2012 年 30 巻 8 号 p. 745-751
In this paper, we propose a wearable sensor system that measures an angle of elbow and tapped position by using bone-conducted sound. A novelty of this paper is to use active sensing for measuring the angle of an elbow. Active sensing means to emit sounds to a bone, and a microphone receives the sounds reflected at the elbow. Our system consists of two microphones and a speaker, and they are attached on forearm. The reflection of sound depends on the angle of elbow. Frequencies of bone-conducted sound by tapping and from the speaker are different. Consequently these measurements can be used simultaneously, even though two sounds share the same bone to transmit. Additionally, we implemented two prototype systems such as master-slave interface and menu-based interface as wearable robot interfaces. We confirmed that the robot could be controlled using proposed system through experiments.