Abstract
The final goal of this study is to build a violin-playing robot and construct a method to express "sensitivity" through performances of the violin. In this paper, we built a new left hand of the violin-playing robot. Our previous left hand had only three fingers, which reduced the number of the patterns of the fingering. Also it was too large to change the left hand position. Therefore, we built a new small left hand with four fingers. Each finger has two D.O.Fs to push and change the strings. Each D.O.F is driven by a servo motor. The mass and the width of the new left hand is 1263g and 94.8mm, which are 8% and 30% less than the previous one, respectively. As a result, it is able to change its position in the fingering area.
