Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids

ROBOMECH Journal

Table 1 Comparison between the developed microphone board and the human ear

	Mic. board	Human ear
Frequency response[Hz]	20 \(\sim \) 20000	20 \(\sim \) 20000
Absolute threshold[\(\mu \)Pa]	13.4	\(\sim \) 20
Acoustic overload point [dBSPL]	132	\(\sim \) 130
Sensitivity[dBA]	− 39 − 37	–
Signal-to-noise ratio [dBA]	67	–