diff --git a/app/src/main/java/com/example/medilightv2android/ble/BleManager.kt b/app/src/main/java/com/example/medilightv2android/ble/BleManager.kt
index c26ebfd..53e1865 100644
--- a/app/src/main/java/com/example/medilightv2android/ble/BleManager.kt
+++ b/app/src/main/java/com/example/medilightv2android/ble/BleManager.kt
@@ -1209,9 +1209,10 @@ class BleManager private constructor(private val context: Context) {
                 piezoCollector.addPacket(data)
             }
             "rsp:" -> {
-                if (data.size >= 16) {
-                    debugLogger.rx("rsp", data.size, "IMU data")
-                }
+                // msp 명령 응답 — IMU 데이터. format 불명확이라 defensive parsing.
+                val hex = data.take(kotlin.math.min(data.size, 24)).joinToString(" ") { "%02X".format(it) }
+                debugLogger.rx("rsp", data.size, "IMU data hex=$hex")
+                imuCollector.parseRsp(data)
                 onImuReceived?.invoke(data)
             }
             "rim:" -> {
diff --git a/app/src/main/java/com/example/medilightv2android/ble/ImuPacketCollector.kt b/app/src/main/java/com/example/medilightv2android/ble/ImuPacketCollector.kt
index bc04e99..3e64c11 100644
--- a/app/src/main/java/com/example/medilightv2android/ble/ImuPacketCollector.kt
+++ b/app/src/main/java/com/example/medilightv2android/ble/ImuPacketCollector.kt
@@ -50,6 +50,79 @@ class ImuPacketCollector {
         samples = emptyList()
     }
 
+    /**
+     * rsp: 패킷 처리 — msp 명령 응답.
+     * Format 가정 (firmware spec 미확정 — defensive parsing):
+     *   변형 1 (multi-sample, rim: 와 동일): [tag 4B][num 2B BE][N×12B sample][crc 2B]
+     *   변형 2 (single-sample): [tag 4B][12B sample][crc 2B] = 18B
+     *
+     * 시도 순서: 변형 1 → 실패 시 변형 2 → 둘 다 실패 시 hex log + 무시.
+     */
+    fun parseRsp(data: ByteArray) {
+        if (data.size < 4 + CRC_BYTES) {
+            onLog?.invoke("rsp: too short (${data.size}B)")
+            return
+        }
+        // 변형 1 시도 (rim: 와 동일 format)
+        val num1 = readBe16(data, 4)
+        val expected1 = HEADER_BYTES + num1 * SAMPLE_SIZE_BYTES + CRC_BYTES
+        if (num1 in 1..15 && data.size >= expected1) {
+            parseMultiSample(data, num1)
+            return
+        }
+        // 변형 2 시도 (single sample, 4B tag + 12B sample + 2B crc = 18B)
+        if (data.size >= 18) {
+            val parsed = ArrayList<ImuSample>(1)
+            val off = 4
+            val axRaw = readBe16Signed(data, off)
+            val ayRaw = readBe16Signed(data, off + 2)
+            val azRaw = readBe16Signed(data, off + 4)
+            val gxRaw = readBe16Signed(data, off + 6)
+            val gyRaw = readBe16Signed(data, off + 8)
+            val gzRaw = readBe16Signed(data, off + 10)
+            parsed.add(ImuSample(
+                ax = axRaw / ACCEL_LSB_PER_G,
+                ay = ayRaw / ACCEL_LSB_PER_G,
+                az = azRaw / ACCEL_LSB_PER_G,
+                gx = gxRaw / GYRO_LSB_PER_DPS,
+                gy = gyRaw / GYRO_LSB_PER_DPS,
+                gz = gzRaw / GYRO_LSB_PER_DPS,
+            ))
+            samples = parsed
+            val first = parsed[0]
+            onLog?.invoke("rsp: 1 sample (single fmt, Az=${"%.3f".format(first.az)}g)")
+            onComplete?.invoke(parsed)
+            return
+        }
+        // 둘 다 실패 — hex dump
+        val hex = data.take(kotlin.math.min(data.size, 24)).joinToString(" ") { "%02X".format(it) }
+        onLog?.invoke("rsp: unknown format (${data.size}B) hex=$hex")
+    }
+
+    private fun parseMultiSample(data: ByteArray, numSamples: Int) {
+        val parsed = ArrayList<ImuSample>(numSamples)
+        for (i in 0 until numSamples) {
+            val off = HEADER_BYTES + i * SAMPLE_SIZE_BYTES
+            val axRaw = readBe16Signed(data, off)
+            val ayRaw = readBe16Signed(data, off + 2)
+            val azRaw = readBe16Signed(data, off + 4)
+            val gxRaw = readBe16Signed(data, off + 6)
+            val gyRaw = readBe16Signed(data, off + 8)
+            val gzRaw = readBe16Signed(data, off + 10)
+            parsed.add(ImuSample(
+                ax = axRaw / ACCEL_LSB_PER_G,
+                ay = ayRaw / ACCEL_LSB_PER_G,
+                az = azRaw / ACCEL_LSB_PER_G,
+                gx = gxRaw / GYRO_LSB_PER_DPS,
+                gy = gyRaw / GYRO_LSB_PER_DPS,
+                gz = gzRaw / GYRO_LSB_PER_DPS,
+            ))
+        }
+        samples = parsed
+        onLog?.invoke("rsp: $numSamples samples (multi fmt, last Az=${"%.3f".format(parsed.last().az)}g)")
+        onComplete?.invoke(parsed)
+    }
+
     /** rim: 패킷 한 번 받으면 호출. 188B 전체 ByteArray. */
     fun parseRim(data: ByteArray) {
         if (data.size < HEADER_BYTES + CRC_BYTES) {