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Week 01

The upcoming Chimaera firmware release 0.6.0 will ship with support for velocity signals. This patch-a-week covers the digital filtering technique involved.

Velocity signal filtering

Although the raw interpolated positional signals are very smooth, the derived velocity signals can be quite noisy. For the velocity signal to be of use as a direct mapping to musical parameters, the velocity signal needs to be smoothed, aka filtered.

x-position raw x-velocity raw
Raw x-dimension and corresponding x-velocity of arbitrary sensor array sweeps.

We use a variable cutoff/phase, first-order Infinite Impulse Response (IIR) filter to smooth the velocity signal over time. The equation is rather simple and the filter successfully blocks high-frequency signals. The filters performance can be configured by the variable stiffness \(s\) which represents the filter sample window (e.g. 1, 2, 4, 8, 16, 32 or 64 samples). The current filter value \(f_n\) thus depends on previous filter value \(f_{n-1}\), current and last raw values \(v_n\) and \(v_{n-1}\), respectively.

$$\begin{eqnarray} f_n &=& \frac{s}{2} \cdot (v_{n-1} + v_n) + (1-s) \cdot f_{n-1} \end{eqnarray}$$

x-velocity stiffness=1 x-velocity stiffness=4
Raw (red) and filtered (black) x-velocity with stiffness=1 and stiffness=4.
x-velocity stiffness=16 x-velocity stiffness=64
Raw (red) and filtered (black) x-velocity with stiffness=16 and stiffness=64.

Beta Testers

After a high interest at Maker Faire Rome, we are now running a beta-testing campaign to collect more comprehensive feedback of first-hand experiences of our final Chimaera prototype design from interested individuals. Get in contact with us. Now.

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Last update - 16 Sep 2017

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