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Chapter 5: Using the Arm
IMU - Walk Detect
The IMUs are designed to detect rapid foot movements (such as those seen while
walking) and not use these movements as arm commands. For example, if you
shake your feet the IMUs would detect this as motion other than a normal
command. When walk detect is active, the white Arm Mode LED blinks rapidly and
the blue IMU LED is solid. Note that when walk detect is active you will not be able
to move the arm using the IMUs, however, non-IMU controls will continue to
function as configured. If you are concerned about arm movement while walking (or
at other times) put the arm in
Standby
mode prior to walking.
When you stop walking and the IMUs come to rest, the arm reverts back to the
previous mode (
Arm
or
Hand
) the arm was in prior to entering walk detect and
resumes normal operation. This happens automatically when the IMU commands
return to zero. If the walk detect LED continues to blink, this indicates that the arm
is still receiving a command from one of your inputs. To resolve this issue, make
sure your IMUs are positioned correctly, your feet are flat/normal to the ground and
you are not activating any other inputs.
If you cannot resume normal operation of the arm and the white Arm Mode LED
continues blinking with your feet flat on the ground, the IMU zero point is incorrect
and the current signal level is above a set threshold. To fix this issue you need to
re-position the IMUs on your feet or zero the IMUs by going into
Standby
mode.
See
.
IMU - Angle Limit Detect
The IMUs are designed to detect when you exceed the IMUs’ angle limit. This
occurs when you tip the IMUs more than 45 degrees since the last time the IMUs
were zeroed or were out of range. As a result, the white Arm Mode LED on the
Wrist Display blinks rapidly informing you of the problem.
If the IMUs exceed 45 degrees, you will not be able to move the arm with the IMUs,
however, non-IMU controls will continue to function as designed. To resume normal
operation you need to return your foot/feet to the rest or zero position.
If the white Arm Mode LED continues to blink, you need to reposition the IMUs,
re-position your feet, or zero the IMUs by going into
Standby
mode. See
