the new Biomechanical Model, please reference this article: https://base.movella.com/s/article/Xsens- Biomechanical-Model Legacy Male Female If you are interested in reading more about enhancing motion tracking accuracy with novel gender-specific models, please see our white paper here : https://base.movella.com/s/article/Xsens- Biomechanical-Model www.xsens.com...

  • Page 202: Workflow And Functionalities In Xsens Analyze/Animate

    6 Workflow and Functionalities in Xsens Analyze/Animate Xsens Analyze/Animate is designed for optimal flow of the steps required for recording and analyzing motion. Different workflow items become active at various stages. Figure 40: The workflow toolbar gives the user an optimal interface setup per functionality: Hardware and Fusion Setup, preview and record, playback and editing and analysis.

  • Page 203: Configure An Mvn System

    hardware can be configured in the Hardware Status panel (see 7.6) and the Navigator panel is described in 7.7. Tutorial video about setting up a recording session: https://tutorial.xsens.com/video/set-up-a-recording-session Configure an MVN System For each of the four possible MVN Systems, the user can configure the individual settings.
  • Page 204 Suit Configuration Picture (green = Number Max Update Max Update rate – MVN rate – MVN active sensors, blue = inactive sensors) Sensors Awinda (Hz) Link (Hz) Full Body Full Body no hands Lower Body Upper Body Upper Body no Hands Lower Body with Sternum...
  • Page 205 6.2.6.0 Scenario Depending on the type of measurement you will carry out, select the type of scenario that will ensure the best results, and minimize post-processing. The scenarios available include: Scenario Description Single Level This scenario assumes that the subject will be walking on level terrain This scenario assumes that the subject will be walking on terrain or varying Multi-Level height, e.g.
  • Page 206 the time of the measurement) in order for Xsens Analyze/Animate to calculate other segment lengths (based on an anthropometric model). Note: A recording cannot be performed if the user does not insert these values; then the following error will be shown at the bottom right of the screen. (Figure 43) Figure 43: Error if closing out of configuration without subject height and foot length.
  • Page 207 Dimension Description Body Height Ground to top of head when standing upright Foot or Shoe length Length of feet or length of shoes if wearing shoes Shoulder Height Ground to C7 spinal process Shoulder Width Right to left distal tip of acromion (acromial angle) Elbow Span Right to left olecranon in T-pose Wrist Span...
  • Page 208 Generally, the motion tracker on the prop is detected automatically when clicking ‘Apply’ in the Prop Configuration window. If this does not occur, go to Tasks >Re-initialize suit(s). The prop mesh (the on-screen image of the prop sensor) can be connected to any defined point on a body segment.

  • Page 209: General Settings

    6.2.11.0 Sync With MVN Awinda, the dialogue to configure the sync settings is in the MVN System configuration. To configure the Sync Station which is the method for synchronizing MVN Link with third party devices, the sync settings are configured via the Sync Station tab, see 7.5 . It is worth noting that sync with MVN Awinda is tighter than with MVN Link due to the tight control of the Awinda Station over the MVN Awinda System.
  • Page 210 Figure 46: Example of camera configuration window If no pictured is displayed, if the image is jagged, or no camera is found, install the dedicated driver, found in C:\Program Files\Allied Vision Technologies. You may have to restart Xsens Analyze/Animate for the camera to be found after this is installed. If no video data is displayed, check or uncheck the Use jumbo packets option to resolve the issue.

  • Page 211: Configuring The Awinda Station (Or Sync Station)

    6.5 Configuring the Awinda Station (or Sync Station) The Awinda Station as part of the MVN Awinda setup can also be used for synchronizing between MVN Link and third-party systems. The user will note that when MVN Link is selected, the text beside Sync Settings states, “Not sync capable”. The Awinda Station (or Sync Station) must be inserted for synchronization with MVN Link (Figure 47).

  • Page 212: Hardware Status

    6.6 Hardware Status To view the Hardware Status, Select the in the configuration window. Hardware status shows a list of all trackers and masters detected by Xsens Analyze/ Animate. The figures below show the hardware status interface and Table 1 details the meaning of the colored markers.
  • Page 213 6.6.1.0 Relocating motion trackers Each Xsens motion tracker has a unique location ID which relates them to the limb segment they should be placed on. If for some reason, a tracker has the wrong ID assigned to it, e.g. if an additional motion tracker is detected or a broken MT needs to be replaced with a spare, this can be done easily by reassigning the MT’s ID to the desired position.
  • Page 214 6.6.2.0 MVN Awinda: Changing Radio Channel For MVN Awinda users, the Hardware Status is necessary in order to configure the network detection status of the system. Figure 48 Shows a list of motion trackers expected to be found by the MVN Awinda system.

  • Page 215: Navigator

    Again, in the Hardware Status window, either right click or double click the number under the letters “Ch”. If a user attempts to make a connection in an existing configuration between an Awinda Station and a tracker used for the first time the option “Forget System”...

  • Page 216: Setup

    7 Setup The setup workflow stage consists of three parts; it shows the subject’s body dimensions (see 6.2.9), data fusion and sensor to segment calibration. The calibration procedures are only available once the MVN system is connected, and the 3D Character has appeared in the view port.
  • Page 217 Figure 51: Segment calibration interface 7.1.2.0 Apply calibration and define x-axis. When the calibration data has been processed, the system will show the quality of estimated calibration parameters and show warnings in case problems were detected (see Section 8.1.4 for more information). Before applying the calibration results, the forward pointing X-axis can be defined.
  • Page 218 Please note that it is always recommended that a calibration is performed before beginning to record data using Xsens Analyze/Animate. However, it is possible to enable a measurement without calibration in the preferences menu (Options >Preferences >General >Recordings). Another option in the preferences menu is “Enable simple calibration routines” in this menu to enable the not recommended N and T-pose.
  • Page 219 Note that a ‘good’ or ‘acceptable’ quality indication does not necessarily mean that the actual calibration is accurate. Xsens Analyze/Animate can perform limited checks of the actual pose of the subject during the calibration due to a natural variation in body physique and locations of the motion trackers on the body.

  • Page 220: Preview And Recording

    8 Preview and Recording 8.1 Preview During the Preview and Recording stage of the workflow, the viewport is active. There are several viewing possibilities, the 3D character in the 3D viewport and orthogonal views. Select the number of windows to view at one time. Figure 53 is an example of a four-window view showing the 3D view and three different orthogonal views.
  • Page 221 8.1.1.0 Viewport Icons The icons above the viewport can be selected to show and hide various parameters, as detailed below. Icon Task Focus on Selected Segments (short key ‘F’) Note: short key ‘C’ always centers on the pelvis Show/hide floor Show/hide origin Show/hide shadows Show/hide center of mass...
  • Page 222 Horizontal Follow (T) Similar to “Trailing”, but the height and angle of the camera is now adjusted to prevent the image from varying with change in pelvis height Circle Around Character (T) Virtual camera will slowly circle around the centered character Coronal posterior (X) Show the back of the character.

  • Page 223: Recording

    real-time graphical data, the recommended setting during real-time preview is “Expand to fit”, or “Full Fit”. 8.1.4.0 Save and Restore Layout To the right of the graph icon are two icons indicating the possibility to save and restore layouts of the interface. To save a layout, use the icon directly to the right of the graph icon, the layout currently in view will be saved.

  • Page 224: Add Comments After Recording

    recording. For this reason, the recorded data is often of better quality than the real-time preview. 8.3 Add comments after recording Adding comments after a recording has finished can be very useful in a later stage when you are opening the recordings. The popup dialog to add comments after a recording can be enabled or disabled (menu >...

  • Page 225: Recovery Of Mvn File After System Crash

    8.4 Recovery of MVN file after system crash If Xsens Analyze/Animate was shut down as a result of a system crash, the MVN file will not be properly closed and not useable. To correct this, when you try to load the corrupted MVN file in Xsens Analyze/Animate it will look for a recovery file (MVR) that can be used to recover the data captured.

  • Page 226: Network Streamer

    8.6 Network Streamer The network streamer sends the poses of the active window (playback or real-time), both UDP and TCP are supported by the network streamer. The UDP Protocol is unidirectional, and contrary to TCP (Transmission Control Protocol, RFC 793) it is stateless and does not require the receiver to answer incoming packets.
  • Page 227 Figure 57 above shows the Network Streamer Options. The table below summarizes the functionality of each selection. Please refer to the Real-Time Network Streaming Protocol Specification for further details. Datagram Description Position + Orientation Positions and orientation of each body segment, orientations in quaternion format, position units are in meters.

  • Page 228: Network Monitor

    8.7 Network Monitor Xsens Analyze/Animate also implements a Network Monitor that can receive the MVN network stream of motion data. Note that this is meant only to monitor a network stream, and no further functionality is provided than viewing (i.e. no saving, recording, editing etc).

  • Page 229: Reprocessing, Playback, And Editing

    9 Reprocessing, Playback, and Editing When the data has been recorded, Xsens Analyze/Animate offers several options for playback, reprocessing, video synchronization, and editing which will be discussed in this section. Reprocess HD With Xsens Analyze/Animate, a new sophisticated processing option is available called “Reprocess HD”, which includes all data in the file to get the best performance for the recorded motion.

  • Page 230: Playback

    window has opened, the input and output paths can be chosen with the level of reprocessing quality you desire. You can also change the number of parallel processes that are used during processing. This determines the number of files that are reprocessed at the same time.

  • Page 231: Synchronization With Video

    Go to end Shift + End Synchronization with video In Xsens Animate Pro, MVN data with synchronized video is available. The accuracy of the software synchronization depends heavily on the LAN connection to the camera and the wireless link quality to the MVN system. In general, the time offset between the MVN frame, and the video frame is negligible, or less than 1-2 video frames.
  • Page 232 During Playback and Editing, four default bars appear above the timeline, indicating presence of contact points, advanced (floor level), position, and clipping edits (Figure 62). If there is a contact, the contact will be shown in the viewport with a large blue sphere.
  • Page 233 To scrub, drag the timeline scroll bar ( ) to the left or right. Step through the time frames using the left and right cursor or keep it pressed to move very slowly though the file, frame by frame. Figure 63: Contact points on the 3D viewport and the contact editing menu 9.5.1.0 Selection of samples The left mouse button (and drag) will set a contact for the selected contact point.
  • Page 234 9.6.1.0 Contact point editing options 9.6.1.1 Remove user-defined Revert to the original recording for the selected samples. Remove user-defined aiding refers to the positions and floor levels set, as remove user-defined contacts refers to the contact points of the segments. Reprocess to apply changes (see Section 10.5.2.6). 9.6.1.2 Ignore contacts globally Removes all detected contacts for all segments.
  • Page 235 Figure 66: Set position menu during contact point editing The SD slider sets the standard deviation, which is an indication of how much the aiding point can be trusted in combination with the computed position of the MVN Fusion Engine. This option can also be used creatively for example to create a “soft” landing on a mattress.

  • Page 236: Multi-Person Editing

    Figure for example Figure 68: Set floor level menu Right mouse click on a contact bar to set the floor height to the height of that contact. The contact detection will now be applied on the new floor height for all the following samples.

  • Page 237: On Body Recording

    10 On Body Recording On-body Recording’ allows you to record motions everywhere without the need for a laptop or PC by storing motions on the Body Pack (only for MVN Link). The Body Pack has internal memory that has the capacity to record up to 15 hours of data. This functionality is enabled by a firmware update (Body Pack firmware 1.1.4).

  • Page 238: Swap Trackers

    Figure 70: import MTB files menu The bottom part of this dialog allows you to manage the recordings on your Body Pack. You can select the recording that contains the Npose + Walk or Tpose + Walk, which can then be applied to the other recordings. Body Dimensions and Scenario can be set here before you import it to a specific path on you pc.

  • Page 239: Remote On-Body Recording

    Figure 72: Swap trackers configuration Select the strings you desire to swap and click on the green and blue circular arrows, these will appear in the swapped trackers list. Select which processing mode you desire and finally click Swap. 10.5 Remote On-Body Recording The Remote On Body Recording (Remote OBR) feature allows you to synchronously trigger multiple body packs to initialize and stop the On Body Recording (OBR) functionality.
  • Page 240 Figure 74: Bodypack Configuration interface The Access point will begin scanning for the Body Packs, once discovered, each Body Pack will appear with the Device ID and Name with the ability to select/deselect which Body Pack you want to record with. For each Body Pack the Recording status, battery status, Wi-Fi strength and Sync is also listed on the right side of the interface.

  • Page 241: Positional Aiding

    11.1 GNSS 11.1.1.0 Introduction The recent addition of GNSS (Global Navigation Satellite System) to Xsens MVN allows position aiding to your inertial motion capture. The GNSS refers collectively to GPS (USA including QZSS (Japan) and GLONASS (Russia) for this 1 release.
  • Page 242 When configuring a new session, open up the Position tab (Figure 75) and select the GNSS option. When this is enabled, the system will record and use the data collected from the GNSS antenna. The scenario can be set to 3 scenarios’: Single level, Multi level and No level.

  • Page 243: Htc Vive

    Figure 76: GNSS set-up in MVN It is also possible to set up the GNSS in On-Body Recording (OBR), by opening up the Configure On-Body Recording tab, selecting Data and checking the GNSS checkbox. 11.2 HTC Vive 11.2.1.0 Background MVN allows for position aiding with HTC Vive. With the feature, the MVN fusion engine combines the Motion Tracker data from the Motion Capture System (Link or Awinda) and the HTC Vive position tracking to improve the global position.
  • Page 244 Vive Hardware Location visuals Pelvis Place the Vive Tracker just above Pelvis Motion Tracker Fore Arm (R/L) Place the Vive Tracker at 1/2 of the forearm (halfway from wrist to elbow) on the outer side of the arm in n- pose.
  • Page 245 Hand (R/L) Hold the controller in your hand as if you are holding it, playing a game 11.2.3.0 Setting up To work with HTC Vive as positional aiding, make sure you set up Steam, Steam VR and HTC Vive. Please follow the steps in the BASE article below. https://base.xsens.com/hc/en-us/articles/360012457659-HTC-Vive-Setup-Guide Placement of the Vive trackers on the body is explained in this tutorial: https://base.xsens.com/hc/en-us/articles/360012351440-Position-Aiding-HTC-Vive...
  • Page 246 Figure 77: Motion capture configuration - Position - HTC vive Note: An octagon will appear on the avatar to indicate the status and location of the Vive trackers: Icon Color meaning green Vive Ready and receiving position data yellow Vive Tracker ready but not receiving position data.
  • Page 247 Figure 78: Select the Vive Tracker ID to attach to this actor 6. Select the location on the body where the tracker is placed in the ‘Location’ drop down menu. (Figure 78) Figure 79: Preview of the tracker location on the body, from left to right: pelvis, left lower leg, right lower leg, left lower arm, right lower 7.
  • Page 248 After calibration, you are ready to record. 1. Make sure you are in the bounds of the Play Area. 2. Press the Record button (or Ctrl + R) to start the recording. 3. Press the Record button (or Ctrl + R) again to stop the recording. 4.

  • Page 249: Data Analysis

    12 Data Analysis The final stage of the workflow is ‘Data Analysis’. The major feature of the analysis stage is kinematic graphs. 12.1.0 Graphs In the analysis workflow stage, a graph appears in the interface. To view a graph of a given parameter, click and drag the parameter from tree view to the graph.
  • Page 250 Figure 82: Time vs. Parameter on the left-hand side and parameter vs. parameter on the right-hand side 12.1.4.0 Graph handling Zoom and pan in the graph using the icons in the toolbar. The time on the time vs. parameter graphs conforms to that shown in the time bar. 12.1.5.0 Graph toolbar Icon...
  • Page 251 12.1.7.0 Zoom To zoom, select the “No auto scaling” option. Zoom only takes place on the vertical axis. To zoom in time, use the mouse wheel in the timeline to zoom horizontally to a point in time. 12.1.8.0 To use the pan function, enable “no auto scaling”, click in the graph area with the left mouse button and drag up or down, to pan.

  • Page 252: Cascade / Tile Windows

    12.1.12.0 Amount and layout of graphs There are a number of pre-defined layouts available, which can be selected from the drop-down menu. Additionally, there is a possibility for the user to define a custom amount and layout of the graphical representation. When “Custom” is selected, a new area appears where the user can insert the number of rows by columns to view.

  • Page 253: Saving And Exporting

    13 Saving and Exporting When a recording has been made that contains more than just the motion data of a single actor (e.g. multi-actor or video), two files are created and saved automatically, one with the file extension “.mvn” and the other with the file extension “.mvns”. If synchronized video data is recorded, a movie file “.mpg”...
  • Page 254 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.
  • Page 255 not the case in the MVN Fusion Engine) some foot slide may occur since all errors such as mainly soft tissue artefacts are ‘projected’ on the feet. Further optimization can be done 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.
  • Page 256 13.1.3.0 Output Presets Several Output Presets are available that fit specific applications: • Motion Builder 3D Studio Max • Poser 6 • 13.1.4.0 Output Unit Select the desired output unit that is used in the animation program. 13.2 C3D C3D means “Coordinate 3D”; as the name suggests it is a file format designed to contain 3D coordinate data, usually in the form of bony landmarks.

  • Page 257: Fbx

    13.2.1.0 Points exported in C3D Exporter For an illustration of the location of the points, see Figure 93. points points pHipOrigin pRightTopOfHand pRightASI pRightPinky pLeftASI pRightBallHand pRightCSI pLeftTopOfHand pLeftCSI pLeftPinky pRightIschialTub pLeftBallHand pLeftIschialTub pRightGreaterTrochanter pSacrum pRightKneeLatEpicondyle pL5SpinalProcess pRightKneeMedEpicondyle pL3SpinalProcess pRightMiddleKneeCap (or pRightPatella) pT12SpinalProcess pLeftGreaterTrochanter pLeftKneeLatEpicondyle...

  • Page 258: Mvnx

    Figure 87: FBX Preferences Menu FBX files contain both position and orientation information of all 23 segments. The FBX file will also contain the frame time format. Go to >Options >Preferences >Exporters >FBX … and select the timestamp output mode. To store the appropriate time code in an FBX file, the FBX exporter plug-in must be set to “Dynamic time increments"...
  • Page 259 MVNX contains as default, 3D segment and position data. Additional values can be exported as Figure 88 shows, including: 3D Position, linear and angular acceleration and velocity of all 23 segments. • • 3D Joint angles of 22 joints. Center of Mass position of the body •...
  • Page 260 Global frame Figure 89: Segment coordinate system at each segment origin, as is used in MVN. Legend: red, green, z: blue This section describes the MVNX definition based on version 4 (available since MVN 4.3.7). This version contains some important fixes with respect to the previous version and it is recommended to use this version.
  • Page 261 The entire MVNX structure is as follows: <?xml version="1.0" encoding=" UTF-8"?> <mvnx version=“4”> <mvn version=“…” build=“…”/> <comment></comment> <subject label=“Suit…” frameRate=“…”segmentCount=“…”recDate=“…”originalFilename=“…”> <comment></comment> <segments> <segment label=“…” id=“…”> <points> <point label=“…”> <pos_b>X Y Z</pos_b/> </point> etc. </points> </segment> etc. </segments> <sensors> <sensor label =“…”/>...
  • Page 262 body); the date that the recording took place, and the filename of the original recording on which the MVNX file is based. When creating a recorded file, a user can insert a comment. This is available in the exported MVNX: (this field usually has the same contents as the comment field after the <mvn>...
  • Page 263 The “ergonomic joint angles” section is a list of specific joint angles used in ergonomic analysis contained, and the segments and connections for each given joint: <ergonomicJointAngles> <ergonomicJointAngle label=“ T8_Head” index="0" parentSegment="T8" childSegment="Head"/> etc. </ergonomicJointAngles> The “foot contact definition” section is a list of the given foot contact points, and their index in the foot contact definition array for every given time frame, if the point is in contact with the ground, it is given the value 1, whilst if it is not in contact, given the value 0:...
  • Page 264 The selection in the preferences menu determines the MVNX contents. Orientation and Position are mandatory, all others are optional and may depend on the license. <frame time= “…” index="frame number" tc="15:57:47:02" ms="1418227067039" type =“normal”> <orientation> …etc… </orientation> seg1 seg2 seg23 <position>...
  • Page 265 The numbering is presented in the table below. Number Segment Label Tracker Joint Pelvis Pelvis jL5S1 jL4L3 Head jL1T12 RightShoulder jT9T8 RightUpperArm jT1C7 RightForeArm Neck jC1Head RightHand Head jRightC7Shoulder LeftShoulder Right Shoulder jRightShoulder LeftUpperArm Right Upper Arm jRightElbow LeftForeArm Right Forearm jRightWrist LeftHand Right Hand...

  • Page 266: Export Movie

    denoting the T-pose using MVN anatomical coordinate frame, and “npose” denoting the relation between the body frames of the T-pose and MVN anatomical pose. 13.5 Export Movie Exporting movie data enables the user to export the 3D viewport of Xsens Analyze/ Animate to either .m4v or .avi.

  • Page 267: Export Excel

    13.6 Export Excel It is now possible to export your data into an excel spreadsheet, simply put the output path, and file name in. Under Exporter select “Excel Exporter (*.xlsx)”. And click Export. Each corresponding section of the navigator (ie. Segments, joints etc.) will have its own tab in the xlsx file, each joint/segment will have its own column, with the frames listed in rows.

  • Page 268: Features Of Xsens Software

    15 Features of Xsens Software A range of additional features become available when using another license for MVN system. Additionally, the Xsens Animate and Xsens Analyze software has been restructured into: - Record: free to download software, to create MVN files - Live: stream to your third-party software - Pro: all features included See the full comparison of the different Record, Live, and Pro licenses below.

  • Page 269: Xsens Peripheral Software

    16 Xsens Peripheral Software 16.1 Magnetic Field Mapper (MFM) When a motion tracker is mounted to an object that contains ferromagnetic materials, the measured (Earth) magnetic field can become distorted, causing errors in measured orientation. To correct for known magnetic disturbances, for example, an MT attached to a steel prosthesis or prop, or simply that the magnetic field has become distorted due to an event or over time, a separate software product has been developed to allow users to remap the magnetic field.

  • Page 270: Software Activation Tool: Applying An Update

    4. Click “Next” and browse to the V2C files you have received to open it. The license is activated/updated. 16.4 Software Activation Tool: Applying an Update You can use the Software Activation tool to apply an update to the licenses stored in your Sentinel protection keys.
  • Page 271 How to activate a network license: https://base.xsens.com/hc/en-us/articles/360012632119-How-to-activate-a-Network- License www.xsens.com...

  • Page 272: Troubleshoot

    17 Troubleshoot Problem Solution Device driver error Awinda Station with docked MTw’s results in "Driver Software Installation" error. See figure to the right displaying the pop-up warning: This is a timing issue because Xsens motion trackers send data to the PC continuously to guarantee a fast set up time. To solve, remove the tracker from the station then redock.
  • Page 273 Character sticks to the Enter the correct body dimensions of subject (Section 7.2.9). ground or segments are pulled apart (wrongly Perform a new calibration pose. detected contacts). Choose suitable user scenario (default is flat ground assumption) (Section 7.2.6). Make sure the feet trackers are mounted rigidly. Character appears to This is likely to be caused by visualization rather than data issues.
  • Page 274 Change the radio channel. (See 23.11.1) With MVN Awinda there appears to be a large latency This does not happen often, if it does, it means that the MTw has crashed. To restore it to normal, switch it off, by pressing the button MTw LED shows for 6s.

  • Page 275: Customer Support

    18 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.

  • Page 276: Regulatory Notices Mvn Link

    19 Regulatory Notices MVN Link 19.1 Radio Frequency Exposure and Emission The MVN Link system contains a small radio transmitter and receiver. During communication with other Wi-Fi products the system receives and transmits radio frequency (RF) electromagnetic fields (microwaves) in the frequency range 2400 to 2500 MHz or 5200 to 5700MHz.
  • Page 277 19.2 CE Declaration of Conformity MVN Link www.xsens.com...
  • Page 278 19.3 Certificate of Conformity for Radio Equipment in EU www.xsens.com...
  • Page 279 19.4 FCC Statement Note: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.

  • Page 280: Fcc Declaration Of Conformity Mvn Link

    19.5 FCC Declaration of Conformity MVN Link www.xsens.com...
  • Page 281 19.6 Certificate of Conformity for Radio Equipment in Japan 5GHz product for indoor use only using frequencies within 5.15-5.35GHz. The product may be used indoor and/or outdoor using frequencies within 5.47-5.72 GHz. www.xsens.com...

  • Page 282: Regulatory Notices Mvn Awinda

    20 Regulatory Notices MVN Awinda 20.1 Radio Frequency Exposure and Emission The MTw2, Awinda dongle and station contains a small radio transmitter and receiver. During communication with the Awinda Master it receives and transmits radio frequency (RF) electromagnetic fields (microwaves) in the frequency range 2400 of 2500 MHz. The output power of the radio transmitter is very low.

  • Page 283: Ce Declaration Of Conformity Mtw2, Awinda Station, Awinda Dongle

    20.2 CE Declaration of Conformity MTw2, Awinda Station, Awinda Dongle www.xsens.com...
  • Page 284 20.3 Statements This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications.
  • Page 285 20.4 FCC Declaration of Conformity MTw2 www.xsens.com...
  • Page 286 20.5 FCC Declaration of Conformity Awinda Station www.xsens.com...
  • Page 287 20.6 FCC Declaration of Conformity Awinda Dongle www.xsens.com...
  • Page 288 20.7 Certificate of Radio Equipment in Japan MTw2 www.xsens.com...
  • Page 289 20.8 Certificate of Radio Equipment in Japan Awinda Station www.xsens.com...
  • Page 290 20.9 Certificate of Radio Equipment in Japan Awinda Dongle www.xsens.com...

  • Page 291: Appendices

    21 Appendices 21.1 Lycra suit sizes overview The typical height and weight of a subject that will fit into a given suit size is related. While this is generally accurate, it is an indication, therefore test the suit size, to ensure that it is tight enough to keep MTx’s in place during measurement while remaining relatively comfortable.

  • Page 292: Body Planes

    × and both represent the standard dot and cross product, respectively. Be aware ⋅ that the order of multiplication is important. Quaternion multiplication is not commutative, meaning: q1⊗ q2 ≠ q2 ⊗ q1 21.2.2.0 Conversions Quaternion to rotation matrix:  q 2q q + 2q q ...

  • Page 293: Coordinate Systems

    Coordinate systems The MVN 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, G. By default, the earth-fixed reference co-ordinate system used is defined as a right- handed Cartesian co-ordinate system with: Global reference frame: X positive when pointing to the local magnetic North (red).

  • Page 294: Anatomical Model

    Anatomical model 21.2.3.0 Definition of segment axes To describe motion capture data in clinically meaningful data, e.g. joint rotations, it is necessary to define a coordinate reference frame attached to the body segment. The ISB proposal for standardization for joint coordinate systems is currently based on positions (optical markers) of bony landmarks.
  • Page 295 Figure 92: a) Segment coordinate system at each joint origin, as is used in MVN to determine joint angles. b) Joint centers connected, forming a skeleton Legend: red, green, z: blue Note that positions of anatomical landmarks are not measured directly as they are with optical measurement systems.
  • Page 296 Upper body T8, ribcage, neck and shoulders Right arm and shoulder Left leg and foot Pelvis, L5 and right upper leg www.xsens.com...

  • Page 297: Segment Axes Definitions And Origin Definitions

    pPIJ Figure 93: Selection of anatomical landmarks. Above, anterior view. Below, posterior view. Segment axes definitions and Origin Definitions Note: To ease comparison between the MVN segment co-ordinate systems with the International Society of Biomechanics recommendation, currently based on optical www.xsens.com...
  • Page 298 position tracking systems, the ISB recommendation is presented next to the MVN definition. The MVN segment axes definition and origins have been chosen as closely as possible to the ISB recommendation where whenever possible. Midpoint between right and left hip Coincident with hip center of center of rotation rotation...
  • Page 299 21.3.2.0 Neck: Segment 6 jT1C7 Not described in ISB Perp. to Y and Z Pointing forward jT1C7 to jC1Head Pointing right Note: The neck segment is not measured directly in MVN; it is calculated using a model of the neck. 21.3.3.0 Head: Segment 7 jC1Head...
  • Page 300 21.3.5.0 Upper Arm (Humerus): Segment 9 Right and Segment 13 Left There are two segment coordinate systems described in ISB. The system described below is option 1. jRightUpperArm GH jLeftUpperArm GH Sagittal plane Line perp. Plane EL-EM-GH Pointing forward Pointing forward Right: jRightElbow to jRightShoulder Line connecting GH to mid-point EL- Left: jLeftElbow to jLeftShoulder...
  • Page 301 Note: In MVN, the joint center is the midpoint between the styloids. No metacarpals are measured in MVN. This description is for the anatomical pose. When the subject stands in the N-pose, X will no longer point anteriorly, but medially. 21.3.8.0 Upper Leg (Femur): Segment 16 Right and Segment 20 Left jRightHip/jLeftHip...

  • Page 302: Joint Angles

    Tibia. In the MVN model the lateral and medial epicondyles and lateral and medial malleoli are the same height. 21.3.10.0 Foot (Calcaneus): Segment 18 Right and Segment 22 Left [ii] jRightAnkle jLeftAnkle Sagittal plane forward Line perp. to frontal plane of tib/fib in neutral configuration.

  • Page 303: Xsens Motion Capture Engine

    [Wu et al, 2002ii] and upper body [Wu et al 2005iii]. 21.4.1.0 Euler Extractions for the joint angles In order to produce validated joint angle output, Xsens MVN works closely to the ISB and Grood and Suntay recommendations . Almost all angles follow the ISB Euler angle [i,ii,iii,vi] extractions of Z (flexion/extension), X (abduction/adduction) Y (internal/external rotation).

  • Page 304: Update Rate Versus Sample Frequency

    to-segment calibration procedure to an estimate of sensor orientation and applying a (scaled) biomechanical model of the human body. Each of these components will introduce errors, but the most dominant error sources are generally the magnetic distortions which are present anywhere (e.g. common materials in buildings, furniture, and surrounding electronic equipment).

  • Page 305: Strap Down Integration

    The intentional difference in terminology is needed to highlight that data from new Xsens motion trackers (MTx and MTw) undergo a mathematical method called Strap Down Integration. This ensures that no loss of accuracy is experienced, even though the data is transmitted to the PC at lower update rates.
  • Page 306 Figure 94: Overview of channels operating around 2.4GHz; for ease of channel selection www.xsens.com...

  • Page 307: System Specifications

    System Specifications Recommended computer system Operating system Windows 10/11 (64 bit) Processor Quad core or higher (2.7 GHz or faster) Hard drive SSD 256 GB or more Memory 8 GB RAM (64-bit) Graphics card Hardware acceleration for DirectX 11 Dedicated memory 512 MB or more Network card Gigabit Ethernet, support for jumbo frames (9014 Bytes) USB ports...
  • Page 308 Communication Interface Wireless (WiFi or Awinda Protocol) Wireless range radius (max) Awinda Station Awinda dongle Outdoor 150 meter (492 ft.) ~50m (164 ft.) ~20m Indoor open space 150 meter (492 ft.) ~20m () ~10m Indoor office 50 meter (164 ft.) ~20m () ~10m Wireless receiver units:...
  • Page 309 Environmental Operation environment 0 – +50 deg Celsius, non-wet Humidity 20-80%RH NC Tracker Performance Static accuracy (Roll/Pitch) 0.2 deg Static Accuracy (Heading) 0.5 deg Dynamic Accuracy 1 deg RMS Accelerometer range MTx: ± 160 m/s (16 g) MTw: ±160m/s (16g) Gyroscope range ±...
  • Page 310 MVN Fusion Engine 3D translation capture ~1% 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.
  • Page 311 Package Label www.xsens.com...

  • Page 312: System Block Diagrams

    System block diagrams 21.7.1.0 The purpose of the MTw wireless motion tracker is to give accurate orientation data. This is done by sampling digital sensors and processing this data at an MCU (Microcontroller unit) to angular velocity, acceleration, magnetic field and barometric pressure information.
  • Page 313 21.7.3.0 Awinda Dongle ANT The AWINDA dongle works as a master and together with the MTw it forms a wireless motion tracker system. The AWINDA dongle communication is based on CC2541 hardware, using a proprietary TDMA (Time Division Multiple Access) AWINDA™ protocol. Figure 97: Awinda Dongle ANT block diagram 21.7.4.0 Awinda Station...

  • Page 314: Contact Point Editing

    22 Contact point editing For examples of contact point editing please check this link: https://base.xsens.com/hc/en- us/articles/360013009559-Contact-Point-editing2 www.xsens.com...

  • Page 315: Synchronization With External Devices

    23 Synchronization with External Devices 23.1 The Hardware MVN Awinda uses the Awinda Station for synchronization. Details on initializing the synchronization of MVN are provided in Section 7.2.9. The purpose of this section is to provide some in-depth information about the synchronization possibilities.

  • Page 316: Sync In

    23.2 Sync In Sync In means that an external device sends a control signal to the Awinda Station. The Awinda Station can detect polarity changes on the input lines. This trigger may be a rising or falling edge as illustrated in the following figures: When a trigger is detected on one of the input lines, the Awinda Station can be configured to perform a certain action.

  • Page 317: Sync Out

    23.3 Sync Out Sync Out is the command that enables the Xsens system to send a trigger pulse for synchronization purposes. A control signal is sent via the Awinda/Sync Station, from Xsens Analyze/Animate to the third-party hardware. Sync Type Description Start Recording Upon clicking the record button in Xsens Analyze/Animate, the Awinda Station starts the recording and consequently sends a start...

  • Page 318: Important Notices For Sync In

    23.3.1.0 Settings in Xsens Analyze/Animate By opening the motion capture configuration window and select sync station configuration (Figure 99) Figure 99: Sync settings window in Xsens Analyze/Animate To add a synchronization type, click “Add”, all settings become available, to be set manually or using the drop-down menus.

  • Page 319: Sync In With Xsens Analyze/Animate

    23.4.1.0 Sync In Recommended Settings Note that the preferences menu includes “Skip first” and “Skip Factor”. The definitions of these have been provided above; however, for practical use consider the following: When the Awinda Station is triggered to start and stop a recording, on one line, it will blindly receive 3.3 V pulses on that line.
  • Page 320 23.9 Gloves Manus: https://base.xsens.com/hc/en-us/articles/360017254919-Setting-up-Manus- Prime-2-Gloves-with-MVN StretchSense: https://base.xsens.com/hc/en-us/articles/360017745539-Streaming- StretchSense-Glove-Data-into-MVN www.xsens.com...
  • Page 321 24 References Wu G, Cavanagh PR (1995). ISB recommendations for standardization in the reporting of kinematic data. J. Biomech. 28: 1257-261 Wu G., Siegler, S., Allard, P., Kirtley, C., Leardini, A., Rosenbaum, D., Whittle, M., D’Lima, D., Cristofolini, L., Witte, H., Schmid, O., Stokes, I., (2002). ISB recommendation on definitions of joint coordinate system of various joints for the reporting of human joint motion—part I: ankle, hip, and spine.

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