  Orientation and Motion Sensing are widely implemented on various consumer
products, such as mobile phones, tablets and cameras as they enable immediate
interaction with virtual information. The prototyping phase of any orientation
and motion sensing capable device is however a quite difficult process as it
may involve complex hardware designing, math algorithms and programming.
  In this paper, we present FreeIMU, an Open Hardware Framework for prototyping
orientation and motion sensing capable devices. The framework consists in a
small circuit board containing various sensors and a software library, built on
top of the Arduino platform. Both the hardware and library are released under
open licences and supported by an active community allowing to be implemented
into research and commercial projects.
