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YEI Technology

YEI 3-Space Sensor

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Product Overview

The YEI 3-Space Sensor™ product line is a family of miniature, high-precision, high-reliability, Attitude and Heading Reference Systems (AHRS) / Inertial Measurement Units (IMU). Each YEI 3-Space Sensor uses triaxial gyroscope, accelerometer, and compass sensors in conjunction with advanced processing and on-board quaternion-based Kalman filtering algorithms to determine orientation relative to an absolute reference in real-time.

The product family offers a breadth of communication, performance, and packaging options ranging from the ultra-miniature TSS embedded to fully integrated battery-powered wireless and data-logging versions.

Orientation can be returned in absolute terms or relative to a designated reference orientation. The proprietary multi-reference vector mode increases accuracy and greatly reduces and compensates for sensor error. The YEI 3-Space Sensor system also utilizes a dynamic sensor confidence algorithm that ensures optimal accuracy and precision across a wide range of operating conditions.

The YEI 3-Space Sensor system features are accessible via a well-documented open communication protocol that allows access to all available sensor data and configuration parameters using a variety of communication interfaces. Versatile commands allow access to raw sensor data, normalized sensor data, and filtered absolute and relative orientation outputs in multiple formats including: quaternion, Euler angles (pitch/roll/yaw), rotation matrix, axis angle, two vector(forward/up).

Areas of Application

  • Robotics
  • Motion capture
  • Positioning and stabilization
  • Personnel/pedestrian navigation and tracking
  • Unmanned air/land/water vehicle navigation
  • Education and performing arts
  • Healthcare monitoring
  • Gaming and motion control
  • Accessibility interfaces
  • Virtual reality and immersive simulation

Product Family

3-Space Embedded (TSS-EM)
  • USB 2.0, SPI, logic-level serial
  • Smallest & lightest AHRS available
  • 23x23x2.2 mm, only 1.3 grams
  • Easily integrated
  • RGB status LED
  • Development kit available
  • Click for Full Specifications
 Part: TSS-EM

Price: $99.00

3-Space Embedded Evaluation Kit (TSS-EEVK)
  • Allows instant evaluation of the 3-Space Sensor Embedded module.
  • Special socket accepts 3-Space Sensor Embedded modules without soldering or modification
  • USB 2.0, RS232, Serial SPI emulation
  • Breakout Pads for all 3-Space Sensor Embedded module pins
  • Configurable power supply and communication routing options
  • Mounting holes with threaded standoffs
  • Includes 3-Space Sensor Embedded module
  • Click for Full Specifications
 Part: TSS-EEVK

Price: $252.00

3-Space USB/RS232 - Hand-held Case (TSS-USB)
  • USB 2.0, RS232 serial
  • 50x35x15 mm, 17 grams
  • USB communications via virtual COM port
  • RGB status LED
  • Two input buttons
  • Hand-held case style
  • Click for Full Specifications
 Part: TSS-USB

Price: $163.00

3-Space USB/RS232 - Screw-down Case (TSS-USB-S)
  • USB 2.0, RS232 serial
  • 67.3x35x15 mm, 17 grams
  • USB communications via virtual COM port
  • RGB status LED
  • Two input buttons
  • screw-down case style
  • Click for Full Specifications
 Part: TSS-USB-S

Price: $163.00

3-Space Data-logging - Hand-held Case (TSS-DL)
  • USB 2.0, MicroSD card, RTC, Rechargeable LiPO Battery
  • 60x35x15 mm, 28 grams
  • USB communications: virtual COM port, USB Mass Storage Device
  • RGB status LED
  • Two input buttons
  • Hand-held case style
  • High-G range accelerometer option available (Part: TSS-DL-HH)
  • Click for Full Specifications
 Part: TSS-DL

Price: $202.00


Part: TSS-DL-HH
Option: High-G Range

Price: $229.00

3-Space Data-logging - Screw-down Case (TSS-DL-S)
  • USB 2.0, MicroSD card, RTC, Rechargeable LiPO Battery
  • 76.3x35x15 mm, 28 grams
  • USB communications: virtual COM port, USB Mass Storage Device
  • RGB status LED
  • Two input buttons
  • screw-down case style
  • High-G range accelerometer option available (Part: TSS-DL-HH-S)
  • Click for Full Specifications
 Part: TSS-DL-S

Price: $202.00


Part: TSS-DL-HH-S Option: High-G Range

Price: $229.00

3-Space Bluetooth - Hand-held Case (TSS-BT)
  • USB 2.0, Bluetooth v2.0+EDR Class 1, Rechargeable LiPO Battery
  • 60x35x15 mm, 28 grams
  • Communications: USB 2.0 virtual COM port, Bluetooth v2.0 Wireless
  • RGB status LED
  • Two input buttons
  • Hand-held case style
  • Click for Full Specifications
 Part: TSS-BT

Price: $304.00

3-Space Bluetooth - Screw-down Case (TSS-BT-S)
  • USB 2.0, Bluetooth v2.0+EDR Class 1, Rechargeable LiPO Battery
  • 76.3x35x15 mm, 28 grams
  • Communications: USB 2.0 virtual COM port, Bluetooth v2.0 Wireless
  • RGB status LED
  • Two input buttons
  • screw-down case style
  • Click for Full Specifications
 Part: TSS-BT-S

Price: $304.00

3-Space Wireless 2.4GHz DSSS - Hand-held Case (TSS-WL)
  • USB 2.0, Wireless 2.4GHz DSSS, Rechargeable LiPO Battery
  • 60x35x15 mm, 28 grams
  • Communications: USB virtual COM port, 2.4Ghz Wireless
  • RGB status LED
  • Two input buttons
  • Hand-held case style
  • Click for Full Specifications
 Part: TSS-WL

Price: $247.00

3-Space Wireless 2.4GHz DSSS - Screw-down Case (TSS-WL-S)
  • USB 2.0, Wireless 2.4GHz DSSS, Rechargeable LiPO Battery
  • 76.3x35x15 mm, 28 grams
  • Communications: USB virtual COM port, 2.4Ghz Wireless
  • RGB status LED
  • Two input buttons
  • screw-down case style
  • Click for Full Specifications
 Part: TSS-WL-S

Price: $247.00

3-Space Wireless 2.4GHz DSSS Dongle (TSS-DNG)
  • USB 2.0 Wireless 2.4GHz DSSS adapter
  • 65x22.7x15 mm
  • Communications: USB virtual COM port, 2.4Ghz Wireless
  • Up to 15 wireless sensor units per dongle
  • RGB status LED
  • High-performance wireless features
  • Enhanced wireless reliability
 Part: TSS-DNG

Price: $91.00

YEI 3-Space Sensor: Mocap Bundle (TSS-MOCAP-BUNDLE)
  • Complete package for professional grade motion capture
  • 17x YEI 3-Space Sensor Wireless devices with 1' USB charging cables
  • 3x 3-Space Wireless Dongles with 6' USB cables
  • Includes all drivers, software, configuration files, and documentation. Includes quickstart guide.

Mocap strap set sold separately (TSS-STRAP-MOCAP)

 Part: TSS-MOCAP-BUNDLE

Price: $3,995.00

Mocap Strap Set (TSS-STRAP-MOCAP)
  • Multi-piece set of straps and holders for use with 3-Space Sensor Mocap Bundle.
  • Includes all necessary straps and hardware to outfit a single mocap performer with seventeen(17) sensors.
  • Includes 17 silicone sensor holders, chest harness plates, and an assortment of all necessary straps for one mocap performer.
  • Designed for use with the YEI 3-Space Sensor&trade Mocap Studio
  • Can be used in other configurations or for other mocap related projects
  • Three sizes of straps are provided for flexible configuration and ease of fit
  • Soft elastic velcro straps conform to fit your body or other objects and allow for unhindered physical activity while firmly holding the sensor in place
 Part: TSS-STRAP-MOCAP

Price: $153.00

Strap Set (TSS-STRAP-SET)
  • Includes a set of five(5) elastic velcro straps and five(5) custom silicone sensor holders for use with 3-Space Sensor systems.
  • Custom silicone holders allow YEI 3-Space Sensors to be firmly strapped to your body or other surfaces
  • Soft elastic velcro straps conform to fit your body or other objects and allow for unhindered physical activity while firmly holding the sensor in place
 Part: TSS-STRAP-SET

Price: $31.00

YEI 3-Space HiPerGyro™
  • Small, self-contained, ultra-high-performance AHRS at 54mm x 64mm x 10mm and
  • Optical gyro IMU performance characteristics at MEMS size, weight, and power.
  • Fast sensor update and filter rate allow use in real-time applications, including navigation, stabilization, and guidance
  • Advanced integrated on-board multi-sensor fusion provides ultra-high accuracy.
  • Proprietary dynamic sensor-error tracking and bias tracking automatically minimize the effects of sensor noise and sensor error across a wide range of operating conditions.
 Part: TSS-HG-1

Price: $1526.00

Currently not available, will be available for purchase soon.

Software and Drivers

3-Space Sensor Suite & Drivers

The 3-Space Sensor Suite allows users to interact with 3-Space Sensor family members without any custom programming. This allow users to experiment with 3-Space Sensors quickly and easily right out of the box. The installer includes the latest drivers.

  • Realtime interactive 3D display of orientation
  • Realtime display of sensor data in strip-chart format
  • Sensor data capture to file
  • Access to calibration and performance features
  • Access to all sensor configuration parameters
  • Data terminal for interactive ASCII communication and debugging
  • Installer includes latest drivers
  • For more information go to project page
  • To download go to downloads

3-Space Sensor Mocap Studio

The YEI 3-Space Mocap Studio is a free and open source application that allows users to set-up and record motion capture sessions utilizing 3-Space Sensor family members. The interface is powerful yet easy to use since support for YEI 3-Space Sensor units is built-in.


  • Realtime interactive 3D display of kinematic model and actor pose
  • Supports all members of the YEI 3-Space Sensor family.
  • Provides tools for configuring YEI 3-Space Sensor units
  • Supports real-time data streaming and threaded orientation data recording
  • Records orientation data as keyframes, thus making editing and clean-up easy
  • Supports the widely used motion data BVH (Biovision Hierarchy) file format
  • Free and open source, thus allowing use and modification of the application without consequences
  • For more information go to project page
  • To download go to downloads

3-Space Sensor Blender Motion Capture Plug-in

The YEI 3-Space Sensor Blender Motion Capture Plug-in is an addon for the open source 3D modeling program Blender. Once installed, the plugin provides tools for interfacing the YEI 3-Space family of sensors with Blender, configure individual sensors, pair sensors with Blender armature bones, and record orientation data over time for driving armatures created in Blender. Utilizing these features, users may put Blender to work as an all-in-one tool for motion capture animation recording, clean-up, and editing.


  • Supports all members of the YEI 3-Space Sensor family
  • Built with the Blender 2.6x Python API and compatible with all modern versions of Blender (32-Bit and 64-Bit)
  • Provides tools for configuring YEI 3-Space sensors and dongles
  • Supports realtime data streaming and threaded orientation data recording
  • Records orientation data as armature keyframes, thus making editing and clean-up easy
  • Free and open source, thus allowing use and modification of the plugin without consequences
  • For more information go to project page
  • To download go to downloads

YEI 3-Space Sensor Interactive Cube-Space Demos

The 3-Space Sensor Interactive Demos allow users to experiment with 3-Space technology in a fun and interactive way. Many of the demos are in the form of 3D games that utilize 3-Space Sensors as an input device and serve to illustrate the accuracy and responsiveness of the sensor in a fun interactive way.



  • Supports all members of the YEI 3-Space Sensor family
  • Easy to setup demonstration of the 3-Space sensor
  • Interactive 3D demos illustrate the responsiveness and accuracy of 3-Space Sensor technology
  • Free and open source, allowing users to see a working example of the integration of the
    YEI 3-Space sensor in to an application
  • Includes multiple game examples
  • For more information go to project page
  • To download go to downloads

YEI 3-Space Application Programming Interface

The YEI 3-Space Sensor Application Programming Interface (API) is a programming layer designed to make communication with the 3-Space family of IMUs/AHRSs quick and easy. All available commands for the 3-Space hardware are supported and data is automatically formatted into data types friendly to the supported language.


  • Supports all members of the YEI 3-Space Sensor family
  • Provides access to all supported commands available to the 3-Space family of hardware in a human readable way
  • Designed to support all 3-Space hardware across all firmware versions, making application forward compatibility easy
  • Native support for Python (2.5x and 3.x) and C/C++
  • Support for any language that can import Microsoft Windows Dynamic Link Libraries (.dll)
  • For more information go to project page
  • To download go to downloads

Experimental Projects

These are projects that implement YEI 3-Space Sensors and technology. They are proofs of concept or small tech demos. The code is available open source and can be used in other projects. They are designed to demonstrate practical applications of 3-Space Sensors.


  • Realtime Head Tracking using an off-the-self HMD
  • Integration into UDK for virtual reality

Downloads and Documentation

Product Documentation and Firmware

YEI_3-Space_Family_Tech_Brief_v1.0.4.pdf - YEI 3-Space Family Overview Technical Brief

Downloads Section for the 3-Space Sensor Embedded module

Downloads Section for 3-Space Sensor USB/RS232 products

Downloads Section for 3-Space Sensor Data-logging products

Downloads Section for 3-Space Sensor Bluetooth products

Downloads Section for 3-Space Sensor Wireless 2.4GHz DSSS products

Software and Drivers Downloads

Downloads Section for YEI 3-Space Sensor Software Suite software. Includes drivers.

Downloads Section for YEI 3-Space Sensor Mocap Studio software.

Downloads Section for YEI 3-Space Interactive Cube-Space Interactive Demos software.

Downloads Section for YEI 3-Space YEI 3-Space Blender Motion Capture Plugin software.

Serial Communication Examples

Python Code Examples

C++ Code Examples

Application Notes

Calculating Angles Between Two 3-Space Sensor Devices on a Human Body

Videos and Media

Videos

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Media

YEI_3-Space_Defense_Applications.pdf - Flyer describing defense and military applications of the YEI 3-Space Sensor

YEI_3-Space_Medical_Applications.pdf - Flyer describing medical and healthcare applications of the YEI 3-Space Sensor

YEI_3-Space_Treadmill_Case_Study.pdf - Whitepaper outlining a case study where the YEI 3-Space Sensor was used to analyze relative joint impact forces of runners on treadmills.

Informational Resources

Links

http://en.wikipedia.org/wiki/AHRS - Wikipedia entry describing Attitude and Heading Reference Systems

http://en.wikipedia.org/wiki/Inertial_measurement_unit - Wikipedia entry describing Inertial Measurement Units

http://en.wikipedia.org/wiki/Quaternion - Wikipedia entry describing the mathematics of Quaternions

http://en.wikipedia.org/wiki/Kalman_filter - Wikipedia entry describing Kalman filtering

http://en.wikipedia.org/wiki/USB#USB_2.0 - Wikipedia entry describing USB 2.0 communication

http://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus - Wikipedia entry describing Serial Peripheral Interface(SPI) bus communication

http://en.wikipedia.org/wiki/Asynchronous_serial_communication
 - Wikipedia entry describing asynchronous serial communication