# Immersive Digital Twin under ISO 23247 Applied to Flexible Manufacturing Processes
## 4 Implementation
### Senso Glove Communication  
The communication between the Senso Gloves and the computer is established through a radiofrequency (RF) antenna that allows for configuring the working frequency.  
For this application, a frequency of 433 MHz was used, capturing the values from all the built-in IMU sensors in the gloves to obtain the hand position, palm space, and movement of all the joints. The software responsible for reading and digitizing the signal from the glove is implemented using Senso DK3 version 1.17. To ensure proper functioning, it is necessary to configure and calibrate the gloves, as shown in the UML diagram in Figure 4.  
The Senso_Base_Controller establishes wireless communication to obtain sensor data. The hand allows for access and interaction with the data received from the glove. The Senso_Hand provides knowledge of the current state of each sensor--in this case, the respective movement of the coordinate axes (X, Y, Z), which is processed to guarantee the movement of the digital hand. Additionally, communication with the Firebase cloud is carried out for sending and receiving data, enabling interaction with the industrial process.  
The calibration of Senso Glove must be carried out accurately and considering the physical space that is going to be worked to correctly manipulate the physical environment based on the movements generated, and these can be replicated in the virtual environment in real time. To calibrate the glove, the \"SensoHandSDK-unitypackage\" SDK must be imported. These libraries are selected according to the version of Unity. In this study, version \"2021.3.19f1\" was used. These libraries allow for obtaining the scene in Unity where the work environment is later created. In this process, the physical hand space is modified and adjusted in a virtual representation. To achieve this, it is necessary to modify the Quaternion commands typically used to adjust rotations and movement in the working scene, allowing for a smooth interpolation, avoiding gimbal lock, and primarily relying on complex numbers to represent Euler angles. The configuration and calibration are carried out using Senso DK3 easy configurator, version 1.17. The package must be imported into Unity to incorporate and calibrate the DT. It is essential to consider the encapsulation of each element, so first, it is completely unpacked. Then, each link is assigned to another to generate smooth movement in its physical twin. Subsequently, the DT is calibrated using the Quaternion command based on Euler angles. The analog readings of the variables obtained from the particle cloud, which are based on industrial sensors and previously conditioned in the control board, are used as parameters. Hand gestures are detected in the created digital environment using the Senso Glove to manipulate process parameters. The objective is to provide an interactive environment for users and enhance their experience. An analysis of the positions is performed to configure the working environment within the area created by Unity, aiming to work in conjunction with AR. It is essential to consider the rotation of all axes, which are the rotation around the front-to-back axis, known as  
Figure 4: UML diagram of the Senso Glove configuration.  
ROLL; the rotation around the side-to-side axis, called PITCH; and the rotation around the vertical axis, known as YAW. Calibration of the Senso Glove is performed in the virtual environment created with the help of Senso SDK, as shown in Figure 5.