バイオリン演奏ロボット左ハンドの性能評価

抄録

This report presents the design and software of the left hand for our violin-playing robot, and its experimental results. The hand has four fingers with two active joints actuated by RC servo motors. We redesigned the hand so that it can be placed under the neck of the violin. The distance between the adjacent fingers can be adjusted so that each finger can push the appropriate positions on the strings to produce sounds with the correct pitch. We conducted frequency analysis on the produced sound and confirmed that the hand can produce sounds with the correct pitch. We then investigated the delay time of the finger motion and found that the average delay time is approximately 0.0587 s.