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Resources: About I-CubeX

The I-CubeX line of products aim to facilitate the design and implementation of environments and objects that respond to human actions such as walking, reaching, touching etc. as well as environmental parameters such as illumination, temperature, humidity etc.. The response can be in the form of sound, music, video, graphics, animation, robotic movement, etc.. Such responses are generated by 3rd party equipment. While it is a widely used tool for prototyping and experimentation wrt. human interfacing it is also perfectly suitable as a scientific research tool to gather data about movement and behaviour.

Application scope

The I-CubeX line of products only includes tools to capture the human actions and/or environmental variables and the tools to make these signals available to other equipment such as a computer or a musical instrument. To communicate with such equipment the MIDI data format is used, transmitted via MIDI cable, USB cable or Bluetooth wireless. MIDI is a widely implemented protocol for communications between musical equipment which has also found its way into video, graphics and animation software as well as various equipments, such as lights, used in theme parks and live shows. Even though I-CubeX uses the MIDI data format, tools are provided to output to devices that use other protocols, enlarging its application scope to gaming, engineering and science.


To accomodate a wide variety of designs of such responsive environments and objects, the I-CubeX environment consists of the following modular components that can be configured in a multitude of ways:

  • One or more sensors.
  • One or more digitizers.
  • Configuration software.


Sensors connect to a digitizer through a miniature, flexible cable with a 3-pin plug. Sensors can be positioned on the human body or on animals, on walls or floors or on sculptures. The multitude of sensors available from I-CubeX cover almost any human, animal or object motion, as well as a variety of environmental parameters. I-CubeX sensors output either analog voltages or digital I2C signals. I2C is a commonly used bi-directional protocol in robotics.


The digitizer processes and converts the signal from the sensor to a digital message. A digitizer can convert upto 8 (microDig, USB-microDig, Wi-microDig) or upto 32 (Digitizer) sensor signals. The Digitizer or the microDig connects through a MIDI cable to a computer that is equipped with a MIDI interface (see figure 1) or directly to a MIDI capable device (see figure 2). The USB-microDig connects through a USB cable to a computer that is equipped with a USB port (see figure 3). The Wi-microDig connects wirelessly through Bluetooth to a computer equipped with Bluetooth (see figure 4). All these digitizers use the MIDI data format to encode the sensor signals, but note that on a computer the USB-microDig and Wi-microDig make this MIDI encoded sensor data available through a virtual serial port whereas the Digitizer and microDig make the sensor data available through a MIDI port.

Figure 1. Digitizer connected to computer via MIDI-USB interface.

Figure 2. Digitizer connected to MIDI capable device.

Figure 3. Digitizer connected to computer directly via USB.

Figure 4. Digitizer connected to computer via Bluetooth.


Various software tools are available to work with I-CubeX. To configure the digitizer run the I-CubeX editor on a computer to communicate with the digitizer using the MIDI or USB cable connection, or the wireless Bluetooth connection. The editor connects directly to either the relevant MIDI port or the relevant virtual serial port. The editor sets a variety of parameters in the digitizer such as the type of processing of the sensor signal and which MIDI message to map to. It provides a simple way to verify if the sensor captures what is required to generate an appropriate response. Once the user has configured the sensors and digitizer with the editor to his or her satisfaction, the MIDI messages can be sent directly to a MIDI device to generate a response. This method of operation of the sensors and digitizer without any computer program to process or analyse the sensor data is called stand alone mode. Using the editor, the data can also be saved on disk for later analysis using 3rd party applications or it can be routed to a virtual joystick, allowing its use in game applications as well as other engineering and science applications. Our mapper software enables the user to convert the sensor data intelligently to keystrokes, which then in turn can control other software programs such as media players. Another alternative is host mode, which consists of operating the sensors and digitizer with a computer program to process and analyse the raw sensor data to obtain more complex response patterns. Plugins for 3rd party software, software to route virtual serial port data to a MIDI port (Connect software) and a C++ API are available for working in host mode.

What you need

In summary, to get started with creating a responsive environment or object you will need:

  • I-CubeX environment (sensors, digitizer(s), editor)
  • MIDI interface (for Digitizer or microDig), USB port (USB-microDig) and/or Bluetooth interface (Wi-microDig)
  • Computer(s) (Windows or MacOS)
  • MIDI device(s) or software(s) to generate required response(s) (3rd party)

In the help section on our website you can find more gear from a number of 3rd party manufacturers to help you generate a suitable response.

Further reading

There is more to know about I-CubeX, how it has been used, sample applications, more technical details, ..

I-CubeX arose out of a research project in 1995 directed by Axel Mulder, while he was doing his PhD on virtual musical instruments at the Department of Kinesiology, Simon Fraser University, to address the need for better tools for artists to create interactive art and for musicians to more easily create or modify musical instruments. The project led to a paper entitled The I-Cube System: moving towards sensor technology for artists, after which it was commercialized.

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