バイオリン演奏ロボットの開発

―演奏音の再現性向上を目指した右ハンド開発―

抄録

We are developing an anthropomorphic robot that can play the violin that can communicate with humans through its expressive performance. Violin performance can be divided into two tasks: bowing and fingering. This report introduces a new right hand for bowing. Previously, the bow was rigidly fixed to the right hand, which causes the vibration of the bow during the bowing. The vibration alters the bow force, which degrades the quality of the produced sounds. Thus, the new right hand that can reduce the vibration must be developed to produce sounds with good quality. We fabricated a new right hand with a soft material and confirmed that it can reduce the alternation of bow force.