音波発生機構を用いた一軸インタラクション取得手法に関する一検討

We propose a mechanism and analysis method for recognizing interactions via passive acoustic sensing. This mechanism consists of two tines and two rows of protrusions. It estimates the direction and displacement of relative object movement by acquiring acoustic vibrations using piezoelectric elements. The protrusions are arranged at equal intervals with a phase difference between rows. Movement is estimated by analyzing the acoustic vibrations generated when the claws contact the protrusions during object movement, utilizing frequency differences. Evaluation experiments measured motion detection accuracy as a function of the spacing and phase difference between the protrusion rows arranged along an arc. Results confirmed that rotation at 4.5 rad/sec can be detected in 5° increments, and rotation at 8.6 rad/sec can be detected at 7° intervals.