I have recently wrote an article "Pentesting with Teensy" for PenTest Magazine that describes how you can emulate a device as a HID (Human Interface Device) and inject attack codes and execute commands in the system.
For those who have not read the article, I have make a short video to demostrate how you can still carry out the USB hacking using Teensy.
Besides using teensy as a pentesting or hacking tool, it can also be useful for auditors to verify system hardening and configuration with system commands pre-set into the device.
More information about my article, refer to my previous post "Pentesting with Teensy".
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