一次残差的三次复用：用于手势感知的腕带前端
One Residual with Three Reuses: A Wristband Front End for Gesture Sensing
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中文总结 AI 辅助
本文设计了一款复用残差生成器的腕带前端，结合MEMS IMU与60 GHz FMCW雷达，在公开数据集上实现了手势检测、功耗降低及姿态跟踪精度提升。
中文摘要 AI 辅助
用于手势交互和运动症状监测的连续腕戴式手部感知需要一款始终开启的前端，该前端需适配纽扣电池的功耗预算，同时搭配微机电系统（MEMS）惯性测量单元（IMU）与60 GHz调频连续波（FMCW）雷达，以在遮挡和人体漂移场景下保持鲁棒性。本文对这类腕带前端开展设计研究，其中分类器唤醒门控、毫米波与IMU路由、基于创新的扩展卡尔曼滤波（EKF）测量重加权三者共享单个片上残差生成器。该共享生成器占用14.4 KB程序内存与278 B状态，在Ambiq Apollo4 Blue Plus级边缘微控制器单元（MCU）上以每帧110000次乘累加（MACs）的速率运行。在四个公开传感器数据集（IPN Hand、SHREC 2021、MiliPoint 60 GHz FMCW雷达、EAT-Radar）上，该前端在1%误警率下达到检测概率$P_D = 0.72/0.80$，在90%手势检测召回率下实现47%的分类器调用功耗降低，且相较于采用R膨胀基线的自适应卡尔曼滤波，在测量偏差漂移下将姿态跟踪均方根误差降低了4.6倍。实测的芯片功耗与人体穿戴捕获数据将留待后续硬件研究；本文的核心贡献为该设计研究。
英文摘要
Continuous wrist-worn hand sensing for gesture interfaces and motor symptom monitoring needs an always-on front end that fits inside a coin-cell power budget while pairing a micro-electro-mechanical-systems (MEMS) inertial measurement unit (IMU) with a 60 GHz frequency-modulated continuous-wave (FMCW) radar to stay robust under occlusion and on-body drift. We present a design study of such a wristband front end in which classifier wake-up gating, mmWave versus IMU routing, and innovation-based EKF measurement reweighting share a single on-chip residual generator. The shared generator occupies 14.4 KB of program memory and 278 B of state and runs at 110K multiply-accumulates (MACs) per frame on an Ambiq Apollo4 Blue Plus class edge microcontroller unit (MCU). Across four public sensor data corpora (IPN Hand, SHREC 2021, MiliPoint 60 GHz FMCW radar, EAT-Radar) the front end reaches detection probability $P_D = 0.72/0.80$ at a 1% false-alarm rate, sustains a 47% classifier invocation energy reduction at 90% gesture detection recall, and lowers pose tracking root-mean-square error by $4.6\times$ under measurement bias drift relative to an adaptive Kalman with $R$-inflation baseline. Measured silicon power and on-body capture are deferred to follow-on hardware; the contribution here is a design study.
发表机构
- Stanford University（斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。
