バイオリン演奏ロボットに関する右ハンドの開発

抄録

This paper presents a new right hand for our violin-playing robot, which can hold a bow to adjust the bow force. The hand has five fingers. The thumb and the middle fingers were driven by a DC motor through a cable, which means that both fingers have one DOF. The little finger was driven by two DC motors and can change the distance between the fingertip and the stick of a bow without changing the posture of the fingertip to adjust the bow force. The angle of the bow is calculated based on the designated volume, which determines the height of the little finger. The movement of the right hand and arm must be synchronized. Therefore, a new control program was constructed by adding a right hand control algorithm to the existing program for the right arm.