ROBOT HAND FOR PLAYING STRINGED INSTRUMENT AND ROBOT FOR PLAYING STRINGED INSTRUMENT

摘要

PPROBLEM TO BE SOLVED: To provide a robot hand for playing a stringed instrument capable of securing a large amount of vibrato stroke without using an actuator with large output. PSOLUTION: This robot hand for playing a stringed instrument comprises a finger part having a finger part body and a swing link mechanism attached to the finger part body and having a contact for pressing a chord at the end. The finger part is so formed that when the finger part body is moved to press the contact against the chord, the swing link is swung while changing the position thereof relative to the chord. The robot hand also comprises a force imparting means for imparting a force in the direction against the swing of the swing link. Since the finger part body is moved in the direction of pressing the contact against the chord while keeping the contact of the contact with the chord, the swing link is swung, and moved in the longitudinal direction of the chord with the chord pressed by the contact. PCOPYRIGHT: (C)2009,JPO&INPIT