JP2009101453A - Stringed instrument playing system and stringed instrument playing robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a manipulator for an stringed instrument capable of simply playing a vibrato playing style, and a stringed instrument playing robot using the manipulator for a stringed instrument. <P>SOLUTION: A stringed instrument playing system as one embodiment has a stringed instrument and a stringed instrument playing robot for playing the stringed instrument. The stringed instrument playing robot 100 includes a left-hand section 11 having a finger section for pushing a string 51 onto a finger plate 52, a left-hand actuator 13 for changing a distance between the finger plate 52 and a finger section 40 so as to push a string 51 to the finger plate 52, and an arm actuator 17 for changing a pushing position of the string by moving a left-hand section 11. A bowstring-side side surface of the finger plate 52 has a side shape of a cylinder, and the arm actuator 17 moves the left-hand section 11 in parallel with a center axis 57 of the cylinder. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a stringed instrument playing system for playing stringed instruments and a stringed instrument playing robot.

Traditionally, robots that play musical instruments have been active at the theme park attractions. For example, a robot for playing a wind instrument such as a trumpet is disclosed (see Patent Document 1). In this robot, an artificial finger for pushing down the piston is provided for each piston. Also, a robot that plays a violin has been developed (Non-Patent Documents 1 and 2)
JP 2004-314187 A Ryukoku University Homepage Graduate School of Science and Engineering Department of Mechanical Systems Engineering Shimojo / Akira Laboratory "Search October 16, 2007" Internet <URL: http://mec3342.mecsys.ryukoku.ac.jp/sibuya/jindex.html > The University of Electro-Communications Homepage Department of Intelligent Mechanical Engineering Shibuya Laboratory [October 16, 2007 search] Internet <URL: http://www.rm.mce.uec.ac.jp/research/mubot/ mubot_index.html>

  When playing the violin, press the strings against the fingerboard to adjust the scale. In a performance robot, positioning with three degrees of freedom is required to press a string with a fingertip. For example, as shown in FIG. 11, with reference to the violin neck, (1) parallel movement in the neck axis (long axis) direction, (2) rotational movement with respect to the neck axis, (3) in a direction perpendicular to the neck axis A method of disassembling and operating is generally used. The driving in (1) is performed to adjust the scale, the driving in (2) is performed to move to another string, and the driving in (3) is performed to switch between pressing and releasing the string.

  In the robot of Non-Patent Document 1, the left hand for fingering is fixed with respect to the musical instrument and is played by moving the finger only in the direction perpendicular to the neck axis. Moreover, in the robot of nonpatent literature 2, the left hand moves along a parallel rail and has the rotation part applicable to a wrist. The fingertip is driven on a force control base for the movement perpendicular to the neck axis.

  The neck and fingerboard of the violin have complicated shapes, and there are differences in height depending on the position of each scale. That is, the moving distance in the direction perpendicular to the neck axis differs depending on the position of the scale. Therefore, as shown in FIG. 11, since the movement of the left hand portion 11 is decomposed into a parallel motion with respect to the neck axis and a rotational motion, it is necessary to absorb the height difference in the axis vertical direction. Motion control cannot be based on position control, but must be based on force control. Since control of the finger part 40 in the direction perpendicular to the neck axis is based on force control, there is a problem that fine timing control is difficult. In particular, when moving to another string, it is difficult to optimally plan the route, and it is not possible to play quickly. For this reason, there is a problem that it is difficult to control the fine timing and release timing.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a stringed instrument playing system capable of pressing a string against a fingerboard with a simple control, and a manipulator for a stringed instrument. For the purpose.

  A stringed instrument performance system according to a first aspect of the present invention is a stringed instrument performance system including a stringed instrument and a stringed instrument performance robot for performing the stringed instrument, wherein the stringed instrument performance robot places a string on the fingerboard of the stringed instrument. A robot hand having a finger portion to be pressed, a first actuator for changing a distance between the finger plate and the finger portion so as to press the string against the finger plate, and moving the robot hand to A second actuator for changing the pressing position of the fingerboard, and the chordal side surface of the fingerboard has a cylindrical side surface shape, and the second actuator moves the robot hand parallel to the central axis of the cylinder It is something to be made. Thereby, even if the robot hand is moved to change the scale, the distance from the finger part to the fingerboard does not change, and therefore it can be easily controlled.

  A stringed instrument playing system according to a second aspect of the present invention is the above-described stringed instrument playing system, wherein a linear guide for moving the robot hand along the central axis of the cylinder is provided between the robot hand and the stringed instrument. It is provided in between. Thereby, the robot hand can be moved with high accuracy.

  A stringed instrument performance system according to a third aspect of the present invention is the stringed instrument performance system described above, wherein the second actuator drives the robot hand with the central axis of the cylinder as a rotation axis. Thereby, even if the robot hand is moved to move to another string, the distance from the finger portion to the fingerboard does not change, and therefore it can be easily controlled.

  A stringed instrument performance system according to a fourth aspect of the present invention is the above-described stringed instrument performance system, wherein a bearing for rotating the robot hand about the central axis of the cylinder is a gap between the robot hand and the stringed instrument. Is provided. Thereby, the robot hand can be moved with high accuracy.

  A stringed instrument performance system according to a fifth aspect of the present invention is the above-described stringed instrument performance system, which includes a stringed instrument and a stringed instrument performance robot that plays the stringed instrument, wherein the stringed instrument performance robot includes the stringed instrument performance robot, A robot hand having a finger that presses a string against a fingerboard of a stringed instrument; a first actuator that changes a distance between the fingerboard and the finger so as to press the string against the fingerboard; A second actuator that moves the robot hand to change the pressing position of the string, the string side surface of the fingerboard has a cylindrical side surface shape, and the second actuator includes the robot hand. Are driven to rotate around the central axis of the cylinder. Thereby, even if the robot hand is moved to move to another string, the distance from the finger portion to the fingerboard does not change, and therefore it can be easily controlled.

  A stringed instrument performance system according to a sixth aspect of the present invention is the above-described stringed instrument performance system, wherein the first actuator is driven by position control. Thereby, control becomes easy and a fine operation | movement can be performed accurately.

  A stringed instrument playing robot according to a seventh aspect of the present invention includes a robot hand having a finger portion that presses a string against a fingerboard of a stringed instrument, the fingerboard and the fingerboard so as to press the string against the fingerboard. A first actuator for changing a distance from a finger part; a second actuator for moving the robot hand to change a string pressing position; and a linear guide provided in the robot hand. It is. Thereby, even if the robot hand is moved to change the scale, the distance from the finger part to the fingerboard does not change, and therefore it can be easily controlled.

  A stringed instrument playing robot according to an eighth aspect of the present invention is provided with the robot hand, further including a bearing that pivotally supports the linear guide, and the robot hand rotates around the axis of the bearing. is there. Thereby, even if the robot hand is moved to move to another string, the distance from the finger portion to the fingerboard does not change, and therefore it can be easily controlled.

  A stringed instrument playing robot according to a ninth aspect of the present invention drives the first actuator by position control. Thereby, control becomes easy and a fine operation | movement can be performed accurately.

  According to the present invention, it is possible to provide a stringed instrument playing system and a stringed instrument playing robot capable of pressing a string against a fingerboard with simple control.

  The system for stringed instruments according to the present embodiment includes a stringed instrument and a stringed instrument performance manipulator that plays the stringed instrument. Then, the string instrument playing manipulator changes the distance between the finger board and the finger part so as to press the string against the finger board and the robot hand having the finger part pressing the string against the finger board of the string instrument. 1 actuator, and a second actuator that moves the robot hand to change the string pressing position. Furthermore, the string side surface of the fingerboard has a cylindrical side surface shape, and the second actuator moves the robot hand along the central axis of the cylinder.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In the drawings, the same elements are denoted by the same reference numerals, and redundant description will be omitted as necessary for the sake of clarity.

  A stringed instrument playing robot according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram showing a schematic configuration of a stringed instrument playing robot 100 according to the present embodiment. The stringed instrument playing robot 100 includes a body unit 10, a left hand unit 11, a right hand unit 12, a left hand actuator 13, a right hand actuator 14, a left arm unit 15, a right arm unit 16, an arm actuator 17, a sensor 18, and a control unit 19. ing. The stringed musical instrument playing robot 100 may be, for example, a humanoid humanoid robot having a head and legs not shown. The stringed instrument playing robot 100 drives the violin 50 by driving both arms and both hands. The violin 50 is not limited to a normal violin but may be an electronic violin. The stringed instrument playing robot 100 and the violin 50 constitute a stringed instrument playing system.

  A left arm portion 15 and a right arm portion 16 are connected to the body portion 10. The left arm portion 15 and the right arm portion 16 are, for example, robot arms having 6 degrees of freedom or 7 degrees of freedom. The left arm part 15 and the right arm part 16 are attached to the body part 10 via shoulder joints. The left arm portion 15 and the right arm portion 16 are provided with elbow joints. The elbow joint connects the upper arm and the forearm of the left arm portion 15 and the right arm portion 16. The left hand portion 11 is connected to the tip of the left arm portion 15, and the right hand portion 12 is connected to the tip of the right arm portion 16. The left hand part 11 and the right hand part 12 are respectively connected to the left arm part 15 and the right arm part 16 via a wrist joint.

  Further, the body part 10 is provided with an arm actuator 17 that drives each joint of the left arm part 15 and the right arm part 16. The arm actuator 17 drives the elbow joint, shoulder joint, and wrist joint. For example, a solenoid or a motor can be used as the arm actuator 17. Here, a servo motor is used as the arm actuator 17. The place where the arm actuator 17 is disposed is not limited to the body portion 10 and may be in the vicinity of each joint. Of course, the number of arm actuators 17 corresponding to the number of degrees of freedom is provided.

  The left hand part 11 and the right hand part 12 are robot hands having a plurality of fingers. For example, each of the left hand part 11 and the right hand part 12 has five fingers, similar to a human hand. The left hand portion 11 is provided with a left hand actuator 13 for driving a finger joint provided on the five fingers. Similarly, the right hand unit 12 is provided with a right hand actuator 14 for driving the finger joints provided on the five fingers. In addition, the finger joint of one finger should just be 1 or more. For example, the left-hand actuator 13 is accommodated in the palm of the left hand portion 11, and the right-hand actuator 14 is accommodated in the palm of the right hand portion 12. The left hand actuator 13 drives the finger joint of the left hand portion 11, and the right hand actuator 14 drives the finger joint of the right hand portion 12. As the left-hand actuator 13 and the right-hand actuator 14, for example, a solenoid or a motor can be used. Here, servo motors are used as the left-hand actuator 13 and the right-hand actuator 14.

  The arm actuator 17, the left-hand actuator 13, and the right-hand actuator 14 have a number of motors or the like corresponding to the degree of freedom. For example, when the left arm portion 15 and the right arm portion 16 are robot arms having 6 degrees of freedom, each arm is provided with six motors. Further, both arms and joints of both hands may be provided with gears, belts, pulleys, etc. for transmitting the power of the servo motor.

  The left hand portion 11 and the right hand portion 12 constitute a stringed instrument playing manipulator that plays the violin 50. The left hand portion 11 holds the fingerboard 52 portion of the violin 50. That is, the left hand portion 11 holds the neck portion of the violin 50 and lifts the violin 50. The body of the violin 50 is held by the body portion 10. For example, like a human being, a chin rest of a violin is sandwiched between a jaw part and a shoulder part of the head. Thereby, the violin 50 can be hold | maintained stably. Of course, you may hold | maintain the violin 50 by methods other than the above. For example, the stringed instrument playing robot 100 may be provided with a violin holding mechanism.

  The right hand unit 12 holds a bow 53 used for playing the violin 50. That is, the bow 53 is operated with the right hand portion 12. The arm actuator 17 is driven in a state where the right hand portion 12 grips the bow 53. As a result, the joint of the right arm portion 16 is driven, and the reciprocation of the bow 53 for playing a sound is performed. The violin 50 is provided with four strings 51. The tip of the finger of the left hand portion 11 presses each string 51 against the finger plate 52. For example, four strings 51 are pressed by the index finger, middle finger, ring finger, and thumb, respectively. Thereby, the length of the vibration part of the string 51 changes and the pitch can be adjusted. In a state where the string 51 is pressed against the fingerboard 52 by the left hand part 11, the right hand part 12 vibrates the string 51 by the bow 53. Specifically, the bow 53 is moved in a direction inclined from the string direction in a state where the right hand portion 12 makes the hair of the bow 53 contact the string 51. For example, the right hand 12 holding the bow 53 is driven in the direction of the arrow in FIG. The string 51 and the bow 53 are rubbed, and the string 51 vibrates. Thereby, the sound of the scale according to the length of the vibration part of the string 51 is played.

  The body unit 10 is provided with a control unit 19 for controlling the driving of each joint. The control unit 19 controls driving of the arm actuator 17, the left hand actuator 13, and the right hand actuator 14. The control unit 19 performs feedback control according to the output from the sensor 18 such as an encoder, for example. The control by the control unit 19 can use a known control method. Thereby, the right hand part 12 and the left hand part 11 can drive as mentioned above, and can play a sound.

  Here, the control unit 19 will be described in detail. The control unit 19 includes a CPU (Central Processing Unit) that is an arithmetic processing unit, a ROM (Read Only Memory) and a RAM (Random Access Memory) that are storage areas, a communication interface, and the like, and performs various operations of the robot 100. Control. For example, the ROM stores a control program for control, various setting data, and the like. Then, the CPU reads the control program stored in the ROM and develops it in the RAM. Then, the program is executed in accordance with the setting data and the output from the sensor or the like.

  The control unit 19 controls driving of the arm actuator 17, the left hand actuator 13, and the right hand actuator 14 in accordance with the music to be played. For example, the pattern of the pressing position is generated according to the performance music. And the left hand part 11 is moved based on the pattern of a pressing position. As a result, the pressing position changes to a predetermined position at a predetermined timing. Further, a timing pattern for moving the bow 53 is generated in accordance with the performance music. Then, the reciprocating motion of the bow 53 is controlled according to this timing pattern. Thereby, a predetermined pitch is played at a predetermined timing and can be played. In the present embodiment, the performance performed by the stringed instrument performance robot 100 is not limited to the performance of a complete piece of music, as long as at least one scale sound can be played. The operation of the bow 53 may be performed by a physically different robot or a human.

  Next, the structure of the fingerboard 52 and the left hand part 11, which are characteristic parts of the robot performance system according to the present embodiment, will be described with reference to FIGS. FIG. 2 is a diagram illustrating the configuration of the fingerboard 52. FIG. 3 is a side view showing the configuration of the violin 50 to which the fingerboard 52 is attached. FIG. 4 is a diagram illustrating a configuration of the left hand unit 11 that holds the violin 50.

  First, the shape of the fingerboard 52 will be described. As shown in FIG. 2, the fingerboard 52 has a shape cut out from the cylinder 56. That is, in FIG. 2, the finger plate 52 is formed by cutting the cylinder 56 with a solid line intersecting within the cylinder 56. Therefore, the side surface of the finger plate 52 has a side surface shape of the cylinder 56. That is, the cylinder 56 is cut so that the surface of the finger plate 52 is formed on the cylindrical side surface. Further, the thickness of the finger plate 52 changes according to the axial position of the cylinder 56.

  Of course, as long as the surface of the finger plate 52 is formed of a cylindrical side surface, the cylindrical block may not actually be cut. In other words, the finger plate 52 may be processed so as to be formed on the cylindrical side surface. Further, the surface of the finger plate 52 does not have to be the exact side surface of the cylinder 56, and only the portion where the chord 51 is pressed needs to coincide with the side surface of the cylinder 56.

  As shown in FIG. 3, the fingerboard 52 is fixed to the neck 54 of the violin 50. Here, it arrange | positions so that the side surface of the fingerboard 52 used as the side surface shape of the cylinder 56 may become the string side. That is, the surface with which the string 51 abuts has a cylindrical side shape. Therefore, the cut surface of the cylinder 56 is disposed on the neck side. In addition, the fingerboard 52 becomes higher toward the violin 50 piece.

  As shown in FIG. 4, the violin 50 to which the fingerboard 52 is attached is held by the left hand portion 11. The strings can be pressed against the fingerboard 52 by driving the finger portions 40. That is, the finger part 40 is driven by the left-hand actuator 13 shown in FIG. As a result, the finger part 40 approaches the fingerboard 52 and the string 51 is pressed against the fingerboard 52. On the contrary, by pressing the finger part 40 away from the finger plate 52, the pressing of the string 51 can be released. Further, by driving the arm actuator 17, the string pressing position can be changed. That is, the position of the left hand part 11 with respect to the violin 50 is changed by driving the elbow joint and the shoulder joint.

  Here, as shown in FIG. 11, the string pressing operation is broken down into three directions of motion. Parallel movement parallel to the neck axis and rotational movement relative to the neck axis are performed by the arm actuator 17. The vertical movement perpendicular to the neck axis is performed by the left-hand actuator 13.

  As shown in FIG. 4, the left hand portion 11 is rotationally driven in the direction of arrow A by the arm actuator 17. Thereby, the string 51 to be pressed against the fingerboard 52 can be selected, and the pressing position can be moved to another string. That is, when rotated in the A direction, the pressing position of each finger changes in a direction perpendicular to the string 51 on the surface of the finger plate 52. Therefore, the string 51 pressed against the fingerboard 52 changes. Here, the rotational center of the rotational drive is made to coincide with the central axis 57 of the cylinder constituting the finger plate 52. As a result, the left hand portion 11 rotates along the surface of the fingerboard 52. Therefore, even if the left hand portion 11 is rotationally driven, the distance from the tip of the finger portion 40 to the surface of the finger plate 52 does not change. That is, even when the string to be pressed is changed, the distance for driving the finger portion 40 for the pressing operation does not change. For this reason, the finger part 40 can be driven by position control. That is, by controlling the position of the left-hand actuator 13, the finger part 40 moves to the pressing position. Thereby, it is possible to control accurately and fine control is possible.

  Furthermore, the left hand portion 11 is linearly driven in the direction of arrow B by the arm actuator 17. Thereby, the pressing position with respect to the same string changes, and the scale can be adjusted. That is, when the left hand portion 11 is slid in the B direction, the pressing position of each finger changes in a direction parallel to the string. Therefore, the pressing position of each string can be moved to change the scale. Further, here, the drive shaft for linear drive is made parallel to the central axis 57 of the cylinder. As a result, the left hand portion 11 slides along the surface of the fingerboard 52. Therefore, even if the left hand portion 11 is linearly driven, the distance from the tip of the finger portion 40 to the surface of the finger plate 52 does not change. That is, even when the left hand portion 11 is slid to change the scale, the distance for driving the finger portion 40 for the pressing operation does not change. Since the vertical driving distance of the finger part 40 does not change depending on the pressing position, the finger part 40 can be driven by position control. That is, by controlling the position of the left-hand actuator 13, the finger joint rotates and the tip of the finger portion 40 moves to the pressing position. As a result, it is possible to control with high accuracy and fine control is possible.

  The central axis 57 of the cylinder 56 is a central axis when the cylinder 56 before cutting the finger plate 52 as shown in FIG. 2 is virtually arranged along the neck 54 of the violin 50. Of course, the side surface of the virtually arranged cylinder 56 coincides with the string side surface of the fingerboard 52 actually arranged.

  In this way, the surface of the fingerboard 52 is the side surface shape of the cylinder 56. Then, the left hand portion 11 is driven by a drive shaft that coincides with the central axis 57 of the cylinder 56. That is, the slide axis when sliding is made parallel to the central axis 57 of the cylinder 56. Further, the rotation axis when rotating is made to coincide with the central axis 57 of the cylinder 56. By doing so, the height to the surface of the finger plate 52 is constant regardless of the pressing position. Even when the left hand portion 11 is moved relative to the finger plate 52 by driving the arm actuator 17, the vertical distance to the surface of the finger plate 52 can be made constant. That is, at any position on the finger plate 52, the finger portion 40 contacts the finger plate 52 when the finger portion 40 is brought closer to the finger plate 52 by a certain distance. Therefore, the left-hand actuator 13 can be driven by position control. Thereby, since it is possible to control the position of all three axes, it is possible to easily perform an optimum route plan.

  Next, the structure of the fingerboard 52 and the left hand part 11 is demonstrated in detail using FIG.5 and FIG.6. FIG. 5 is a perspective view showing the entire configuration in which the left hand unit 11 holds the violin 50. FIG. 6 is an enlarged perspective view showing the configurations of the neck 54 and the left hand portion 11 of the violin 50. 5 and 6, the five fingers provided on the left hand portion 11 are shown as a thumb 41, an index finger 42, a middle finger 43, a ring finger 44, and a little finger 45. That is, the five finger portions 40 are distinguished as a thumb 41, an index finger 42, a middle finger 43, a ring finger 44, and a little finger 45. Of course, the number of finger portions 40 may be 4 or less, or 6 or more.

  As shown in FIGS. 5 and 6, the neck 54 of the violin 50 is held by the left hand portion 11. Specifically, the palm portion of the left hand portion 11 is disposed on the side opposite to the finger plate 52 of the neck 54. That is, the neck 54 is disposed above the palm of the left hand portion 11. The index finger 42, the middle finger 43, the ring finger 44, and the little finger 45 are arranged on one side of the neck 54, and the thumb 41 is arranged on the other side of the neck 54. And the violin 50 is hold | maintained so that the neck 54 may be pinched with five fingers in the state which mounted the violin 50 in the palm part.

  Furthermore, as shown in FIG. 6, a linear guide 60 is provided between the violin 50 and the left hand portion 11. The moving direction of the left hand part 11 with respect to the violin 50 is guided by the linear guide 60. The linear guide 60 restricts the moving direction of the left hand part 11 relative to the violin 50. The violin 50 and the left hand part 11 move relative to each other along the direction in which the linear guide 60 is provided. Therefore, the left hand portion 11 translates along the fingerboard 52 of the violin 50. That is, the left hand part 11 goes straight in a direction parallel to the central axis of the cylinder constituting the fingerboard 52. The center axis of the cylinder is a center axis when the cylinder 56 before cutting the finger plate 52 as shown in FIG. 2 is virtually arranged along the neck 54 of the violin 50. Of course, the side surface of the virtually arranged cylinder coincides with the string side surface of the finger plate 52.

  Here, the configuration of the linear guide 60 and its periphery will be described with reference to FIGS. FIG. 7 is a perspective view showing the configuration of the linear guide 60 and its periphery, and shows a state where the violin 50 of FIG. 6 is removed. FIG. 8 is an exploded perspective view showing the configuration of the left hand portion 11. FIG. 9 is a view of the left hand portion 11 that holds the violin 50 as viewed from the neck 54 side. FIG. 10 is a view of the left hand portion 11 that holds the violin 50 as viewed from the side of the violin 50. In FIG. 7, finger joints that drive the index finger 42, the middle finger 43, the ring finger 44, and the little finger 45 are shown as a finger joint 42a, a finger joint 43a, a finger joint 44a, and a finger joint 45a, respectively.

  As shown in FIGS. 7 and 8, the linear guide 60 includes a moving block 61 and a guide rail 62. As shown in FIG. 10, the guide rail 62 of the linear guide 60 is attached to the violin 50, and the moving block 61 of the linear guide 60 is attached to the robot hand 11. For example, the guide rail 62 is fixed to the back side of the neck 54, that is, the side opposite to the finger plate 52. The moving block 61 is attached to the root portion of the thumb 41 of the left hand portion 11. The moving block 61 moves along the longitudinal direction of the guide rail 62. The longitudinal direction of the guide rail 62 is arranged along the neck 54 direction. That is, the longitudinal direction of the guide rail 62 is parallel to the central axis of the cylinder constituting the finger plate 52. The moving block 61 is slidably fitted to and supported by the guide rail 62. Accordingly, the moving block 61 is guided by the guide rail 62, and the left hand portion 11 on which the moving block 61 is provided moves along the guide rail 62. That is, the left hand portion 11 moves in the direction of arrow B in FIG.

  More specifically, as shown in FIG. 8, the rectangular parallelepiped guide rail 62 is formed with a convex portion 62a and a convex portion 62b. The convex part 62 a and the convex part 62 b are provided on different side surfaces of the guide rail 62. Each of the convex portion 62 a and the convex portion 62 b is formed along the longitudinal direction of the guide rail 62. In the moving block 61, a groove 61a and a groove 61b are formed. The moving block 61 is shorter than the guide rail 62 in the longitudinal direction of the guide rail 62. The convex portion 62a is fitted and inserted into the groove 61a, and the convex portion 62b is fitted and inserted into the groove 61b. Therefore, the convex part 62a moves in the groove 61a, and the convex part 62b moves in the groove 61b. Thereby, the guide rail 62 supports the moving block 61 so that sliding is possible.

  The back surface of the neck 54 is opposed to the upper surface of the guide rail 62, and the guide rail 62 is fixed to the neck 54. That is, the neck 54 is placed and fixed on the surface of the guide rail 62 opposite to the surface on which the convex portion 62a is provided. By doing in this way, the moving direction of the left hand part 11 to which the moving block 61 is attached can be made parallel to the central axis of the cylinder of the finger plate 52. Here, by driving the arm actuator 17, the left hand portion 11 moves straight in the direction of arrow B in FIG. Thus, by providing the linear guide 60, the moving direction of the left hand part 11 with respect to the violin 50 is regulated in a direction parallel to the rotation axis. By providing the linear guide 60, the position of the slide shaft relative to the violin 50 is determined, so that the slide shaft can be reliably made parallel to the central axis of the cylinder.

  Furthermore, as shown in FIGS. 7 and 8, the left hand portion 11 is provided with a bearing 66. The bearing 66 is a rotary bearing attached to the palm side of the left hand portion 11. A bearing 66 pivotally supports a shaft 65 provided on the moving block 61. That is, the shaft 65 is inserted into the bearing 66. Accordingly, the bearing 66 rotates with the shaft 65 of the moving block 61 as the rotation axis. The bearing 66 is a ball bearing or the like, and mechanically restrains driving of the left hand portion 11. Accordingly, when the arm actuator 17 is driven, the left hand portion 11 of FIG. 9 rotates along the arrow A with the shaft 65 of the bearing 66 as the rotation center. Therefore, the center position of the rotational movement of the left hand part 11 can be specified. By providing the bearing 66, the position of the rotating shaft with respect to the violin 50 is determined. The center of rotation can be surely aligned with the central axis of the cylinder.

  As described above, the linear guide 60 is provided between the left hand portion 11 and the violin 50. Further, the linear guide 60 is attached to the left hand portion 11 via a bearing 66. That is, the bearing 66 is disposed between the linear guide 60 and the left hand portion 11. By the linear guide 60 and the bearing 66, the movement of the left hand portion 11 with respect to the violin 50 is mechanically restricted. Thereby, the movement accuracy of the left hand part 11 with respect to the violin 50 can be improved. That is, the movement of the left hand part 11 with respect to the violin 50 can be controlled with high positional accuracy. For example, even if a position error occurs due to the movement of the arm actuator 17, the position error is absorbed by the movement of the violin 50. Specifically, even when a position error of the arm actuator 17 occurs, the violin itself moves so as to absorb the position error. Therefore, the position of the shaft with respect to the violin 50 in the sliding direction and the rotating direction of the left hand portion 11 remains unchanged. Therefore, the left hand part 11 moves along the surface of the fingerboard 52.

  In the present embodiment, the surface of the fingerboard 52 has a cylindrical side shape. Therefore, when the hand motion is decomposed into a parallel motion and a rotational motion with respect to the neck axis, the height difference in the axis vertical direction can be absorbed. Therefore, the finger part 40 moving perpendicularly to the neck axis can be driven by position control. That is, it is only necessary to drive each finger joint by giving the rotation angle of the motor as a command value to the motor of the left-hand actuator 13. Since the finger part 40 is driven by position control, the timing at which the string 51 is pressed and the timing at which it is released can be finely controlled. In addition, the pressing position of the string 51 can be controlled with high accuracy. In particular, when moving to a different string, the optimum route planning can be easily performed, and quick performance becomes possible. Thus, by performing position control, control can be easily performed and an accurate performance can be performed. The linear guide 60 and the bearing 66 may be hidden by the thumb 41.

  In the above description, the linear guide 60 and the bearing 66 are provided to position the drive shaft with respect to the violin 50. However, the position of the drive shaft may be controlled by controlling the arm actuator 17. In other words, the movement direction of the left hand portion 11 relative to the violin 50 may be controlled by driving a plurality of joints of the left arm. In this case, the linear guide 60 and the bearing 66 are unnecessary.

  Further, a vibrato mechanism that operates by position control may be provided at the tip of the finger part 40. For example, an elastic body such as a spring is provided at the tip of the finger 40. Then, the tip of the finger part 40 is pressed against the finger plate 52 using the elastic force of the elastic body. Further, the shape of the pressing member that presses the string is flattened and attached to the finger portion 40 so as to be rotatable. In a state where the pressing member is in contact with the finger plate 52, the elastic body expands and contracts according to the vertical position of the finger 40, and the pressing position changes in the chord direction. That is, the pressing position changes depending on the height from the fingerboard 52 at the tip of the finger. In such a case, it is possible to control with high accuracy by driving the finger part 40 by position control. Therefore, the vibrato performance can be performed accurately and easily.

  In the above example, a stringed instrument playing system for playing a violin has been described. However, another stringed instrument may be played. For example, it can be performed on bowed instruments such as viola, cello, contrabass, and wood bass.

It is a block diagram which shows the structure of the stringed instrument performance system which concerns on this Embodiment. It is a figure which shows the structure of the fingerboard of the violin used for the stringed instrument performance system concerning this Embodiment. It is a side view which shows the structure of the violin to which the fingerboard of FIG. 1 was attached. It is a figure which shows the structure of the left-hand part which hold | gripped the violin in the stringed instrument performance system which concerns on this Embodiment. It is a perspective view which shows the whole structure in which the left hand part is holding the violin. It is a perspective view which expands and shows the structure of FIG. It is a perspective view which shows the structure of a linear guide and its periphery. It is a disassembled perspective view which shows the structure of a left hand part. It is the figure which looked at the left hand part holding a violin from the neck side. It is the figure which looked at the left-hand part which holds a violin from the side of the violin. It is a perspective view explaining the exercise | movement when playing a violin with a robot hand.

Explanation of symbols

10 body part, 11 left hand part, 12 right hand part, 13 left hand actuator, 14 right hand actuator, 15 right arm part, 16 left arm part,
17 actuator for arm, 18 sensor, 19 control unit,
40 fingers, 41 thumb, 42 index finger, 43 middle finger, 44 ring finger, 45 little finger,
50 violins, 51 strings, 52 fingerboards, 53 bows, 54 necks,
60 linear guide, 61 moving block, 62 guide rail,
100 stringed instrument playing robot

Claims (9)

A stringed instrument playing system comprising a stringed instrument and a stringed instrument playing robot for playing the stringed instrument,
The stringed instrument playing robot
A robot hand having a finger portion that presses a string against a fingerboard of the stringed instrument;
A first actuator that changes a distance between the fingerboard and the finger portion so as to press the string against the fingerboard;
A second actuator for moving the robot hand to change the pressed position of the string;
The string side surface of the fingerboard is a cylindrical side shape,
A stringed instrument playing system in which the second actuator moves the robot hand in parallel with the central axis of the cylinder.   The stringed instrument performance system according to claim 1, wherein a linear guide for translating the robot hand to the central axis of the cylinder is provided between the robot hand and the stringed instrument.   The stringed instrument performance system according to claim 1, wherein the second actuator drives the robot hand with a central axis of the cylinder as a rotation axis.   4. The stringed instrument playing system according to claim 3, wherein a bearing for rotating the robot hand about the central axis of the cylinder is provided between the robot hand and the stringed instrument. A stringed instrument playing system comprising a stringed instrument and a stringed instrument playing robot for playing the stringed instrument,
The stringed instrument playing robot
A robot hand having a finger portion that presses a string against a fingerboard of the stringed instrument;
A first actuator that changes a distance between the fingerboard and the finger portion so as to press the string against the fingerboard;
A second actuator for moving the robot hand to change the pressed position of the string;
The string side surface of the fingerboard is a cylindrical side shape,
A stringed instrument playing system in which the second actuator rotates the robot hand with the central axis of the cylinder as a rotation axis.   The stringed instrument performance system according to claim 1, wherein the first actuator is driven by position control. A robot hand having a finger portion that presses a string against a fingerboard of a stringed instrument;
A first actuator that changes a distance between the fingerboard and the finger portion so as to press the string against the fingerboard;
A second actuator for moving the robot hand to change the pressed position of the string;
A stringed instrument playing robot having a linear guide provided in the robot hand. The robot hand is further provided with a bearing that pivotally supports the linear guide,
The stringed instrument playing robot according to claim 5, wherein the robot hand rotates around the axis of the bearing as a rotation center.   The stringed instrument playing robot according to claim 7 or 8, wherein the first actuator is driven by position control.