Fundamental Study on Hand Waving Sensors

In order to develop a dynamic man-machine interface which measures angular motions of multi-link mechanisms, a uniaxial hand wave sensor is experimented with and triaxial hand wave sensors are simulated numerically. It was confirmed that a uniaxial hand wave sensor composed of a pair of uniaxially located accelerometers directly obtains exact angular acceleration by subtracting each acceleration signal. A triaxial hand wave sensor by a six (i.e. three pairs) accelerometer method, however, contains duplex angular velocities influenced by other axes in addition to the exact angular acceleration, so it is necessary to separate those physical values by a software algorithm. Adams-Moulton's method for solving differential equations was best suited to solve this nonlinear problem. A nine accelerometer method obtains linear equations for angular accelerations readily after arithmetic calculations of the nine signals.