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This paper reports on the types and magnitudes of localization errors of simulated binaural direction cues generated using non-individualized, head-related transfer functions (HRTFs) with different levels of complexity. Four levels of complexity, as represented by the number of non-zero coefficients of the associated HRTF filters (128, 64, 32, 18 non-zero(More)
Individualised head-related transfer functions (HRTFs) have been shown to accurately simulate forward and backward directional sounds. This study explores directional simulation for non-individualised HRTFs by determining orthogonal HRTFs for listeners to choose between. Using spectral features previously shown to aid forward-backward differentiation, 196(More)
The human binaural system has a number of astonishing capabilities that are essential for the formation of our aural worlds. To mimic these, signal-processing models of the binaural system have been built and are constantly improved. In the following, the current state of the art of these models will be reviewed and their potential with respect to practical(More)
This paper presents a mobile assistive robot that may be controlled by a mobility disabled user to perform a variety of tasks. Recent research in manipulation-based assistive robotics tends to focus on creating an autonomous robotic assistant. In contrast, our approach allows the user to manually control the robot assistant while providing guidance to the(More)