CV + IMU Joint Tracker
Computer vision handled joint detection from video, while an ESP32 and MPU6050 mounted in a belt-style strap on the joint itself provided a second, physical source of truth to check the vision system against. The ESP32 sent IMU data over Wi-Fi.
Further details
CAD Design
Designed an ideal enclosure to house the ESP32 and MPU6050 as a compact strap-mounted attachment. The goal was a low-profile housing that could sit directly on a joint, stayed put during movement, and kept the IMU properly oriented for consistent readings.
Physical Prototyping & Tuning
Built a working MVP of the IMU strap and tuned it until the MPU6050 gave clean, stable orientation data on the ESP32. Mounting had to be secure enough to track real joint motion without excessive drift or noise from the strap shifting during movement.
Testing
With the whole build done in under 48 hours, the computer vision side relied on an existing pretrained pose estimation model rather than training one from scratch. Testing focused on running that model against the IMU strap's readings to see how closely the two tracked the same joint movement in practice.