バイオリン演奏ロボットの研究

-左手指によるビブラート音の生成-

抄録

This paper deals with the left hand mechanisms to produce a vibrato sound for our violin-playing robot. First, we analyzed vibrato sound of an amateur violinist and found that 10 dB of volume change with 3 Hz was observed. Then we built two types mechanisms for left hand. One is adopting vibration motor on the tip of the finger, while the other is utilizing crank mechanism to vibrate the fingertip. From the analysis of the sound produced by those fingers, we confirmed that the finger with crank mechanism could produce the similar vibrato sound to human, while the vibration motor's sound volume change is too small to make the impression of a vibrato sound.