122
Biologically Inspired Robotics
c
0.4
Amplitude
0.3
0.2
0.1
0
–0.1
–0.2
–0.3
Left ear data
Right ear data
Standard tone
Motion with PPE
Motion
without
PPE
0
10
20
30
40
50
6 070
80
Time (s)
(c)
d
0
0.02
0.04
0.06
0.08
Amplitude
0
1000
0.4
0
0.2
0.6
500
1500
0
0.5
1
1.5
Frequency (Hz)
(d)
2
2.5
×10
4
FIGURE 6.7 (Continued)
Typical acoustic testing of the robot system: (c) sound wave of the recorded audio, and (d) frequency spectrum analysis of the recorded sound data.
Biologically Inspired Robotics
c
0.4
Amplitude
0.3
0.2
0.1
0
–0.1
–0.2
–0.3
Left ear data
Right ear data
Standard tone
Motion with PPE
Motion
without
PPE
0
10
20
30
40
50
6 070
80
Time (s)
(c)
d
0
0.02
0.04
0.06
0.08
Amplitude
0
1000
0.4
0
0.2
0.6
500
1500
0
0.5
1
1.5
Frequency (Hz)
(d)
2
2.5
×10
4
FIGURE 6.7 (Continued)
Typical acoustic testing of the robot system: (c) sound wave of the recorded audio, and (d) frequency spectrum analysis of the recorded sound data.