抄録
This paper introduces development of a left hand for a violin-playing robot, which is capable of fingering. The left hand consists of three fingers and each finger has two degrees of freedom driven by D.C. motors and a rack and pinion mechanism. By this mechanism, we realized motions of changing the string, and motions of pushing and releasing. Therefore, by using this hand, the robot can play simple scales or simple music. At present, fingerings of "Mary Had a Little Lam," and "A Twinkle, Twinkle, Little Star" are performed with bowing by human arm. The later have to use two different stings (G and D).
