Case study
Out-Toe Gait Correction (ESP32 + IMU)
This repo is the embedded firmware for the out-toe gait correction system underlying the Foot Allign capstone. A slave board broadcasts cumulative yaw over ESP-NOW; the master unwraps its own yaw, compares the relative angle to a threshold, and drives an LED or vibration motor. WiFi/TCP variants stream live angle data into Dash dashboards with CSV logging.
The brief
Challenge
Measure real-time foot rotation reliably between two independent moving boards without expensive motion capture hardware.
Approach
What we made
Used BNO055 IMUs for stable orientation, ESP-NOW for low-latency board-to-board comms, and a threshold-based feedback loop tied to LED and vibration output.
- Paired-board architecture using ESP-NOW for low-latency relative yaw signaling.
- Threshold-driven LED and vibration feedback for real-time gait correction.
- WiFi/TCP variants stream IMU data into Dash dashboards with CSV recording.
Outcome
Results
Delivered a working paired ESP32 system that detects excessive out-toeing in real time and provides haptic feedback, with WiFi telemetry for offline analysis.
Gallery
Visual snapshots
Click any image to expand.