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Robot Artificial Ear
Sound source localization is one of the important techniques used for Human-Robot Interaction (HRI). Robot industry is demanding some specific type of auditory system using artificial ear shaped after human external ear for more natural HRI. We think that the more natural HRI is obtainable as robot auditory system is getting more similar with human.
The proposed robot artificial ear's configuration
The robot auditory system's configuration
- To mimic simply human¡¯s external ear and ear canals.

Robot Artificial Ear1.bmp

The Inter-channel Transfer Function (IcTF)
The outputs measured by two microphones at each side of spherical head are used for estimating sound source direction. Inter-channel Transfer Function (IcTF)¡¯s magnitude and phase response is used for eliminating cone of confusion and estimating direction of sound source. Microphone¡¯s positions are chosen according to estimation performance that robot industry¡¯s demanding.

- Inter-channel Level Difference (ILD) for cone of confusion elimination
- Group delay of phase response for estimation of sound source direction.
- Cleansing method for elimination reflected wave and other noise signal, etc

Robot Artificial Ear2.bmp

Localization performance
This shows localization performance for the speech sources of two frequently used Korean greetings in social life.

Voice signal 1. ANG NYEONG HA SE YO, Voice signal 2. BANG GAP SEUP NI DA [8]

Robot Artificial Ear3.bmpf