HEBI Robotics creates components that allow you to create custom robots quickly, and the HEBI APIs enable you to program these robots using your favorite programming language. The HEBI Virtual IO App is another component in this ecosystem; it integrates with HEBI APIs and tools to provide analog and digital inputs that can be used to control these robots.

More information about HEBI robotic components can be found at, and technical documentation for programming robots using these APIs is provided at The HEBI Virtual IO shows up as a network device that provides analog and digital "IO feedback" information, similar to the HEBI IO Board, as well as inertial measurements. This feedback can be accessed using the MATLAB, C, C++, and Python APIs for HEBI components, available for download at

Two modes for this app are provided -- a set of sliders and buttons that allow direct setting of 8 analog and 8 digital input "pins" (banks A and B in the feedback object), and a "virtual joystick" which maps axes and buttons to the same 8 analog and 8 digital inputs. These modes can be toggled through the app's settings.

Additionally, the camera is used in combination with Apple's ARKit technology to provide a full 6DOF pose estimate of the device as it is moved through the world.

NOTE: This app is only useful in combination with HEBI APIs and tools, and does not provide utility as a standalone app.

What's New

Version 1.1

Layout improvements (Joystick page):
- moved sliders away from bottom, so control center is not accidentally triggered
- made touch targets for sliders larger
- added labels to buttons/sliders corresponding to I/O Feedback data in API.

Additional/Updated feedback:
- "Mobile Feedback" data support (supported in recent HEBI API versions), including:
- location estimation (based on ARKit)
- battery voltage
- Magnetometer
- Analog scaling on "Sliders" layout is from 0-1 instead of 0-5
- Updated gyro to use unbiased data from CoreMotion
- Updated accelerometer feedback to just report device motion, not gravity.

- Changed title to "Mobile I/O" to better match naming convention in HEBI APIs
- Battery usage improvements


HEBI Robotics, Inc
10 MB
Requires iOS 11.0 or later. Compatible with iPhone, iPad and iPod touch.
Age Rating
Rated 4+
© 2018 HEBI Robotics, Inc


  • Family Sharing

    Up to six family members will be able to use this app with Family Sharing enabled.