{"title":"以小提琴指法为重点的机器人手的开发","authors":"Eunha Moon, Hyeonjun Park, Donghan Kim","doi":"10.1109/IRC.2018.00072","DOIUrl":null,"url":null,"abstract":"In this paper introduces robot hand which can freely perform violin fingering. The proposed robot hand consists of an index, middle, ring, and little finger, and the servo motor is placed in the palm so that each finger is driven independently. At this time, the thumb finger is fixed at a certain angle to support the violin neck. In the case of a wrist, it is 1 degree of freedom (DoF) to reach each string (E, A, D, G) for violin fingering. And each index, middle, ring, and little fingers have a force sensor in the fingertip. The four strings of the violin are composed of E, A, D, and G strings, and each string can have 28 notes in seven positions. In order to verify that the developed robot hand presses the four strings, the experiment was carried out by attaching it to the actual robot arm. As a result, the A-string of Bb-B-C-C #-D-Eb-E, are pressed in sequence, the D-string, D # -E-F-F # -G-G # -A, are pressed in sequence, the G-string G#-A-Bb-B-C-C#-D, are pressed in sequence.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"27 4","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Development of Robot Hand Focused on Violin Fingering\",\"authors\":\"Eunha Moon, Hyeonjun Park, Donghan Kim\",\"doi\":\"10.1109/IRC.2018.00072\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper introduces robot hand which can freely perform violin fingering. The proposed robot hand consists of an index, middle, ring, and little finger, and the servo motor is placed in the palm so that each finger is driven independently. At this time, the thumb finger is fixed at a certain angle to support the violin neck. In the case of a wrist, it is 1 degree of freedom (DoF) to reach each string (E, A, D, G) for violin fingering. And each index, middle, ring, and little fingers have a force sensor in the fingertip. The four strings of the violin are composed of E, A, D, and G strings, and each string can have 28 notes in seven positions. In order to verify that the developed robot hand presses the four strings, the experiment was carried out by attaching it to the actual robot arm. As a result, the A-string of Bb-B-C-C #-D-Eb-E, are pressed in sequence, the D-string, D # -E-F-F # -G-G # -A, are pressed in sequence, the G-string G#-A-Bb-B-C-C#-D, are pressed in sequence.\",\"PeriodicalId\":416113,\"journal\":{\"name\":\"2018 Second IEEE International Conference on Robotic Computing (IRC)\",\"volume\":\"27 4\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 Second IEEE International Conference on Robotic Computing (IRC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IRC.2018.00072\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 Second IEEE International Conference on Robotic Computing (IRC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IRC.2018.00072","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
摘要
本文介绍了一种可以自由演奏小提琴指法的机械手。所提出的机械手由食指、中指、无名指和小指组成,伺服电机放置在手掌中,使每个手指独立驱动。此时,拇指手指固定在一定角度以支撑琴颈。在手腕的情况下,它是1个自由度(DoF),以达到每一个弦(E, a, D, G)小提琴指法。每个食指、中指、无名指和小指的指尖上都有一个力传感器。小提琴的四根弦由E、A、D、G弦组成,每根弦在7个位置上可以有28个音符。为了验证所研制的机械手对四根弦的按压效果,将其与实际的机械手臂相连,进行了实验。结果,b- b- c - c# -D- eb - e的a弦依次被按下,D弦D -E-F-F -G-G -A依次被按下,G弦G -A- bb - b- c - c# -D依次被按下。
Development of Robot Hand Focused on Violin Fingering
In this paper introduces robot hand which can freely perform violin fingering. The proposed robot hand consists of an index, middle, ring, and little finger, and the servo motor is placed in the palm so that each finger is driven independently. At this time, the thumb finger is fixed at a certain angle to support the violin neck. In the case of a wrist, it is 1 degree of freedom (DoF) to reach each string (E, A, D, G) for violin fingering. And each index, middle, ring, and little fingers have a force sensor in the fingertip. The four strings of the violin are composed of E, A, D, and G strings, and each string can have 28 notes in seven positions. In order to verify that the developed robot hand presses the four strings, the experiment was carried out by attaching it to the actual robot arm. As a result, the A-string of Bb-B-C-C #-D-Eb-E, are pressed in sequence, the D-string, D # -E-F-F # -G-G # -A, are pressed in sequence, the G-string G#-A-Bb-B-C-C#-D, are pressed in sequence.