JP5532747B2 - Keyboard device - Google Patents

Description

  The present invention relates to a keyboard device provided in an electronic keyboard instrument and the like, and more particularly, to a keyboard device provided with haptic control and operation control functions for controlling operation feeling and operation of keys.

  The keyboard unit of a natural keyboard instrument that produces live sound, such as an acoustic piano, is configured so that a hammer that rotates when a key is pressed strikes a string and has a jack or wippen between the key and the hammer. An action mechanism is provided. By this action mechanism, a unique reaction force is applied from the key to the performer's finger, and the keyboard unit of the natural keyboard instrument provides a key touch feeling peculiar to each instrument.

  On the other hand, the keyboard unit of an electronic keyboard instrument that generates an electronic sound is equipped with a spring and a mass body (pseudo hammer) that return the key to the initial position when the key is pressed. Simulates the feeling. However, an electronic keyboard instrument is a device that generates an electronic sound by pressing a key, and does not have a mechanism for actually striking a string to produce sound, and therefore does not have a complicated action mechanism like a natural keyboard instrument. Therefore, the key touch feeling generated by the action mechanism of the natural keyboard instrument cannot be faithfully reproduced, and the key touch feeling of the electronic keyboard instrument is strictly different from the key touch feeling of the natural keyboard instrument.

  Therefore, for electronic keyboard instruments, a key driving device and a control device (force control means) that change the reaction force against the key press have been proposed for the purpose of obtaining a key motion or key touch feeling similar to a natural keyboard instrument. . In this regard, the keyboard unit described in Patent Document 1 includes an actuator (solenoid) for driving a key and a control means for controlling the actuator, and a natural keyboard instrument by arbitrarily adjusting the key touch feeling. It is designed to simulate the feeling of playing.

  In the keyboard device of Patent Document 2, the key is biased in both the key pressing direction and the key releasing direction by the key pressing direction spring and the key releasing direction spring, and is balanced at the rest position. By constructing this key to be driven by a bidirectional actuator, it is possible to perform both force control and automatic performance with respect to a key pressing operation.

Japanese Patent No. 2956180 Japanese Patent No. 3644136

  In the keyboard devices of Patent Literature 1 and Patent Literature 2, the key touch feeling of an acoustic piano is simulated by controlling the driving of an actuator that applies a reaction force to the key. However, in the key operation of a natural keyboard instrument such as an acoustic piano having a complicated action mechanism, the magnitude of the reaction force depends on the key position (key press amount) and speed at each key press and release. A unique key touch feeling that changes from moment to moment occurs. In order to more faithfully reproduce the key touch feeling of such a natural keyboard instrument, it is necessary to further improve the conventional drive control of the actuator.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a keyboard device capable of creating a key touch feeling closer to that of a natural keyboard instrument by key force control by actuator drive control. It is in.

  In order to solve the above problems, a keyboard device according to the present invention includes a key (20) supported so as to be rotatable about a fulcrum (12), and a key (20) that is pressed against the key (20). A mass body (30) that provides a reaction force to the key release operation, and a bidirectional drive type that controls a force sense for the key release operation of the key (20) by applying the generated drive force to the key (20). Actuator (40), control means (50) for controlling the driving force generated by the actuator (40), and key action information obtaining means for obtaining information on the position and action of the key (20) in the pressing and releasing key direction ( 47), and the control means (50) assigns the key (20) to the key (20) by the actuator (40) based on the information on the position and action of the key (20) acquired by the key action information acquisition means (47). Determine the driving force indication value to be The data (40) includes a driving force in a direction that promotes a reaction force applied from the mass body (30) to the key pressing operation of the key (20) as a driving force corresponding to the indicated value, and a key (20). One of the driving forces in a direction to reduce the reaction force applied from the mass body (30) to the key pressing operation is selectively generated.

  In the keyboard device according to the present invention, the control means determines the instruction value of the driving force to be applied to the key based on the information on the key position and action acquired by the key action information acquisition means, and is a bidirectional drive type. The actuator applies a driving force corresponding to this indicated value in a direction that promotes a reaction force applied from the mass body to the key pressing and releasing key operation, and from the mass body to the key pressing and releasing key operation. One of the driving forces in the direction to reduce the reaction force is selectively generated. Such key force control by driving the actuator makes it possible to appropriately adjust a key touch feeling generated in response to a performance operation in real time, and a key touch feeling closer to a natural keyboard instrument can be obtained. Accordingly, it is possible to faithfully reproduce a key touch feeling generated by a performance operation of a natural keyboard instrument such as an acoustic piano having a complicated action mechanism.

  That is, in a keyboard device such as the present invention that simulates the touch feeling of a natural keyboard instrument by generating an auxiliary driving force with an actuator, the key device is counteracted against a key pressing operation based only on a mechanical structure such as a key or mass body. The force (reaction force when no actuator drive force is generated) is different from the reaction force of a natural keyboard instrument such as an acoustic piano. Therefore, for example, in the initial key pressing stage from when the key starts moving by the key pressing operation until the predetermined key pressing amount is reached, the inertial load applied to the key due to the mechanical structure such as the mass body is greater than that of the natural keyboard instrument. May grow. In that case, there is no keyboard device equipped with a conventional actuator that generates a driving force in a direction to reduce the reaction force applied to the key from the mass body, so the key pressing initial stage becomes heavier than a natural keyboard instrument. The key touch feeling could not be corrected accurately.

  Alternatively, it may be possible to make the mass body considerably lighter and adjust the electromagnetic actuator to compensate for the majority of the driving force in the direction that promotes the reaction force of the mass body. In order to apply a driving force at which the force reaches the maximum value, the output of the electromagnetic actuator needs to be very large. If it does so, the excessive electric power provision to an electromagnetic actuator will be needed. As a result, there is a shortage of power available for musical tone control, which may distort the musical tone or cause insufficient control. In addition, since there are limitations on the width of the key and the space where the electromagnetic actuator is disposed, there is a limit in increasing the output of the electromagnetic actuator.

  On the other hand, in the keyboard device of the present invention, the bidirectionally driven actuator is not only a driving force in a direction that promotes a reaction force applied from the mass body to the key operation, but also from the mass body to the key operation. A driving force that reduces the applied reaction force can also be applied, so that the difference from the key touch feeling of the natural keyboard instrument at the initial stage of key pressing can be effectively corrected without causing the above problems. become. Also, the key driving efficiency is excellent.

In other words, in the keyboard device according to the present invention, the actuator (40) has the key (20) at the initial key pressing stage from when the key (20) starts moving by the key pressing operation until reaching the predetermined key pressing amount. It is preferable to generate a driving force that reduces the reaction force applied from the mass body (30) to the key pressing operation. This makes it possible to effectively correct a difference in key touch feeling with a natural keyboard instrument caused by a difference in static load based on the mechanical structure at the initial stage of key pressing.
In addition, the code | symbol in said parenthesis shows the code | symbol attached | subjected to the corresponding component in description of embodiment mentioned later as an example of this invention.

  According to the keyboard device of the present invention, it is possible to create a key touch feeling that is closer to that of a natural keyboard instrument by the force sense control of the key by the drive control of the actuator.

It is a block diagram which shows the example of whole structure of the electronic keyboard musical instrument provided with the keyboard apparatus concerning one Embodiment of this invention. It is a figure which shows a keyboard apparatus, and is a schematic side view which shows a key and its surrounding component. It is a partial expanded side view which shows the detailed structure of an electromagnetic actuator and its periphery. It is a figure for demonstrating operation | movement of a key and a mass body, (a) is a state which has a key in a non-key-pressing position, (b) is a figure which shows the state in which a key is in a key-pressing position. (A) is a figure which shows schematic structure of the keyboard apparatus containing a drive control circuit, (b) is a figure which shows a force sense provision table. It is a figure which shows the action mechanism of an acoustic piano. It is a graph which shows the characteristic of the reaction force (static reaction force) with respect to key operation in an acoustic piano. It is a figure which shows an example of the specific content of a force sense provision table, (a) is a key press instruction value table, (b) is a key release instruction value table. It is a graph which shows the reaction force profile by a command value table, (a) is a key pressing reaction force profile, (b) is a key release reaction force profile. It is a graph which shows an example of distribution of the reaction force profile with respect to the speed of a key. It is a flowchart for demonstrating the procedure of force sense control with respect to key operation. It is a graph which shows the relationship between the displacement (key pressing amount) of the key by the keyboard apparatus of this embodiment, and the reaction force applied to the finger | toe which performs key pressing operation, (a) is reaction force distribution at the time of key pressing, (b ) Is a reaction force distribution at the time of key release.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing the overall configuration of an electronic keyboard instrument provided with a keyboard device according to an embodiment of the present invention. The electronic keyboard instrument 1 shown in the figure controls a keyboard apparatus 10 having a plurality of keys 20 to be described later, a pedal apparatus 52, and the entire electronic keyboard instrument 1 including the keyboard apparatus 10 and the pedal apparatus 52. Main controller 50. Each part of the electronic keyboard instrument 1 such as the keyboard device 10, the pedal device 52, and the main control unit 50 is connected to each other via a bus 51.

  FIG. 2 is a diagram showing the keyboard device 10 and is a schematic side view of the key 20 and its surroundings. FIG. 3 is a partially enlarged side view showing a detailed configuration of an electromagnetic actuator 40 (to be described later) included in the keyboard device 10 and its periphery. 4A and 4B are diagrams for explaining the operation of the keyboard device 10. FIG. 4A shows a state where the key 20 is in a non-key-pressed position, and FIG. 4B shows a state where the key 20 is in a key-pressed position. Indicates the state. The keyboard device 10 includes a flat frame 11 that is a part of the electronic keyboard instrument 1, a key 20 and a mass body (pseudo hammer) 30 that are rotatably supported with respect to the frame 11, An electromagnetic actuator (driving force applying means) 40 installed between the mass bodies 30 is provided. In the following description, of the two sides of the key 20 in the longitudinal direction, the player side of the electronic keyboard instrument 1 is referred to as the front or the front, and the opposite side is referred to as the back or the rear. In FIG. 2, one key 20 and its peripheral components are shown among the plurality of keys 20 provided in parallel in the keyboard device 10. Moreover, although the case where the key 20 is a white key is shown in the same figure, the configuration is the same in the case of a black key. Although not shown, the keyboard device 10 is also provided with a switch contact mechanism for converting the operation of the key 20 into an electrical output so as to generate a musical sound according to the operation of the key 20. .

  The key 20 is supported by the key fulcrum member 12 on the frame 11 at an intermediate position in the front-rear direction. The key fulcrum member 12 is provided with a fulcrum pin 12b erected on a balance rail 12a extending along the arrangement direction of the key 20 on the frame 11, and the key 20 is supported by the fulcrum pin 12b. The key 20 has a front end 20a and a rear end 20b that can be rotated in the vertical direction about the fulcrum pin 12b, and is rotated in response to a key pressing operation to the key pressing portion 20c by the performer. Further, a front pin 13 is erected below the front end 20 a of the key 20. The front pin 13 has an upper end inserted into the back side of the key 20 and restricts lateral deflection of the front end 20a of the rotating key 20.

  A key upper limit stopper 21 is installed below the rear end 20b of the key 20, and a key lower limit stopper 22 is installed below the front end 20a. Each of the key upper limit stopper 21 and the key lower limit stopper 22 includes a cushioning material such as felt fixed to the upper surface of the frame 11. The key upper limit stopper 21 contacts the lower surface of the rear end 20b of the key 20 at the non-key-pressing position shown in FIG. 4A, and restricts the rotation of the key 20 at the non-key-pressing position. On the other hand, the key lower limit stopper 22 contacts the lower surface of the front end 20a of the key 20 at the key pressing position shown in FIG. 4B, and restricts the rotation of the key 20 at the key pressing position.

  A columnar support portion 14 for supporting the mass body 30 is provided on the frame 11 behind the key fulcrum member 12. The support portion 14 protrudes from between the adjacent keys 20 on the frame 11 directly above each key 20. The support portion 14 includes a front wall 14a and a rear wall 14b that are arranged forward and backward at a predetermined interval. Both the front wall 14 a and the rear wall 14 b are vertically erected and extend to a position higher than the key 20.

  The mass body 30 supported by the support portion 14 is installed corresponding to each key 20, and is installed at a position immediately above the key fulcrum member 12. The mass body 30 includes a straight bar-shaped shank portion 32 extending rearward from a mass body fulcrum 31 provided at the upper end of the front wall 14a of the support portion 14, and a mass portion having a predetermined mass attached to the tip of the shank portion 32 ( Weight) 33. The shank portion 32 is rotatably supported by the mass body fulcrum 31, and is rotated up and down within a vertical plane along the longitudinal direction of the key 20. The mass portion 33 is formed in a rod shape extending along the rotation direction at the tip of the shank portion 32. The mass body 30 is configured such that the mass portion 33 rotates in the vertical direction above the vicinity of the rear end of the key 20 with the shank portion 32 as an arm around the mass body fulcrum 31.

  A mass body upper limit stopper 34 and a mass body lower limit stopper 35 for restricting the rotation of the mass body 30 are provided on the rear wall 14 b of the support portion 14. The mass body lower limit stopper 35 contacts the shank portion 32 of the mass body 30 rotated to the lower limit position, and the mass body upper limit stopper 34 contacts the shank portion 32 of the mass body 30 rotated to the upper limit position. It is something to touch. With these mass body lower limit stopper 35 and mass body upper limit stopper 34, the mass body 30 has a lower limit position in which the shank portion 32 extends obliquely downward on the rear side from the mass body fulcrum 31, as shown in FIG. As shown in FIG. 4 (b), the shank portion 32 is regulated so as to rotate between the mass body fulcrum 31 and an upper limit position extending in the substantially horizontal direction on the rear side. The mass body 30 is interlocked with the operation of the key 20 via a transmission member 46 described later, and gives the key 20 a reaction force to the performance operation in cooperation with the electromagnetic actuator 40.

  An electromagnetic actuator (driving force applying means) 40 for applying a predetermined driving force to the key 20 and the mass body 30 includes an upper surface of the key 20 on the rear side of the key fulcrum member 12 and the shank portion 32 of the mass body 30. It is installed between. The electromagnetic actuator 40 is a bidirectionally driven actuator, and includes two solenoid coils, a forward coil 41a and a backward coil 41b, which are arranged side by side coaxially, and a forward coil (upper solenoid) 41a and a backward movement. And a single plunger 42 fitted inside the coil (lower solenoid) 41b. Moreover, yokes 40a and 40b surrounding them are installed on the outer circumferences of the forward coil 41a and the backward coil 41b.

  The yokes 40a and 40b are fixed to the front surface of the rear wall 14b of the support portion 14 via the plate 15 whose rear side surface is a flat plate. Therefore, the forward coil 41a and the backward coil 41b are fixed to the support portion 14 and the frame 11 on the fixed side. The plunger 42 is connected to a barrel portion 42a made of a columnar ferromagnetic body that is slidable (reciprocating) in the vertical direction inside the forward coil 41a and the backward coil 41b, and to the upper end of the barrel portion 42a. A first rod 42b and a second rod 42c connected to the lower end are provided. The shaft portions of the body 42a, the first rod 42b, and the second rod 42c are arranged in a straight line in the vertical direction. A flat plate member 43 for fixing a position sensor 47 described later is fixed to the upper end of the first rod 42b. The plate member 43 is a relatively lightweight member made of a synthetic resin material or the like, and includes a horizontal plane main body portion 43a fixed to the upper end of the first rod 42b, and a front side 43b extending vertically downward from the front end of the main body portion 43a. The cross section is formed in a substantially L shape. A base member 44 having a horizontal upper surface is fixed to the upper surface of the main body 43 a of the plate member 43. On the other hand, a cylindrical roller 36 is attached at a position facing the base member 44 in the shank portion 32 of the mass body 30. In the roller 36, the axial direction is horizontal along the arrangement direction of the keys 20, and the lower surface (cylindrical surface) is in contact with the upper surface of the base member 44. On the other hand, a cap-like cover member 45 having a buffering and sliding action is attached to the lower end of the second rod 42c of the plunger 42, and a screw (on the upper surface of the key 20 facing the lower end of the cover member 45) Screw) is placed in contact with the head of 25.

  The plunger 42 (the barrel 42a, the first rod 42b, the second rod 42c), the plate member 43, and the base member 44 is used to apply a load (load load or rotation due to mass) from either the key 20 or the mass body 30. A transmission member 46 is configured to transmit the inertial load accompanying the dynamic operation) to the other. The transmission member 46 is disposed in a state of being sandwiched between the mass body 30 and the key 20 by a load due to the weight of the mass body 30.

  The electromagnetic actuator 40 is configured to drive the transmission member 46 (plunger 42) in both directions when a drive current is supplied to the forward coil 41a and the backward coil 41b. That is, when a drive current is supplied to the return coil 41b, the transmission member 46 moves downward. As a result, a downward load is applied from the transmission member 46 to the rear side of the key fulcrum member 12 of the key 20, so that the load applied in the key release direction of the key 20 increases. On the other hand, when a drive current is supplied to the forward movement coil 41a, the plunger 42 moves upward. Thereby, since the load applied downward from the plunger 42 to the rear side of the fulcrum pin 12b of the key 20 is reduced, the load applied in the key release direction of the key 20 is reduced.

  That is, the key 20 is urged in the key release direction by a load applied by the mass body 30 (load due to the mass of the mass body 30) via the transmission member 46, and the key 20 is mass by driving the electromagnetic actuator 40. As the load from the body 30 is reduced, it is configured to rotate in the key pressing direction. In this case, when the key 20 is not pressed, since the load in the key release direction from the mass body 30 is greater than the biasing force in the key pressing direction due to its own weight, the biasing force in the key pressing direction is canceled out. Stopped at the key release position. As the load from the mass body 30 due to the driving force of the electromagnetic actuator 40 is reduced, the biasing force in the key pressing direction due to the weight of the key 20 gradually becomes larger than the load from the mass body 30 in the key release direction. Therefore, it is rotated to the key pressing position.

  Here, the key 20 and the mass body 30 rotate around the fulcrum pin 12b and the mass body fulcrum 31, respectively, while the transmission member 46 (plunger 42) moves between the forward coil 41a and the backward coil 41b. Performs linear motion in the axial direction on the inside. Therefore, when the key 20, the mass body 30, and the transmission member 46 operate integrally, the first contact portion 48 where the upper end of the transmission member 46 (the upper surface of the base member 44) and the roller 36 of the mass body 30 abut. Then, the upper end of the transmission member 46 that moves linearly up and down slides on the side surface of the roller 36 that rotates as the mass body 30 moves. Similarly, at the second contact portion 49 where the lower end of the transmission member 46 and the screw 25 of the key 20 are in contact, the lower end of the transmission member 46 that moves linearly up and down rotates with the operation of the key 20. It slides and moves with respect to the upper surface.

  Moreover, in the keyboard apparatus 10 of this embodiment, it is good for the transmission member 46 to contact | abut to the key 20 or the mass body 30 in the state which can be isolate | separated according to those operation | movement. The abutment in the separable state here means that in the normal operation of the key 20 and the mass body 30, the transmission member 46 always abuts the key 20 and the mass body 30 at both ends and is integrated with them. However, when the key 20 is suddenly pressed with a strong force, or pressed or released at a very high speed, the acceleration generated in the transmission member 46 and the key 20 or the mass body 30 are detected. If the direction of the acceleration generated in is different, it indicates that the transmission member 46 and the key 20 or the transmission member 46 and the mass body 30 may be instantaneously separated. The transmission member 46 and the key 20 or the mass body 30 are not necessarily separable. As long as the power transmission from the transmission member 46 to the key 20 or the mass body 30 is possible, the transmission member 46 and The key 20 or the mass body 30 may be connected (link connection or the like) in an inseparable state.

  Further, the keyboard device 10 is provided with a position sensor (operation detecting means) 47 for detecting the position of the transmission member 46 (plunger 42). As shown in FIG. 3, the position sensor 47 includes an optical sensor 47 a in which light emitting units and light receiving units provided on the front side surfaces of the yokes 40 a and 40 b are alternately arranged, and an optical sensor on the front side 43 b of the plate member 43. And a reflection surface 47b provided at a position opposite to 47a, and a light sensor 47a configured to receive light reflected by the reflection surface 47b. The reflection surface 47b is configured such that the amount of reflected light at each position in the vertical direction changes continuously. Therefore, the position of the transmission member 46 can be uniquely specified based on the output signal of the optical sensor 47a.

  As long as the position sensor 47 can detect the position of the transmission member 46 (plunger 42), besides the reflective sensor as described above, although not shown, an optical sensor having another configuration, A sensor other than an optical sensor may be used. Further, instead of the position sensor 47, a position detection switch or the like may be installed. Further, here, a position sensor 47 for detecting the position is provided as an example of the operation detecting means for detecting the operation of the transmission member 46, but other speeds for detecting the speed, acceleration, etc. of the transmission member 46 are also provided. It is also possible to install one of a sensor and an acceleration sensor, or a plurality of these.

  Further, here, the operation (displacement, speed, etc.) of the transmission member 46 is detected, and information on the position (key press amount) and speed of the key 20 is acquired based on the detection result, and drive control of the electromagnetic actuator 40 is performed. Configured to do. However, in addition to this, an operation detection unit that detects the operation (position, velocity, acceleration, etc.) of the key 20 or the mass body 30 is provided, and based on the operation of the key 20 or the mass body 30 detected by the operation detection unit. The drive control of the electromagnetic actuator 40 may be performed. Furthermore, one or a plurality of motion detection means for detecting the motion of at least one of the transmission member 46, the key 20, and the mass body 30 is provided, and any one of the one or the plurality of motion detection means is used for driving control of the electromagnetic actuator 40. It is also possible to use other motion detection means for sound generation control of the electronic sound source. Of course, it is possible to use one motion detection means for both drive control and sound generation control.

  Next, the main controller 50 shown in FIG. 1 will be described. The main control unit 50 includes a CPU 51, a ROM 52, a RAM 53, and a flash memory (EEPROM) 54. A timer 55 is connected to the CPU 51. The CPU 51 controls the entire electronic keyboard instrument 1 including the keyboard device 10. The ROM 52 and the flash memory 54 store a haptic application table 80 and automatic performance data 85, which will be described later, in addition to a control program executed by the CPU 51 and various table data. The RAM 53 temporarily stores various input information such as performance data and text data, various flags, buffer data, and arithmetic processing results. The timer 55 measures various times such as an interrupt time in the timer interrupt process.

  In addition to the main control unit 50, the electronic keyboard instrument 1 includes a setting operation unit 61, a display device 63, an audio output unit 65, an external storage device 66, an HDD 67, a communication interface 68, a MIDI interface 69, and the like. . An external device 71 can be connected to the communication interface 68, and a MIDI device 72 can be connected to the MIDI interface 69. The communication interface 68 can communicate with an external server device 74 via a communication network 73 such as the Internet. The setting operation unit 61 includes various switches (not shown) used by the performer to input setting operation information, and a signal generated by the operation of the switch is supplied to the CPU 51. The external storage device 66 and the HDD 67 store various application programs including the above control program, various music data, and the like. The display device 63 is connected to the bus 51 via the display control circuit 62, and the audio output unit 65 is connected to the bus 51 via the sound source circuit 64.

  FIG. 5A is a diagram illustrating a schematic configuration of the keyboard device 10 including a drive control circuit for controlling the driving of the key 20, and FIG. 5B is a diagram illustrating a force sense imparting table 80 described later. . As shown in FIG. 5A, the drive control circuit of the keyboard device 10 is used to drive the forward coil 41a or the backward coil 41b of the electromagnetic actuator 40 in accordance with a command from the main controller 50 and the main controller 50. A control driver 58 and a PWM switching circuit 59 for outputting a PWM (pulse width modulation) signal. The main control unit 50 is configured as shown in FIG. 1 and includes a ROM 52 that stores a force sense imparting table 80 and automatic performance data 85. The force sense imparting table 80 stored in the ROM 52 is a table storing a pattern of driving force to be generated by the electromagnetic actuator 40. The force applying table 80 is provided with a key pressing table 81 and a key releasing table 82, and each of the key pressing table 81 and the key releasing table 82 stores a pattern of the driving force to be generated. Driving force pattern tables 81a and 82a, and instruction value tables 81b and 82b storing instruction values for generating the driving force.

  Information on the position and operation of the key 20 detected by the position sensor 47 is output to the main control unit 50. A control signal from the main control unit 50 is input to the control driver 58 and the PWM switching circuit 59. The control driver 58 and the PWM switching circuit 59 supply a drive current to the forward coil 41a or the backward coil 41b of the electromagnetic actuator 40 based on a control signal from the main control unit 50. This drive current is a current generated by a PWM signal in which the ground (G) and the predetermined voltage (+) are alternately switched, and an arbitrary driving force can be generated by changing and controlling the duty ratio. ing.

  Next, the operation of the keyboard apparatus 10 having the above configuration will be described. The key 20 has a key pressing force due to the magnitude relationship between the urging force in the key pressing direction generated by the mass (self-weight) balance of the front and rear of the key fulcrum member 12 and the load from the mass body 30 via the transmission member 46. In the non-acting state, the lower surface of the rear end 20b is in contact with the key upper limit stopper 21, and the key pressing portion 20c of the front end 20a is raised to the uppermost position, and is in the non-key pressing position shown in FIG. . At this time, the mass body 30 is in the lower limit position where the shank portion 32 contacts the mass body lower limit stopper 35. On the other hand, when the key 20 in the non-key-pressing position is pressed, the key 20 rotates in the key pressing direction around the fulcrum pin 12b while pushing up the mass body 30 via the transmission member 46. In this way, the lower surface of the front end 20a is rotated to a position where it comes into contact with the key lower limit stopper 22, and the key pressing position shown in FIG. When the key 20 is in the key depression position, the mass body 30 pushed up by the key 20 via the transmission member 46 is in the upper limit position where the shank portion 32 contacts the mass body upper limit stopper 34. When the key pressing force on the key 20 is released, a load is applied to the key 20 from the mass body 30 that rotates downward by its own weight via the transmission member 46. The key 20 returns to the non-key-pressed position by both this load and its own weight balance.

  When the operation of the key 20 utilizing the inertial mass of the mass body 30 is performed, the reaction force applied to the performance operation of the key 20 can be obtained by driving the transmission member 46 bidirectionally by the electromagnetic actuator 40. Assist or reduce. Therefore, by controlling the driving of the electromagnetic actuator 40 by the main control unit 50, it is possible to perform force sense control for the key pressing operation. Hereinafter, force control for this key pressing operation will be described in detail.

  Here, in describing the force control of the key 20, the operation of the action mechanism of the acoustic piano will be briefly described. FIG. 6 is an external view of an action mechanism of an acoustic piano. In the action mechanism 100 shown in the figure, when the key 102 is depressed, first, the lifting of the action 104 by the capstan 103 is started. Subsequently, the rear end of the key 102 pushes up the damper 105. When the action 104 is lifted, the jack 106 pushes up the hammer roller 107, which causes the hammer 108 to start rotating toward the string 109. When the key 102 is further pushed down, the jack 106 further pushes up the hammer roller 107 and then comes off (escapes) from the hammer roller 107, whereby the hammer 108 strikes the string 109. The hammer 108 that has finished striking the string falls due to the reaction force of the string 109 and its own weight. Next, when the key 102 is returned and the key release process is started, the rear end of the key 102 gradually lowers the damper 105 and then leaves, and then the key 102 returns to the rest position, and the series of operations ends.

  FIG. 7 shows the characteristic of the reaction force (static reaction force) when the key 102 is gently pressed down and fully returned to the original position (rest position) in the acoustic piano having the action mechanism 100 configured as described above. The horizontal axis represents the key press amount, and the vertical axis represents the load (reaction force). Here, the static reaction force in a state where the damper 105 is lifted by stepping on a damper pedal (not shown) (a state in which the reaction force of the damper 105 is not applied to the key 102) is not considered.

  As shown in the graph of FIG. 7, in the key pressing process, point A immediately after the key 102 starts to be pressed is a state in which a static load such as the key 102 or action 104 is applied, and point B is the load of the damper 105. It is in a state where is added. Point C is a state in which an action load due to friction or the like of each part of the action mechanism 100 starts to be applied. Point D is a state where the fitting of the jack 106 starts to be removed, and point F is a state where the jack 106 is completely removed. In addition, the string-striking point is located at a predetermined position between BC and F point, for example, E point. In the case of a medium or higher keystroke, the reaction force suddenly decreases at the point F where the hammer 108 is directed toward the string, and then when the key 102 reaches the end position, a large reaction force is generated because the key 102 comes into contact with the shelf. Arise.

  On the other hand, in the key release process, an H point where a load applied when the jack 106 returns (return jack load) is applied, an I point where an action load due to friction of each part of the action mechanism 100 is applied, and a load of the damper 105 is applied. The point returns to the initial position via the point K in a state where a static load is applied, such as the key 102 or the action mechanism 100. In this way, the key 102 of the acoustic piano gives the player's finger various reaction forces that vary depending on the position of the key 102 due to the movement of the action mechanism 100 and the weight of each component.

  In the keyboard device 10 of the present embodiment, the electromagnetic actuator 40 is played when the electronic keyboard instrument 1 is played in order to reproduce a key touch feeling (resistance feeling) peculiar to an acoustic piano felt by a finger based on the action of the action mechanism 100 described above. By driving the plunger 42, the reaction force characteristic corresponding to the key touch feeling of the acoustic piano is imparted to the key 20. This reaction force characteristic changes every moment according to the position and speed of the key 20 in the key pressing / releasing direction. Therefore, when performing the above-described force sense control, the driving force is applied according to the position information of the key 20 based on the detection value of the position sensor 47.

  That is, as shown in FIG. 5A, detection data from the position sensor 47 is output to the main control unit 50. The main control unit 50 issues a command to the control driver 58 and the PWM switching circuit 59 by referring to the position information of the key 20 based on the detection data of the position sensor 47 and the force sense application table 80 stored in the ROM 52. . The control driver 58 and the PWM switching circuit 59 supply drive current to the forward coil 41a or the backward coil 41b based on a command from the main control unit 50. Thus, the driving force to the mass body 30 side or the key 20 side is applied to the transmission member 46 by driving the forward coil 41a or the backward coil 41b.

  FIG. 8 is a table showing an example of specific contents of the instruction value tables 81b and 82b included in the force sense imparting table 80 shown in FIG. 5, and (a) shows the instruction value table 81b of the key pressing table 81. (B) is a table showing the instruction value table 82b of the key release table 82. FIG. 9 is a graph showing reaction force profiles based on the instruction value tables 81b and 82b. FIG. 9A is a key pressing reaction force profile based on the instruction value table 81b, and FIG. 9B is an instruction value table 82b. It is a reaction force profile for key release based on. In the graph of FIG. 9, the amount of key depression (the amount of movement of the key 20 from the non-key depression position) is taken on the horizontal axis, and the total value of loads applied to the key 20 from the electromagnetic actuator 40 is taken on the vertical axis. FIG. 10 is a graph showing an example of the distribution of the reaction force profile with respect to the key pressing amount and speed of the key 20. The key pressing amount (position) of the key 20 is taken on the X axis, and the speed of the key 20 is taken on the Y axis. The total value of the loads generated by the electromagnetic actuator 40 is taken on the Z axis. 9 and 10, if the total load generated by the electromagnetic actuator 40 is a positive value, driving in a direction that promotes the reaction force applied from the mass body 30 to the key pressing operation of the key 20. This means that a force (reaction force against the key operation) acts, and if it is a negative value, a driving force (with respect to the key operation) in a direction that reduces the reaction force applied from the mass body 30 to the key pressing operation of the key 20 It means that (help) works.

  The instruction value tables 81b and 82b in FIGS. 8A and 8B and the reaction force profiles in FIGS. 9A and 9B generated based on them will be described in detail. First, the key pressing instruction value table 81b in FIG. 8A and the key pressing reaction force profile in FIG. 9A will be described. The breakdown of the load applied from the electromagnetic actuator 40 to the key 20 at the time of key pressing is as follows. Key pressing first load P1 applied from the initial key pressing stage immediately after the key pressing start, key pressing second load P2 and key pressing third load P3 sequentially applied during key pressing, and the end of key pressing There are four types of key-pressing fourth loads P4 that start to be applied nearby. Therefore, the load applied to the key 20 from the electromagnetic actuator 40 when the key is pressed is the sum of the loads generated according to the position of the key 10 from among these four types of loads. Hereinafter, the above four types of loads will be described.

  The key pressing first load P1 is for reproducing the static load required to lift the stationary key 102 and the hammer 108 in the initial stage of the key pressing in the reaction force characteristic of the acoustic piano having the action mechanism 100 of FIG. The load is a load for adjusting the inertial force by the mass body 30. The command value of the first key press load P1 is a constant value that does not depend on the key press speed, and in the example of this embodiment, the start position is 0.5 mm and the command value is -0.2N. ing. That is, here, the instruction value of the key pressing first load P1 is a negative value. Therefore, in the region from the position of the key pressing amount of 0.5 mm where the application of the key pressing first load P1 is started to the key pressing amount of 3.0 mm where the application of the key pressing second load P2 is started, the electromagnetic actuator 40 A driving force in the direction of reducing the reaction force applied from the mass body 30 to the key 20 (assisting force for the key operation) is applied.

  Since the mechanical structure for driving the key 20 is greatly different from that of the acoustic piano action mechanism 100, the keyboard device 10 of the present embodiment has a reaction force in a state where the driving force of the electromagnetic actuator 40 is not generated ( The reaction force against the key-release operation based only on the mechanical structure such as the key 20 and the mass body 30 is different from the reaction force of the acoustic piano. As a result, at the initial key pressing stage from when the key 20 starts to move by the key pressing operation until the predetermined key pressing amount is reached, the value of the inertia load applied to the key 20 from the mass body 30 or the like is the acoustic piano. It is a bigger value. Therefore, in the keyboard device 10 of the present embodiment, by applying a driving force in a direction that reduces the reaction force applied from the mass body 30 to the key 20 by the key pressing first load P1 in the key pressing initial stage, The operation of the key 20 is performed with a lighter force, and the difference in touch feeling with the natural keyboard instrument is corrected.

  The key pressing second load P2 is a load for reproducing the load applied to the key 102 when the action mechanism 100 of the acoustic piano starts to lift the damper 105 by the key 102. Here, the instruction value of the key pressing second load P2 is a constant value that does not depend on the key pressing speed. In the example of this embodiment, the start position is the key pressing amount of 3.0 mm, and the instruction value is + 0.5N. It is.

  The key pressing third load P3 is for reproducing the load applied to the key 102 by the operation of each part of the action mechanism 100 during the key pressing on the acoustic piano. The instruction value of the key pressing third load P3 is a constant value that does not depend on the key pressing speed. In the example of this embodiment, the start position is the key pressing amount of 5.2 mm, and the instruction value is + 0.3N. .

  The key pressing fourth load P4 is a load for reproducing an abrupt change in the load applied to the key 102 when the jack is disconnected from the jack fitting state in the action mechanism 100 of the acoustic piano. The key pressing fourth load P4 has a reaction force distribution that depends on the key pressing speed. In the specific example shown in FIG. 9A, the load is a mountain-shaped distribution with a sudden and large increase and decrease in the load. It has become. The instruction value of the key pressing fourth load P4 has a key pressing amount of 6 mm and a maximum value of 1.5 N at the start position. The key pressing reaction value profile shown in FIG. 9A is generated by the key pressing instruction value table 81b having the above contents.

  Next, the key release instruction value table 82b shown in FIG. 8B and the reaction force profile of FIG. 9B will be described. The breakdown of the load applied to the key 20 from the electromagnetic actuator 40 at the time of key release includes the first key release load P5 applied from the start to the end of the key release and the first key release that is sequentially applied in the middle of the key release. There are four types: 2 load P6, key release third load P7, and key release fourth load P8. Accordingly, even when the key is released, the load applied to the key 20 from the electromagnetic actuator 40 is the sum of the loads generated according to the position of the key 10 from among these four types of loads. Hereinafter, the above four types of loads will be described.

  The first key release load P5 is a load for adjusting the static load applied to the key 20 at the time of key release. In the example of this embodiment, the end position is the key pressing amount 0 mm, and the instruction value is 0 N. Yes. That is, in this example, when the key is released, a load for adjusting the static load is not substantially applied from the electromagnetic actuator 40. When the end of the key release is approached, the reaction force applied to the key 20 is applied to the mass body 30. It is covered only by the load. The second key release load P6 is for reproducing the load caused by lifting the damper 105 at the time of key release in the acoustic piano. In the example of this embodiment, the end position is a key press amount of 3.0 mm, The value is 0.5N. The third key release load P7 is for reproducing the load due to the action of the action mechanism 100 at the time of key release. In the example of this embodiment, the end position is the key depression amount of 5.2 mm, and the instruction value is 0. 3N.

  The fourth key release load P8 is a load necessary to return the key 20 to the initial position, but is a load that is not classified as any load generated in the action mechanism 100 of the acoustic piano. The fourth key release load P8 has a reaction force distribution depending on the key release speed. In the example of this embodiment, the end position is 1 mm in the key pressing amount, and the maximum value of the instruction value is 1N. In the specific example shown in FIG. 9 (b), the distribution has a linear distribution in which the load changes (decreases) in direct proportion to the key depression amount. The key release reaction value profile shown in FIG. 9B is generated by the key release instruction value table 82b having the above contents.

  The instruction value tables 81b and 82b shown in FIGS. 8A and 8B and the key pressing reaction force profile and the key releasing reaction force profile shown in FIGS. 9A and 9B are both examples. Actually, as shown in FIG. 10, a plurality of different key pressing reaction force profiles and key release reaction force profiles are generated according to the instruction value table that changes according to the speed of the key 20. . That is, when the speed of the key 20 is positive, it is when the key 20 is moving in the direction in which the key 20 is depressed. As a reaction force profile in this case, as shown in the graph of FIG. A plurality of types of keying reaction force profiles corresponding to the magnitude (absolute value) of the speed are generated in a region where the speed is positive. On the other hand, when the speed of the key 20 is negative, it is when the key 20 is moving in the direction in which the key is released, and as a reaction force profile in that case, as shown in the graph of FIG. A plurality of types of key release reaction force profiles corresponding to the magnitude (absolute value) of the speed are generated in a region where the speed is negative. In addition, specific numerical values included in the instruction value tables 81b and 82b of FIGS. 8A and 8B are examples, and these numerical values depend on factors such as the mass of the key 20 and the mass body 30, for example. Different values.

  Next, the haptic control procedure for the key pressing operation performed as described above will be described. FIG. 11 is a flowchart for explaining the procedure of force sense control. Here, first, position data and speed data related to the key 20 are acquired based on detection by the position sensor 47 (step ST1). Note that the speed data here may be the speed data detected by the speed sensor in the case where a speed sensor is provided in addition to that obtained by calculation from the change amount of the position data detected by the position sensor 47. Then, it is determined whether or not the acquired speed data is a positive value (step ST2). As a result, if the acquired speed data is a positive value (YES), the key pressing instruction value table 81b shown in FIG. 8A is referred to (step ST3). Based on the key pressing instruction value table 81b, the key pressing first load P1 instruction value at the acquired position (step ST4), the key pressing second load P2 instruction value (step ST5), the key pressing first The instruction value of the third load P3 (step ST6) and the instruction value of the key pressing fourth load P4 (step ST7) are respectively referred to. Note that each indicated value may have only one value depending on the acquired position, and not all values always exist. Thereafter, the indicated values of the key-pressing first to fourth loads P1 to P4 (those having values at the acquired positions) are added together, and the total load value at the acquired positions (shown in FIG. 9A). The reaction force on the reaction force profile is calculated (step ST8). Then, it is determined whether or not the calculated total load value is a positive value (step ST9). As a result, if the total load value is a positive value (YES), the drive amount of the lower solenoid (return coil) 41b is calculated based on the total load value (step ST10), and the lower solenoid is calculated with the calculated drive amount. 41b is driven (step ST11). On the other hand, if the total load value is negative (NO), the drive amount of the upper solenoid (forward coil) 41a is calculated based on the total load value (step ST12), and the upper solenoid 41a is calculated with the calculated drive amount. Is driven (step ST13).

  On the other hand, if the acquired speed data is a negative value in the previous step ST2 (NO), the key release instruction value table 82b shown in FIG. 8B is referred to (step ST14). Based on the key release instruction value table 82b, the key release first load P5 instruction value at the acquired position (step ST15), the key release second load P6 instruction value (step ST16), the key release first The instruction value of the third load P7 (step ST17) and the instruction value of the key release fourth load P8 (step ST18) are referred to. Thereafter, the indicated values of the first to fourth loads P5 to P8 are summed to calculate the total load value (reaction force on the reaction force profile shown in FIG. 9B) at the acquired position. (Step ST8). Then, it is determined whether or not the calculated total load value is a positive value (step ST9). As a result, if the total load value is a positive value (YES), the drive amount of the lower solenoid (return coil) 41b is calculated based on the total load value (step ST10), and the lower solenoid is calculated with the calculated drive amount. 41b is driven (step ST11). On the other hand, if the total load value is negative (NO), the drive amount of the upper solenoid (forward coil) 41a is calculated based on the total load value (step ST12), and the upper solenoid 41a is calculated with the calculated drive amount. Is driven (step ST13).

  FIG. 12 is a graph showing the relationship between the displacement (key pressing amount) of the key 20 and the reaction force applied to the finger that performs the key pressing operation from the key 20 when force sense control is performed with the above contents. Is a reaction force distribution when the key 20 is depressed relatively slowly, and (b) is a reaction force distribution when the key 20 is released relatively slowly. As shown in the figure, in the force control of the key 20 in the keyboard device 10 of the present embodiment, the mass of the mass body 30 applied to the key 20 or the reaction force L1 due to the inertial load and the electromagnetic actuator 40 are applied to the key 20. The combined reaction force (driving force) L2 (the one-dot chain line) is the reaction force applied to the finger of the player who performs the key pressing operation. This reaction force is a reproduction of the reaction force distribution of an acoustic piano.

  The distribution of the reaction force with respect to the operation of the key 20 will be described in detail. First, the time of key depression shown in FIG. In this case, the reaction force applied to the performer's finger at the time of key depression is changed from the initial value when the key depression amount is zero (zero load) to four points of region A, region B, region C, and region D described below. The distribution includes changes.

  Region A is a reaction force distribution due to a static load when lifting of the key 20 and the mass body 30 in a stationary state is started in the initial stage of key depression. Even in the reaction force characteristic of an acoustic piano having the action mechanism 100, a similar distribution appears by lifting the key 102 and the hammer 108 in the initial stage of key depression. In the region B, when the plunger 42 is driven by the electromagnetic actuator 40, the reaction force applied to the key 102 when the lifting of the damper 105 by the key 102 in the action mechanism 100 of the acoustic piano is started is reproduced.

  Region C is a reaction force increase slightly smaller than region B, and is a reaction force distribution created by driving the electromagnetic actuator 40. In this area C, the action spring load applied to the key 102 is reproduced by the operation of each part of the action 104 while the key is depressed on the acoustic piano. Region D is a mountain-shaped distribution with a rapid and large increase and decrease in reaction force created by driving the electromagnetic actuator 40. In this region D, a rapid change in the load applied to the key 102 is reproduced as the jack is removed from the so-called jack-fitted state in the action mechanism 100 of the acoustic piano. Note that, after the region D, the reaction force L1 applied to the key 20 from the mass body 30 suddenly increases again. This is because the reaction force received by the mass body 30 from the mass body upper limit stopper 34 or the key 20 is the key. This is due to the reaction force received from the lower limit stopper 22.

  Here, since the key pressing first load P1 is a negative value, the reaction force L2 applied to the key 20 by the electromagnetic actuator 40 in the initial key pressing stage is a negative value (FIG. 12A). )reference). Therefore, the reaction force (one-dot chain line) applied to the performer's finger in the initial stage of pressing the key is smaller than the reaction force L1 applied from the mass body 30 to the key 20. That is, in the keyboard device 10 of the present embodiment, the reaction force due to the inertial load of the mass body 30 is applied by applying a driving force in a direction that reduces the reaction force L1 applied to the key 20 from the mass body 30 in the initial stage of key depression. Correction for reducing L1 is performed. As a result, it is possible to effectively correct the difference in touch feeling with the natural keyboard instrument at the initial stage of key pressing.

  On the other hand, when the key is released as shown in FIG. 12B, there is no reaction force corresponding to the jack removal in the region D, but otherwise, the reaction force distribution is almost the same as that during the key depression shown in FIG. ing. Also in this case, the reaction force distribution of the acoustic piano is reproduced. As described above, in the keyboard device 10 of the present embodiment, a complex force as shown in FIG. 6 is obtained by the reaction force obtained by combining the reaction force L1 generated by the mass body 30 and the reaction force L2 generated by the electromagnetic actuator 40. The distribution of the reaction force applied to the finger with respect to the key operation of the acoustic piano having the action mechanism 100 is faithfully reproduced.

  As described above, in the keyboard device 10 of the present embodiment, the bidirectionally driven electromagnetic actuator is based on the information about the position of the key 20 acquired by the position sensor 47 and the speed of the key 20 calculated from the change in the position. 40, the instruction value of the load to be applied to the key 20 is determined, and the electromagnetic actuator 40 promotes the reaction force applied from the mass body 30 to the key pressing operation of the key 20 as the driving force corresponding to the instruction value. Driving force (reaction force with respect to key operation) or selective driving force (assisting force with respect to key operation) to reduce the reaction force applied from the mass body 30 to the key pressing operation of the key 20 It is supposed to occur. By such force control of the key 20 by driving the electromagnetic actuator 40, the reaction force to the performance operation of the key 20 can be appropriately adjusted, and a key touch feeling closer to a natural keyboard instrument can be obtained. Accordingly, it is possible to faithfully reproduce the reaction force to the performance operation of a natural keyboard instrument such as an acoustic piano having a complicated action mechanism.

  That is, in the keyboard device 10 of the present embodiment that simulates the touch feeling of a natural keyboard instrument by generating an auxiliary driving force with the electromagnetic actuator 40, the pressing based only on the mechanical structure such as the key 20 and the mass body 30 is used. The reaction force against the key operation (reaction force when the driving force of the electromagnetic actuator 40 is not generated) is different from the reaction force of a natural keyboard instrument such as an acoustic piano. Therefore, as described above, the inertial load (L1) applied from the mass body 30 to the key 20 at the initial stage of key pressing from the key pressing start position where the key 20 starts moving by the key pressing operation until reaching the predetermined key pressing amount. ) Is larger than that of natural keyboard instruments. On the other hand, in the keyboard device 10 of the present embodiment, the transmission member 46 is driven upward (opposite side of the key 20) by the bidirectionally driven electromagnetic actuator 40, so that the key 20 can be pressed. Therefore, it is possible to apply a driving force in the direction to reduce the reaction force applied from the mass body 30 (help for key operation), so that the difference from the key touch feeling of the natural keyboard instrument at the initial stage of key pressing is effectively corrected. it can.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea described in the claims and the specification and drawings. Is possible.

  In the said embodiment, the structural example which applied the keyboard apparatus of this invention to the electronic keyboard musical instrument 1 which has the electronic sound source which sounds according to the operation | movement of the key 20 is shown. Accordingly, the mass body 30 only has a function of giving an inertial mass to the key 20 so that the key touch feeling is close to that of a natural keyboard instrument such as an acoustic piano, and does not have a function of actually striking a string and generating a sound. . However, the keyboard device of the present invention is not limited to this configuration, and may have a function of causing a mass body to actually strike a string and produce a sound like a hammer body of an acoustic piano. In this case, a mechanism for generating an electronic sound according to the operation of the key can be omitted.

  Moreover, in each said embodiment, although the mass body 30 is comprised so that it may rotate centering on the mass body fulcrum 31, operation | movement of the mass body with which the keyboard apparatus of this invention is provided is limited to rotation. Instead, it may be configured to perform linear motion or other operations. Further, the arrangement relationship of the key, the transmission member, and the mass body is not limited to the arrangement in the vertical direction as shown in the above embodiment. Therefore, for example, although detailed illustration is omitted, a key and a mass body are arranged side by side in a horizontal direction, a transmission member is arranged therebetween, and the operation of the key is laterally directed toward the mass body via the transmission member. It can also be configured to be transmitted in the direction. In this case, the mass body may be configured to rotate or may be configured to move linearly.

DESCRIPTION OF SYMBOLS 1 Electronic keyboard instrument 10 Keyboard apparatus 12 Key fulcrum 20 Key 30 Mass body 31 Mass body fulcrum 40 Electromagnetic actuator 41 Coil 41a Forward coil (upper solenoid)
41b Return coil (lower solenoid)
42 Plunger 46 Transmission member 47 Position sensor (Position information acquisition means)
50 Main control unit (control means)
58 control driver 59 PWM switching circuit 80 force sense table 81 key pressing table 82 key release table 81a, 82a driving force pattern table 81b, 82b instruction value table L1 reaction force (reaction force by mass body)
L2 reaction force (reaction force due to driving force of electromagnetic actuator)

Claims (4)

A key supported to be pivotable around a fulcrum;
A mass body that provides a reaction force to the key to press and release the key in conjunction with the key;
Bi-directionally provided so as to be able to come into contact with both the key and the mass body, and to control the force sense for the key pressing and releasing operation by giving the generated driving force to the key and the mass body . A drive-type actuator;
Control means for controlling the driving force generated by the actuator;
Key operation information acquisition means for acquiring information on the position and operation of the key pressing and releasing key direction;
With
The actuator is in contact with at least the key in a separable state according to its operation,
The control means determines an instruction value of a driving force to be applied to the key by the actuator based on information on the key position and action acquired by the key action information acquisition means,
The actuator has, as a driving force corresponding to the indicated value, a driving force in a direction that promotes a reaction force applied from the mass body to the key pressing / releasing key operation, and the key pressing operation of the key. A keyboard device that selectively generates a driving force in a direction that reduces a reaction force applied from a mass body. The actuator responds to the key pressing operation of the key as a driving force corresponding to the indicated value at an initial key pressing stage from when the key starts moving by the key pressing operation until reaching a predetermined key pressing amount. The keyboard device according to claim 1, wherein a driving force is generated in a direction that reduces a reaction force applied from the mass body. The actuator includes a transmission member that contacts the key and the mass body and transmits a load from one of the key and the mass body to the other,
  While the key and the mass body each rotate around a fulcrum,
  The transmission member performs a linear motion between the key and the mass body.
The keyboard device according to claim 1 or 2, wherein The transmission member is arranged in a state of being sandwiched between the mass body and the key by a load due to the weight of the mass body.
The keyboard device according to claim 3.

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