A Study about Robotic Hand and Finger for Violin Playing Robot

摘要

This paper introduces a violin playing robot that imitates the playing technique of human and development of robotic finger for violin fingering. A bowing velocity, bowing force, and sound point are important factors in determining the sound quality. The robotic hand that is similar to the size of a hand of adult male made a form of Anthropomorphic. So this has a total of 12 degrees of freedom (DoF). A mechanism is based on wire driven. The robotic finger by constructing a 3-axis load cell at the end of finger. Based on the amplified strain gauge value, it was able to apply an appropriate force on the string when playing the violin This paper describes the mechanism of anthropomorphic robotic hand, von Mises stress and strain analysis results of 3-axis load.