WO2019176164A1 - Système de pédale auxiliaire - Google Patents

Système de pédale auxiliaire Download PDF

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Publication number
WO2019176164A1
WO2019176164A1 PCT/JP2018/041771 JP2018041771W WO2019176164A1 WO 2019176164 A1 WO2019176164 A1 WO 2019176164A1 JP 2018041771 W JP2018041771 W JP 2018041771W WO 2019176164 A1 WO2019176164 A1 WO 2019176164A1
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WO
WIPO (PCT)
Prior art keywords
actuator
pedal
tilt angle
user
offset range
Prior art date
Application number
PCT/JP2018/041771
Other languages
English (en)
Inventor
Tomoyuki Shishido
Hiroyuki NARUSAWA
Masahiro Ootaki
Kyoko Yamaguchi
Daisuke Tokushige
Original Assignee
Ootaki Architect&Craftsmen Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ootaki Architect&Craftsmen Ltd. filed Critical Ootaki Architect&Craftsmen Ltd.
Priority to JP2018567754A priority Critical patent/JP6726319B2/ja
Priority to PCT/JP2018/041771 priority patent/WO2019176164A1/fr
Publication of WO2019176164A1 publication Critical patent/WO2019176164A1/fr

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    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H1/00—Details of electrophonic musical instruments
    • G10H1/32—Constructional details
    • G10H1/34—Switch arrangements, e.g. keyboards or mechanical switches specially adapted for electrophonic musical instruments
    • G10H1/344—Structural association with individual keys
    • G10H1/348—Switches actuated by parts of the body other than fingers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H2210/00—Aspects or methods of musical processing having intrinsic musical character, i.e. involving musical theory or musical parameters or relying on musical knowledge, as applied in electrophonic musical tools or instruments
    • G10H2210/031—Musical analysis, i.e. isolation, extraction or identification of musical elements or musical parameters from a raw acoustic signal or from an encoded audio signal
    • G10H2210/091—Musical analysis, i.e. isolation, extraction or identification of musical elements or musical parameters from a raw acoustic signal or from an encoded audio signal for performance evaluation, i.e. judging, grading or scoring the musical qualities or faithfulness of a performance, e.g. with respect to pitch, tempo or other timings of a reference performance
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
    • G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
    • G10H2220/155—User input interfaces for electrophonic musical instruments
    • G10H2220/391—Angle sensing for musical purposes, using data from a gyroscope, gyrometer or other angular velocity or angular movement sensing device

Definitions

  • the present invention relates to an auxiliary pedal system and a device controller (gaming controller), and more specifically to a portable auxiliary piano pedal system in which an angle sensor is attached to eyeglasses; and a head tilt angle offset range and a multiplier selected by each user are used to execute an efficient way of controlling a device while providing a universal design for piano players including kids and persons with leg disabilities.
  • the piano is a musical instrument having a keyboard, which is a row of keys depressed by the fingers of both hands of a player, and pedals, which are levers operated by feet of the player.
  • the pedals include a soft pedal, a (optional) sostenuto pedal, and a sustain pedal (or a damper pedal or a sustaining pedal) (hereinafter, referred to as a “sustain pedal”).
  • the sustain pedal is positioned to the right of the other pedals and is used more frequently than the other pedals.
  • the sustain pedal raises all the dampers off the strings so that they keep vibrating after the player releases the key.
  • Use of the pedal allows for a rich tonal quality so as to enhance piano performance. However, those whose legs cannot operate the pedals need auxiliary pedals or other assist devices.
  • auxiliary pedals There are many types of auxiliary pedals for kids, but only a few commercially available auxiliary piano pedal devices for persons with disabilities (hereinafter, sometimes referred to as the challenged).
  • Patent Literature 1 discloses a piano pedal operating device for people with disabilities, which device is operated by pressure exerted by the back of a user.
  • Patent Literature 2 discloses a pedal actuator in this system.
  • a piano pedal performance support device has been proposed in Patent Literature 3 by YAMAHA Corporation.
  • a continuous variate by an upper half of the body of a player with trouble in a lower half of the body is used to realize rich performance.
  • the technical features involve a configuration where “a half point in a half pedal region of the pedal of the piano is predetermined and in the control table, an intermediate value between a minimum value and a maximum value of the detection signal corresponds to the predetermined half point”.
  • the CanAssist team at University of Victoria created a head-activated piano pedal for a pianist (Non Patent Literature 3).
  • the website recites “The CanAssist team set to work, creating a two-part technology: a mechanical device that sits on the floor and attaches to a piano pedal, and a headband containing a wireless sensor that measures changes in its own position. The sensor wirelessly communicates its position to the device on the floor, activating it to push down or release the pedal. So, wearing the headband, when Emily tilts her head down, the pedal is pushed down and the notes she is playing are sustained. By tilting her head up, the pedal is released”.
  • Patent Literature 1 US Patent No. 9792885
  • Patent Literature 2 Japanese Patent No. 5367493
  • Patent Literature 3 Japanese Patent No. 4742574
  • Non Patent Literature 1 https://www.heidelberg-university-hospital.com/about-us/press-media/press-releases/singlenews/detail/News/despite-paraplegia-become-a-pianist/
  • Non Patent Literature 2 http://www.pianoman.nl/pedal-assist-device-for-the-disabled-pianist.html
  • Non Patent Literature 3 https://www.canassist.ca/EN/main/programs/technologies-and-devices/test-1/piano-arts.html
  • an upper half of the body of a player with leg disabilities may be used for the pedal device and examples of a motion to control a pedal include a head movement.
  • the above head-activated piano pedal actually used a head movement detected by a wireless sensor placed on an upper front portion of the head by using a headband.
  • the head movement such as a rotation rate or a tilt angle may be detected by, for instance, an accelerometer or gyroscope to give either a binary signal or a continuous signal.
  • an effective way of detecting an actual specific motion to control the pedal device is neither defined nor put into practice. Thus, the efficient way of detecting and processing the motion of a player with leg disabilities should be sought further.
  • each pedal actuator seems to be operated either in a binary manner or in a continuous manner.
  • recent progress in stepper motors has allowed for more fine control in a stepwise manner. Use of this control in the pedal device should also be sought.
  • the purpose of the present invention is to provide an auxiliary pedal system in which a non-oral head movement is utilized in an efficient manner.
  • Another purpose of the present invention is to provide an auxiliary pedal system including a controller configured to process a head movement detection signal to generate and transmit an electric device-controlling command signal that replaces a pedal-mediated command signal.
  • a device controller such as a gaming controller, that uses a head motion to control a device.
  • a first aspect of the present invention provides an auxiliary pedal system comprising: a detector configured to detect a motion of a user to generate a detection signal; a processor configured to process the detection signal to generate an actuator-controlling signal; and an actuator configured to control a pedal in accordance with the actuator-controlling signal, wherein the motion involves a head movement; the head movement has an offset range within which the actuator is not actuated; and the actuator-controlling signal is changeable in accordance with the user’s preference.
  • the motion involves a head movement, in particular, a head movement of each person with leg disabilities and each kid.
  • the head movement may involve a head rotation around each of the three axes of a X-Y-Z-axis coordinate system in which the X axis is in a horizontal direction extending from the user side to the piano side; the Z axis is in a another horizontal direction extending from the left side to the right side of the user; and the Y axis is in a vertical direction perpendicular to the X and Z axes.
  • the Z-axis rotation which reflects a nodding action of the user, is preferable, but the Z-axis rotation and the Y-axis rotation are also allowed.
  • a tilt angle with respect to the Z rotation axis is used, but a tilt angle with respect to the X rotation axis or the Y rotation axis may also be used.
  • Each rotation rate may be detected by a gyroscope.
  • An acceleration in each axis direction may also be used to detect the head movement and may be measured by an accelerometer.
  • the tilt angle may be determined by the method described herein.
  • the head movement has an offset range within which the actuator is not actuated.
  • the actuator is not actuated.
  • the offset range may include offset ranges of a head tilt angle, a rotation rate, and an acceleration with respect to each of the X-, Y-, and Z-axes.
  • the actuator-controlling signal is changeable in accordance with the user’s preference.
  • the actuator-controlling signal may be generated in accordance with the user’s preference. Because the user can select how fast the actuator responds to his/her head movement, the optimized response for each individual player can be achieved. The user’s choice of the response rate is combined with the above offset range to give an efficient way of generating the actuator-controlling signal.
  • the pedal may be a piano pedal.
  • examples of the pedal include pedals for any devices such as musical instruments and vehicles such as automobiles.
  • Examples of the piano include grand pianos, upright pianos, electrical pianos, organs, keyboards, and electones.
  • the actuator may comprise a stepper motor. Any kinds of actuator that can control and actuate a pedal may be used. However, a stepper motor is preferable in view of precise pedal control. Use of the stepper motor enables a pedaling speed and a duration at each pedal position to be controlled accurately. Also, a linear stepper motor is more preferable in order to move the motor reciprocally in a vertical direction while the pedal moves vertically.
  • the detector may be attached to eyeglasses, in particular, a side frame of the eyeglasses. To detect a tilt angle of the head of each user, the detector is preferably set horizontally. To achieve this objective, the detector may be attached along an eyeglasses side frame part between an eye and an ear of the user. Also, a case for the detector may have a slit or groove fit for the side frame. This makes it possible to arrange the detector substantially horizontally, so that the initial tilt angle is almost 0 degrees and it is easy for the user to set a head tilt angle offset value. The detector case may have a slit or groove fit for the eyeglasses side frame part so as to facilitate positioning of the detector. In addition, the detector may be a lightweight detector.
  • the detector may be fixed or detachable on the eyeglasses side frame part. If the user uses eyeglasses, the detector may be attached to his/her own eyeglasses. If the user does not use eyeglasses regularly, fake eyeglasses may be used for this purpose. Besides, how the detector looks in front of audience may be better when the detector is attached to a side frame of eyeglasses than when the detector is attached to a player’s head by using a headband. A good appearance of a player wearing the detector is an important factor for piano performance.
  • the head movement may involve a head tilt angle and un upper limit of an offset range of the head tilt angle may be defined by the user.
  • the offset range involves, for instance, a regular nodding action of the head of a user.
  • the upper limit of the offset range is preferably 10 degrees or less, more preferably 7.5 degrees or less, still more preferably 5 degrees or less, and still more preferably 3 degrees or less because Example 6 demonstrated that the above upper limit was actually selected by the study subjects and was found effective in suspending a tone by using each bFaaaP from the viewpoint of a quick response. That is, in view of a faster actuator response and persons with a neck disability, the less the offset value and the faster the actuator responds, the better.
  • the upper limit of the offset range of the head tilt angle is preferably 3 degrees (2.5 degrees) or less, more preferably 5 degrees or less, still more preferably 7.5 degrees or less, and still more preferably 10 degrees or less, which were verified in the actual experiments of Example 9 as described below.
  • the upper limit of the offset range can range from 3 degrees to 10 degrees.
  • the head tilt angle in combination with the multiplier can be used to control a pedal action in an efficient manner.
  • the actuator-controlling signal may be modified by multiplying, by a multiplier, a value obtained by subtracting an upper limit of the offset range from the head tilt angle; and the multiplier is selected by the user and from 10 to 50, so that 2 to 10 degrees of the head tilt angle from the upper limit of the offset range are used to fully depress the pedal by the actuator.
  • the multiplier may range from 1 to 50.
  • the multiplier When the multiplier is 10, 10 degrees of the head tilt angle from the upper limit of the offset range are used to fully depress the pedal by the actuator; when the multiplier is 20, 5 degrees of the head tilt angle are used; when the multiplier is 30, 3.3 degrees of the head tilt angle are used; when the multiplier is 40, 2.5 degrees of the head tilt angle are used; and when the multiplier is 50, 2 degrees of the head tilt angle are used.
  • the multiplier can be selected according to the user’s preference because a larger multiplier causes the pedal to be depressed quicker by the actuator and because a smaller multiplier cause the pedal to be controlled more precisely.
  • 20, 30, or 40 were preferably selected by the APEE study subjects as described in Example 6.
  • a free pedal play may be offset such that the pedal responds to the actuator-controlling signal and moves without a delay.
  • the pedal has a free pedal play, so that in the case of the piano, for instance, the pedal may not lift dumpers initially. After the free pedal play is offset, the pedal starts functioning in this case.
  • the free pedal play is determined manually but set by actually controlling the actuator by using an actuator controller.
  • the auxiliary pedal system may further comprise a portable housing having the actuator and a detachable weight(s), wherein the detachable weight resists reaction force of the actuator so as not to move the housing; and the housing has a sound-proof chamber including the actuator. Because the housing is portable, the system can be deployed almost anywhere. Also, because the weight is detachable, portability of the housing is improved when the weight is removed from the housing and is carried separately during transportation. In the case of the piano, the system may be fit for not only grand pianos in concert halls but also upright pianos and electric pianos at home. The detachable weight is provided so as to resist reaction force of the actuator. In this way, while the housing is portable, the housing is not easily moved during operation of the actuator.
  • the housing involves a sound-proof chamber.
  • the actuator When the actuator is actuated in response to the detector signal, the actuator-associated sound (noise) is generated. To minimize or cancel the noise, this housing has a sound-proof chamber for the actuator.
  • the chamber may have a sound absorber on walls. In the case of pianos, this can minimize the noise and increase tonal qualities of piano performance.
  • a second aspect of the present invention provides a method for operating a pedal, comprising the steps of: detecting a motion of a user to generate a detection signal; processing the detection signal to generate an actuator-controlling signal; and controlling a pedal in accordance with the actuator-controlling signal, wherein the motion involves a head movement; the head movement has an offset range within which the actuator is not actuated; and the actuator-controlling signal is changeable in accordance with the user’s preference.
  • the head movement is utilized in an efficient manner so as to control the pedal.
  • the above described features may also be employed so as to enhance the pedal control.
  • a third aspect of the present invention provides an auxiliary pedal system comprising: a detector configured to detect a motion of a user to generate a detection signal; and a controller configured to process the detection signal to generate and transmit an electric device-controlling command signal that replaces a pedal-mediated command signal, wherein the motion involves a head movement; the head movement has an offset range within which the electric device does not respond to the head movement; and the electric device-controlling command signal is changeable in accordance with the user’s preference.
  • the controller configured to process the detection signal to generate and transmit an electric device-controlling command signal that replaces a pedal-mediated command signal.
  • the third aspect does not have an actuator configured to actually control a pedal.
  • the electric device-controlling command signal replaces a command signal generated by a pedal of the electric device and is input directly into an electric device controller for performing a function of interest.
  • the controller may include a detector-side control unit and an electric device-side control unit.
  • the detector-side control unit alone or with the electric device-side control unit may process the detector signal in accordance with the features of the present invention.
  • the controller according to the third aspect preferably includes this detector-side controller and may transmit the electric device-controlling command signal in a wired or wireless manner. This extends the present invention to a variety of electric devices with or even without any pedal.
  • the electric device may be an electric piano. Because each electric piano has an electric piano controller, the present invention may have a greater value for the electric piano than mechanical pianos. Just sending the electric device-controlling command signal to the electronic piano controller allows for an efficient way of enhancing piano performance by, in particular, the challenged with leg disabilities and kids.
  • a fourth aspect of the present invention provides a method for operating an electric device, comprising the steps of: detecting a motion of a user to generate a detection signal; and processing the detection signal to generate and transmit an electric device-controlling command signal that replaces a pedal-mediated command signal, wherein the motion involves a head movement; the head movement has an offset range within which the electric device does not respond to the head movement; and the electric device-controlling command signal is changeable in accordance with the user’s preference.
  • the above-described features may be applicable so as to provide an efficient and universal way of controlling an electric device by almost everyone including the challenged with leg disabilities and kids.
  • a fifth aspect of the present invention provides a device controller comprising: a detector configured to detect a motion of a user to generate a detection signal; and a controller configured to process the detection signal to generate and transmit a device-controlling command signal, wherein the motion involves a head movement; the head movement has an offset range within which the device does not respond to the head movement; the device-controlling command signal is changeable in accordance with the user’s preference; and the detector may be attached to eyeglasses.
  • the above-described features may be applicable so as to provide an efficient and universal way of fully operating a device by almost everyone including the challenged with leg disabilities and kids.
  • the device controller may be a gaming controller. Use of a head motion may provide another way for inputting a user’s action. Because this device controller is controlled by two elements involving an offset range and a multiplier changeable in accordance with the user’s preference. This way may provide another way of controlling a game play.
  • the present invention provides an auxiliary pedal system for any of users including persons with leg disabilities and kids.
  • a pedal for the persons with leg disabilities, it is almost impossible to use a pedal, in particular, a piano pedal.
  • this system makes it possible to use the pedal by almost everyone.
  • a non-oral head movement is utilized in an efficient manner by using an offset value range of the head movement and by making each user control how fast an actuator or electric device responds to the head movement. This allows for efficient actuator control and electric device control.
  • FIG. 1 is an overview of a bFaaaP according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating a detector-side configuration and an actuator-side configuration of the bFaaaP.
  • FIG. 3A is a side view of an eyeglasses-attached detector according to an embodiment of the present invention.
  • FIGS. 3B and 3C are other detectors according to embodiments of the present invention.
  • FIG. 4 is a detector-side processing flowchart I.
  • FIG. 5 is a detector-side processing flowchart II.
  • FIG. 6 is an actuator-side processing flowchart I.
  • FIG. 6 is an actuator-side processing flowchart II.
  • FIG. 8 is a MOV function flowchart.
  • FIG. 1 is an overview of a bFaaaP according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating a detector-side configuration and an actuator-side configuration of the bFaaaP.
  • FIG. 9 is a front view of a bFaaaP housing according to an embodiment of the present invention.
  • FIG. 10 is a rear view of the bFaaaP housing.
  • FIG. 11 is left-side (A) and right-side (B) cross-sectional views of the bFaaaP housing.
  • FIG. 12 is left-side (A) and right-side (B) views of the bFaaaP housing.
  • FIG. 13 is a top view (A) and a bottom view (B) of the bFaaaP housing.
  • FIG. 14 is intermediate cross-sectional views I (A) and II (B) of the bFaaaP housing.
  • FIG. 15 is enlarged views of a spacing plate member according to an embodiment of the present invention.
  • FIG. 15 is enlarged views of a spacing plate member according to an embodiment of the present invention.
  • FIG. 16 is a front view of a bFaaaP4 housing with the size of each part indicated.
  • FIG. 17 is a rear view of the bFaaaP4 housing with the size of each part indicated.
  • FIG. 18 is left-side (A) and right-side (B) cross-sectional views of the bFaaaP4 housing with the size of each part indicated.
  • FIG. 19 is left-side (A) and right-side (B) views of the bFaaaP4 housing with the size of each part indicated.
  • FIG. 20 is a top view (A) and a bottom view (B) of the bFaaaP4 housing with the size of each part indicated.
  • FIG. 21 is intermediate cross-sectional views I (A) and II (B) of the bFaaaP4 housing with the size of each part indicated.
  • FIG. 22 is enlarged views of a spacing plate member of the bFaaaP4 with the size indicated.
  • FIG. 23 is notes of sheet music used in an APEE study.
  • FIG. 24 is a questionnaire provided to subjects in a protocol of the APEE study.
  • FIG. 25 is one of diagrams obtained in the APEE study and calculation formulas used for statistical analysis.
  • FIG. 26 is a graph showing head tilt angles of a subject during piano performance.
  • the piano is an acoustic, stringed musical instrument.
  • kinds of the piano include grand pianos, upright pianos, electric pianos (also, referred to as electronic pianos), keyboards, electones, and organs.
  • Most modern pianos have a row of 88 keys consisting of 52 white keys and 36 shorter black keys.
  • the pianos have usually two or three pedals.
  • each specific side with respect to a piano relative to a player is defined as follows: front side: the player’s side relative to the piano; rear side: an action mechanism side relative to a board behind a keyboard; left side: the left side when viewed from the player; right side: the right side when viewed from the player; upper side: a higher position relative to a certain point; and lower side: a lower position relative to a certain point.
  • a musical tone is a steady periodic sound and is characterized by its duration, pitch, intensity (loudness), and timbre (or quality). When the duration of a tone is extended by pedal action, the tone is sustained.
  • sustained tone refers to this type of sustained tone.
  • a note is the pitch and duration of a sound.
  • the musical notes are usually represented by either C, D, E, F, G, A, and B or Do, Re, Mi, Fa, Sol, La, and Si.
  • the notes are represented by Do, Re, Mi, Fa, Sol, La, and Si.
  • Piano pedals are foot-operated levers at the base of a piano.
  • the pedals can change the piano’s sound in various ways.
  • the pedals usually include, from left to right, the soft pedal, the sostenuto pedal, and the sustain pedal.
  • the middle sostenuto pedal may be replaced by a pedal with a muting function.
  • the soft pedal produces a softer, more ethereal tone.
  • the sustain pedal is used more frequently and raises all the dampers off the strings so that they keep vibrating after a player releases a key.
  • the sustain pedal doubles as a pedal that allows the player to connect, into a legato texture, notes that otherwise could not thus be played.
  • reaction force When a piano pedal is depressed by a foot of a player, the player receives reaction force (kick back force) on the foot. As used herein, this force is referred to as “reaction force”.
  • reaction force each piano pedal usually has a free pedal play, which is also employed in clutch systems in automobiles.
  • free pedal play refers to the distance or margin that a piano pedal can be depressed before the pedal begins to make an action such as sustaining a tone or softening a tone.
  • actuation width refers to a distance from a point at a free pedal play offset value to a point where the pedal is depressed in accordance with a user’s operation of the present system.
  • actuation range value refers to a distance from a point at a free pedal play offset value to a point where the pedal is fully depressed.
  • auxiliary pedals There are many kinds of auxiliary pedals for kids whose leg cannot reach a piano pedal when seated in front of the piano. Most of them are mechanical ones. Each auxiliary pedal usually assists a player to depress a piano pedal when the player depresses another pedal on such an auxiliary apparatus. However, persons with leg disabilities still cannot operate such auxiliary pedals. Recently, universal design has been increasingly adopted for public equipment and facilities as well as buildings and housings. This wording “universal design” is used in the same context as of a “barrier-free” concept. However, there are very few commercially available auxiliary piano pedals that can be used for everyone including persons with leg disabilities. Embodiments of the present invention each provide an auxiliary piano pedal system that can be used for almost everyone including persons with leg disabilities. As used herein, this system is sometimes referred to as a “barrier-free assist as a pedal (bFaaaP)”.
  • Head movements may include a head rotation around each of the three axes of a X-Y-Z-axis coordinate system in which the X axis is in a horizontal direction extending from the user side to the piano side (i.e., the above front side to the rear side); the Z axis is in another horizontal direction extending from the left side to the right side of the user (i.e., the above left side to the right side); and the Y axis is in a vertical direction perpendicular to the X and Z axes (i.e., the above lower side to the upper side). Any of the X-, Y-, and Z-axis rotations may be used.
  • the rotations may involve a rotation rate and/or a head tilt angle.
  • the Z-axis rotation reflects a nodding action of the user and may be used.
  • a tilt angle with respect to the X rotation axis or the Y rotation axis may also be used.
  • an acceleration in each axis direction may be utilized for the present invention.
  • a head tilt angle is determined as an angle (e.g., a pitch angle) with respect to a plane in parallel to the ground (i.e., a horizontal plane).
  • the “(head tilt angle) offset range” is a range within which an actuator is not actuated and may be set by each user.
  • the “(head tilt angle) offset value” is an upper limit of the offset range and is not 0 degrees.
  • a “multiplier” is set by each user and a head tilt angle is multiplied by the multiplier. Each user can select the multiplier according to their preference.
  • piano players Users are grouped into Class I, II, and III subjects.
  • Class I subjects are those who can depress a pedal by their own foot (sometimes herein referred to as adults).
  • Class II subjects are those who can move their legs but cannot operate a piano pedal without a conventional auxiliary pedal (e.g., children (kids)).
  • Class III subjects are those who have leg disabilities and cannot operate a piano pedal even with the conventional auxiliary pedal (e.g., persons with leg disabilities) (hereinafter, persons with leg disabilities are sometimes referred to as the challenged with leg disabilities). If Class II subjects also fall under Class III subjects (e.g., children with leg disabilities), these subjects are treated as Class III subjects.
  • professional pianists are also referred to as piano players.
  • Auxiliary Pedal Effect Evaluation Study Effects of this auxiliary pedal system may be evaluated by measuring how long each tone is sustained by actuating the actuator of this system. To provide a piece of evidence showing the effects, the above Class I to III subjects are tested. As an approach to measuring the sustained tone, a tone-vibrating area (hereinafter, sometimes referred to as a “TVA”) of each sound waveform is measured and evaluated with respect to each class and individual class subjects. The detailed protocol is described in Example 6 below. Hereinafter, this test is called an auxiliary pedal effect evaluation study (APEE study).
  • TVA tone-vibrating area
  • a bFaaaP is an auxiliary pedal system according to an embodiment of the present invention and may include a detector, a processor (controller), and an actuator.
  • FIGS. 1 and 2 show an overview of the bFaaaP according to this embodiment.
  • the detector is configured to detect a motion of a user to generate a detection signal.
  • the processor is configured to process the detection signal to generate an actuator-controlling signal.
  • the actuator is configured to control a pedal in accordance with the actuator-controlling signal.
  • the motion involves a head movement; the head movement has an offset range within which the actuator is not actuated; and the actuator-controlling signal is changeable in accordance with the user’s preference.
  • the bFaaaP may have a three-member configuration. The following describes, in detail, each member by referring to the Drawings.
  • A-1) Detector (Angle Sensor) (1) Gyroscopes Each gyroscope is a device used for measuring or maintaining orientation and angular velocity. Different kinds of gyroscopes are present, but any of the gyroscopes can be used in the present invention as long as they can detect a head movement and give a detection signal.
  • Geomagnetic Sensors Each geomagnetic sensor is a device used to determine the orientation of objects with respect to the magnetic field surrounding the earth.
  • the sensor may also be used to determine orientation with respect to a local magnetic field, a local attenuation of the earth's magnetic field, or used as a pointer to track moving magnetic potentials.
  • the present detector may include a combination of a gyroscope, an accelerometer, and/or a geomagnetic sensor. This detector may further include another device for detecting a head movement.
  • Other Devices The head movement may be monitored by a camera of a smartphone or a web camera and the camera image may then be sent to an image processor on the smartphone or an internet server for analysis. The head movement image may be processed though deep learning to generate a detector signal. (6) How to Attach Detector to Head FIG.
  • FIG. 3 shows how to attach a detector (case) to the head of a user.
  • the detector 1000 is attached to a side frame 1100 of eyeglasses.
  • the size (mm) of each part is provided for illustration purpose, and the size is not limited to those numbers.
  • FIG. 3A is a side view according to this embodiment.
  • FIG. 3B shows the case where a detector case 1010 has a slit 1020 fit for the side frame 1100.
  • FIG. 3C shows the case where a detector case 1010 has a groove 1020 fit for the side frame 1100.
  • a sensor module 1050 is enclosed in the detector case 1010.
  • the sensor module 1050 can also be set substantially horizontally.
  • the detector case 1010 may be attached on the left side or on the right side, whichever is preferred by each user.
  • the detector or the side frame may be further fixed by using a rubber band (s) or a velcro tape(s).
  • A-2) Communication Devices Transmitter and Receiver and Solid and Dashed Lines
  • Wireless Communication Any kinds of wireless communication devices may be used as long as the devices allow for communication, for instance, between the detector and the processor (controller), between the processor (controller) and the actuator (an actuator controller or a driver for the actuator), and/or between the controller and the electric device (a controller for the electric device). Examples include Wi-Fi devices, Bluetooth devices, and BLE (Bluetooth Low Energy) devices.
  • Wired Communication Any kinds of cables (e.g., codes, wires, lines) may be used for the above communication. Meanwhile, any of units of interest may be integrated or provided as a built-in unit.
  • A-3-1) Processor or Controller e.g., Data Processor and Actuator Controller
  • A-3-1) Processor or Controller e.g., Data Processor and Actuator Controller
  • Arduino Hardware includes single-board microcontrollers and microcontroller kits for building digital devices and interactive objects that can sense and control objects in the physical and digital world.
  • the boards are equipped with sets of digital and analog input/output (I/O) pins that may be interfaced to various expansion boards or breadboards (shields) and other circuits.
  • the boards feature serial communications interfaces, including Universal Serial Bus (USB) on some models, which are also used for loading programs from personal computers.
  • Examples of the chicken hardware include chicken Uno, iOS Leonardo, iOS Mega, iOS Nano, and M5Stack.
  • the microcontrollers are typically programmed using a dialect of features from the programming languages C and C++.
  • the firmware project provides an integrated development environment (IDE) based on the Processing language project.
  • IDE integrated development environment
  • Any kinds of processers that can process a detection signal from the detector to generate a control (command) signal may be adopted. Examples may include SPRESENSE series (SONY, Inc.). Each processor may also be placed on an IC board.
  • Each processor may comprise a detector-side control unit and an actuator-side control unit as shown in FIG. 2. The detector-side control unit alone or with the actuator-side controller may process the detector signal in accordance with the features of the present invention.
  • Adjuster for Head Motion Offset Range and Adjuster for Multiplier The processor (controller) may have adjusters (input units) (i.e., 1210 and 1220 in FIG. 3A) for obtaining a head tilt angle offset range value and a multiplier as shown in FIG. 2. Any kind of the adjusters may be used. Examples of each adjuster include buttons, dials, levers, sliders, and switches. In addition, an on/off switch 1230 for the processor may be included. (5) Adjuster for Free Pedal Play Offset Value and Adjuster for Actuation Range Value The processor (controller) may also have additional adjusters (initializer 810 in FIG. 1) for obtaining a free pedal play offset value and an actuation range value as shown in FIG. 2. Any kind of the adjuster (initializer) may be used. Examples of the adjuster include buttons, dials, levers, sliders, and switches.
  • Controller Programs may be written in any of known computer programming languages. Examples include Java, C, C++, C#, Python, JavaScript, PHP, Visual Basic, Ruby, Perl, Swift, Go, and Processing.
  • the controller is an electrician-based controller
  • the electrician IDE may be used to write and debug each program.
  • the program may be installed in the firmware board through a USB.
  • A-4) Actuators (Motors) (1) Stepper Motors
  • Each stepper motor or step motor or stepping motor (hereinafter, sometimes referred to as a stepper motor) is a DC electric motor that divides a full rotation into a number of equal steps. The motor position can then be commanded to move and hold at one of these steps. Any kinds of motors, however, may be used in the present invention as long as each motor can be used to depress a pedal. In view of precise control of pedal action, stepper motors are used preferably.
  • (2) Linear Motors Each linear motor is an electric motor that has its stator and rotor "unrolled" so that instead of producing a torque (rotation) it produces a linear force along its length. For pedal action, which pedal reciprocally moves up and down, it may be advantageous to use a linear motor. For the present invention, it is preferable to use a linear stepper motor as the actuator.
  • Each power source may be an AC power source or a DC power source.
  • the AC voltage is converted to DC voltage by an AC/DC converter to operate the actuator.
  • each power source may be a battery. Examples of the battery include lithium ion secondary batteries.
  • the number of the power sources or batteries is not limited. In FIG. 2, specific connections to and from each power source are omitted for description purpose.
  • FIG. 2 Specific Configuration of Auxiliary Pedal System (bFaaaP) According to This Embodiment (B-1) Units in This System
  • a configuration of this embodiment is shown in FIG. 2 and includes an angle sensor (1), a data processor (2), a transmitter (3), a receiver (4), an actuator controller (5), an actuator (6), and detector-side and actuator-side power sources (7).
  • the angle sensor (1) detect a change in tilt angle of the head of a user to generate a detector signal as an analog voltage or a digital value. Then, the detector signal is sent to the data processor (2).
  • the angle sensor has a sufficient precision; 2) There is no burden imposed while a player moves the body; 3) The sensor is durable; 4) The sensor does not prevent a player from singing a song during performance; 5) The sensor should be small; 6) The sensor should be commercially available or easily constructed; 7) The sensor should be inexpensive.
  • the angle sensor may be attached to a head portion.
  • the sensor In view of easily detecting a head motion, in particular, a tilt angle, the sensor may be attached to a side frame of eyeglasses. This is because the side frame is placed horizontally between an eye and an ear. This makes it easy to detect a head tilt angle.
  • the angle sensor is enclosed in a case with a slit or groove. The slit or groove is fit for the side frame so as to tightly fix the angle sensor in a proper position.
  • the angle sensor may also be attached to a cap, a hat, a hair band, a hair accessory, or an ear accessory as long as the angle sensor can detect a head angle with precision.
  • the weight of the detector may be between 0.1 g to 20 g. From the viewpoint of detecting a head motion without feeling a burden on the head and executing required performance, the weight is preferably from 0.1 g to 15 g, more preferably from 0.5 g to 10 g, and still more preferable from 1 g to 5 g.
  • the size of the detector (angle sensor) may be 35 mm (horizontal length) x 30 mm (vertical length) x 15 mm (width) as shown in FIG. 3. However, the sizes are not limited to the above numbers and may be larger or smaller as long as the detector can execute proper performance while a user does not feel a burden on the head.
  • examples of the horizontal length include 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, or 50 mm
  • examples of the vertical length include 1, 2, 3, 4, 5, 10, 15, 20, 25, 30, 35, 40, or 50 mm
  • examples of the width include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, or 30.
  • the size of the detector is preferably about 35 mm (horizontal length) x about 30 mm (vertical length) x about 15 mm (width).
  • the detector may be attached to a frame part on the right side or the left side or frame parts on both the sides of eyeglasses.
  • the detector may be combined with an eyeglasses-type display (e.g., smart glasses) on which information such as sheet music or instructions can be displayed. This may make it easier to read sheet music while a piano player depresses a pedal by using a bFaaaP.
  • eyeglasses-type display e.g., smart glasses
  • (B-2-2) Data Processor The data obtained by the angle sensor (1) is subject to filter processing to reduce noise and drifts.
  • a head tilt angle offset value and a user-defined multiplier are set by an offset adjuster and a multiplier adjuster, respectively, that are connected to the data processor (2).
  • the offset value is subtracted form an actual angle and the resulting value is multiplied by the multiplier. If the value obtained is not within a suitable range (e.g., exceeds an upper limit), the value is corrected and is sent to the transmitter (3) as control data.
  • the detector-side controller including the data processor and the following transmitter may be selected in view of the following points: 1) The data processor can process data from the angle sensor without a delay; 2) The detector controller is small; 3) The detector controller consumes less energy; 4) The transmitter is enclosed in the controller; 5) The data processor has two or more A/D converters; 6) The data processor has an enough number of universal digital ports (for communication with the angle sensor); 7) The controller has an I2C communication port (for communication with the angle sensor); 8) The data processor can be easily debugged; and 9) The controller can be battery-operated.
  • the transmitter (3) transmit the above control data via the receiver (4) to the actuator controller (5).
  • the communication may be a wireless communication or a wired communication using an appropriate specification and a suitable protocol.
  • the actuator controller (5) is initialized by determining an operation starting point (defined by a free pedal play offset value) and an actuation range value. Next, the incoming data (i.e., a value from 0 to an upper limit) is converted to fit for an actuation range. Then, the converted value is sent, as a command value, to the actuator (6).
  • an operation starting point defined by a free pedal play offset value
  • an actuation range value i.e., a value from 0 to an upper limit
  • the actuator-side controller including the actuator controller and the above receiver may be selected in view of the following points: 1) The actuator controller consumes less energy; 2) The receiver is enclosed in the controller; 3) The data processor has two or more A/D converters; 4) The data processor has an enough number of universal digital ports (for communication with the actuator); 5) The data processor can be easily debugged; and 6) The controller can be battery-operated.
  • the actuator (6) may include an actuator driver and a motor and is operated in accordance with the command value from the actuator controller.
  • the actuator may be selected in view of the following points: 1) The actuator can exert sufficient force to move a pedal; 2) The response speed of the actuator is sufficient so as not to cause a delay of performance of a player; 3) Noise of the actuator is acceptable in view of performance of a player; and 4) The actuator can be battery-operated.
  • Each power source may be an AC power source or a DC power source.
  • the AC voltage is converted to DC voltage by an AC/DC converter to operate the actuator (6).
  • each power source may be a battery. Examples of the battery include lithium ion secondary batteries.
  • the detector-side and actuator-side programs may be created such that a head tilt angle is detected and a pedal of a piano is depressed or released in according to a change in the angle.
  • the following points are considered.
  • each actuation range value can be set and adjusted for each piano.
  • a head tilt angle should be stably obtained as a detection signal.
  • the detection signal may be subject to Madgwick filter processing to reduce noise and drifts.
  • C-1 Programs for Detector-side Controller (Processor)
  • the flowcharts I and II of FIGS. 4 and 5 show how to detect and process a motion of a head to generate a detector signal according to an embodiment of the present invention. The numbers and specific operations may be changed depending on situations.
  • a Nassi-Shneiderman diagram (NSD) is used to describe the processing.
  • the “T” represents TRUE and indicates that a subject condition is met.
  • the “F” represents FALSE and indicates that the subject condition is unmet.
  • sensor data an accelerometer, a gyroscope, and a geomagnetic sensor
  • angle data e.g., a pitch angle
  • the pitch angle is multiplied by a multiplier of from 1 to 50.
  • a multiplier of from 1 to 50.
  • the pitch angle is set to 99. If not, the process goes to S117.
  • the resulting range i.e., from 0 to 99
  • an actuation width i.e., from 0 to 47
  • the upper limit (i.e., 99) of the above range is used. That is, if the multiplier is 10, 10 degrees of pitch angle (head tilt angle) from the offset position is used to fully depress the pedal; if the multiplier is 20, 5 degrees of the pitch angle is used; if the multiplier is 30, 3.3 degrees of the pitch angle is used; if the multiplier is 40, 2.5 degrees of the pitch angle is used; and if the multiplier is 50, 2 degrees of the pitch angle is used.
  • the numerical pitch angle is converted to a string for BLE communication.
  • the resulting string is transmitted through BLE communication.
  • an offset volume value i.e., an internal value of the adjuster; an analog volume value is converted to a digital value by an A/D converter; the same applies to the following
  • S121 the value is converted to from -45 to 45 (tilt angle degrees) at S122; and this converted value is stored as a new offset value (an upper limit of an offset range of interest) at S123.
  • multiplier adjuster value is changed (S125)
  • a multiplier volume value i.e., an internal value of the adjuster
  • the value is converted to from 1 to 50 at S127; and this converted value is stored as a new multiplier at S128.
  • the actuator is set at the original position.
  • the BLE communication is initialized and started.
  • the process goes to S218. If the BLE is on, whether both the offset adjuster (i.e., the adjuster for a free pedal play offset value) and the actuation range value adjuster are off is checked at S208. If both the adjusters are off, the process goes to S209. Otherwise, the process goes to S218. If data is received (S209), whether this data is different from the previous data is determined at S210. If so, the transmitted string from the detector-side controller is converted to a number at S211. At S212, the string is stored as a new previous data. Then, the resulting number (0 to 99) is converted to an actuation width.
  • the converted actuation width is equal to or more than 47 (i.e., an upper limit of a command value for operating the actuator) (S214)
  • the value is set to 47 at S215.
  • the resulting value is converted to bits by using the above union (S216) so as to operate the actuator by calling the actuation routine (the following MOV function) at S217.
  • the process goes to S227. If the offset adjuster is on, the free pedal play offset volume value (i.e., an internal value of the adjuster) is read and divided by 44 at S219. Because the A/D converter of an ESP32 has 12-bit resolution (i.e., 2 12 ; an integer from 0 to 4096) and the upper limit of the actuation width is set to 47 in this case, the value of the A/D converter value is first divided by 47 to give a number of from 0 to about 88. Here, if the number is an odd number (S220), the process goes to S227.
  • the A/D converter of an ESP32 has 12-bit resolution (i.e., 2 12 ; an integer from 0 to 4096) and the upper limit of the actuation width is set to 47 in this case. Because the A/D converter of an ESP32 has 12-bit resolution (i.e., 2 12 ; an integer from 0 to 4096) and the upper limit of the actuation width is set to 47 in this case
  • this value (maximum 88) is divided by 2 at S221 to give a number less than 47 (i.e., an upper limit of a command value for operating the actuator). If the number is equal to or more than 47 (S222), the number (value) is set to 47 at S223. The same applies to the case of the actuation range value adjuster. After that, the resulting value is converted to bits by using the above union (S224) so as to operate the actuator by calling the actuation routine at S225. Finally, the value is stored as the free pedal play offset value at S226.
  • actuation range value adjuster is on. If the actuation range value adjuster is off, the following S228 to S239 are skipped and the loop is repeated. If the actuation range value adjuster is on, the actuation range volume value (i.e., an internal value of the adjuster) is read and divided by 44 at S228. If the resulting value is an odd number, the steps from S230 to S239 are skipped and the loop is repeated. Next, this value (maximum 88) is divided by 2 at S230 to give a number (actuation range value) less than 47. Then, the above free pedal play offset value is subtracted from the number at S231.
  • actuation range volume value i.e., an internal value of the adjuster
  • the resulting number is 0 or less (S232), this value is set to 0 at S233. After that, the free pedal play offset value is added to this value at S234. If the resulting value is 47 or more (S235), the value is set to 47 (the maximum of the actuation width) at S236. Thereafter, the resulting value is converted to bits by using the above union (S237) so as to operate the actuator by calling the actuation routine at S238. Subsequently, the value is stored as the actuation range value at S239. Then, the process goes back to S207 and the loop is repeated.
  • a motion of a user is detected so as to generate a detection signal.
  • the detection signal is processed to generate an actuator-controlling signal.
  • a pedal is controlled by the actuator in accordance with the actuator-controlling signal.
  • the motion involves a head movement; the head movement has an offset range within which the actuator is not actuated; and the actuator-controlling signal is changeable in accordance with the user’s preference.
  • the head movement may involve a head tilt angle and the offset range of the head tilt angle may be defined by the user. Examples of the upper limit of the offset range include 0.5, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, or 20 degrees.
  • the upper limit may be a value between any two of the above numbers. However, 3, 5, or 10 degrees were particularly selected by the APEE study subjects as described in Example 6.
  • a basal value of the actuator-control signal may be multiplied by 1 to 50 set by the user. Examples of the multiplier include 1, 2, 3, 5, 10, 15, 20, 25, 30, 35, 40, 45, or 50.
  • the multiplier may be a value between any two of the above numbers. However, 20, 30, or 40 was particularly selected by the APEE study subjects as described in Example 6.
  • a free pedal play may be offset such that the pedal responds to the actuator-controlling signal and moves without a delay.
  • the height of the actuator may be programmatically controlled by setting an initial height of the actuator by using an input unit like the adjuster described above. The initial height may also be set manually in some cases.
  • steps (3) and (4) may be changed. Once steps (3) and (4) are completed for a specific piano, each user may omit these steps next time. The order of steps (5) and (6) may be changed but may be better to keep this order.
  • Embodiment 2 Piano Pedal
  • the pedal is a piano pedal.
  • kinds of the piano include grand pianos, upright pianos, electric pianos, keyboards electones, and organs.
  • Embodiment 3 How to Attach Detector to User’s Head
  • the detector is preferably attached to a portion of the head of the user.
  • a member e.g., a tool, a device
  • the detector is attached to eyeglasses as shown in FIG. 3A. More specifically, the detector may be attached to an eyeglasses side frame part between an eye and an ear of the user.
  • a detector 1000 may have a slit (FIG. 3B) or a groove (FIG. 3C) fit for the eyeglasses side frame part so as to facilitate positioning of the detector.
  • the detector may be a lightweight detector. This may facilitate the user’s operation such as the player’s piano performance because the user can control the device without feeling a burden on the head.
  • the detector may be fixed or detachable on the eyeglasses side frame part. If each user uses eyeglasses, the detector may be attached to his/her own eyeglasses.
  • each of the above auxiliary pedal systems further comprises a portable housing having the actuator and a detachable weight(s) wherein the detachable weight(s) resists reaction force of the actuator so as not to move the housing; and the housing has a sound-proof chamber including the actuator.
  • FIGS. 9 to 15 show the structure of a housing 100 according to an embodiment of the present invention.
  • FIG. 9 is a front view;
  • FIG. 10 is a rear view;
  • FIG. 11 is left-side and right-side cross-sectional views;
  • FIG. 12 is left-side and right-side views;
  • FIGS. 13 to 14 are cross-sectional views including a top view, a bottom view, and intermediate views;
  • FIG. 15 is enlarged views of a spacing plate member 630.
  • the housing 100 has a sectioned structure and includes a sound-proof chamber 200, a first weight chamber 300, a second weight chamber 350, and an actuator controller chamber 800 as shown in FIGS. 9 and 10.
  • the chambers are built by using plate members and regular fixing procedures (e.g., a bolt and a nut, a screw, an adhesive) known in the art.
  • Each plate member may be made of any material such as wood, plastic, metal, and/or ceramic as long as the housing can be constructed so as to support devices (e.g., an actuator, a controller, a driver, an initializer, weights).
  • the sound-proof chamber 200 of FIGS. 9 to 12 and 14 is defined by a ceiling plate member 540, a second side plate member 560, a third side plate member 570, a rear plate member 580, a front plate member 590, and a sound-proof chamber bottom plate member 510.
  • a sound absorber 210 is attached to all or part of the above plate members.
  • a body portion 610 of an actuator (i.e., a linear stepper motor; an electric cylinder) 600 is fixed via an actuator attachment plate 615 to the front plate member 590 as shown in FIG. 11A and 14A.
  • the actuator attachment plate 615 has 4 through-holes into which inner rubber plugs 592b1 to b2 and 594b1 to b2 and corresponding outer rubber plugs 592a1 to a1 and 594a1 to a2 are inserted while plug bolts are used to fix and fit each plug in each hole. These rubber plugs serve as sound absorbers as well as vibration-proof materials.
  • the sound-proof chamber bottom plate member 510 has an elongated opening 250 as shown in FIG. 11A.
  • a leg portion of the actuator 600 extends downwardly through the opening 250 from the body portion and moves reciprocally so as to depress and release a pedal.
  • a spacing plate member 630 is attached to the bottom of the leg portion so as to avoid a direct contact between the actuator and the pedal.
  • the spacing plate member 630 may be made of any material as long as damage to the pedal can be avoided. Further, the spacing plate member 630 may be covered with a non-woven or woven fabric or a rubber material depicted as a dashed line in the bottom figure of FIG. 15. Collectively, this configuration of the sound-proof chamber 200 can be used to reduce operation noise generated during operation of the actuator 600.
  • the first weight chamber 300 of FIGS. 9 to 11 and 14B is defined by a first side plate member 550, the second side plate member 560, a first horizontal plate member 520, a floor plate member 500, and the rear plate member 580.
  • the second weight chamber 350 of FIGS. 9 to 11 is defined by the first side plate member 550, the second side plate member 560, the first horizontal plate member 520, a second horizontal plate member 530, and the rear plate member 580.
  • the front side of each chamber is exposed to the air as shown in FIG. 9.
  • a bolt (310 or 360) is fixed to and protruded from the first side plate member 550 and the tip pf each bolt does not reach the second side plate member 560 as shown in FIG. 9.
  • a detachable weight(s) can be placed in each chamber.
  • Weights 700a1-n each have a hole through which the bolt 310 is inserted and are placed in the first weight chamber 300.
  • weights 750b1-n each have a hole through which the bolt 360 is inserted and are placed in the second weight chamber 350.
  • the total weight of all the weights should be enough to resist pedal reaction force of the actuator during operation.
  • the pedal reaction force was measured in Example 8. With reference to the values in Example 8, the total weight may be set to 8 to 10 kg.
  • Use of the detachable weights can increase portability of the housing.
  • the actuator controller chamber 800 of FIGS. 9 to 11 and 14A is defined by the first side plate member 550, the second side plate member 560, the second horizontal plate member 530, the ceiling plate member 540, and the rear plate member 580.
  • the front side of this chamber is also exposed to the air.
  • This chamber may house an initializer 810 (adjusters for a free pedal play offset value and an actuation range value), an actuator controller 820, and a driver unit (e.g., a driver and a power supply). These devices may be fixed or detachable.
  • the exposed front side of this chamber may be further provided with a plate member. This additional plate may improve an appearance of the housing because the devices cannot be seen from the outside.
  • a vibration-proof sheet 900 of FIGS. 9 to 11 may be attached to the bottom of the floor plate member 500 so as to reduce actuator-mediated vibrations and stabilize the housing. Any material may be used for this sheet as long as the above objectives are achieved.
  • the housing 100 may be placed next to a pedal as shown in FIG. 1.
  • a sustain pedal is depressed by the actuator 600
  • the housing may be placed on the right side of the pedal.
  • a soft pedal is depressed by the actuator 600, the housing may be placed on the left side.
  • the pedal may be of a grand piano or an upright piano.
  • an adhesive tape may be used to fix the edges of the floor plate member 500 to the floor.
  • the above detachable weights may each be a metal composed of iron, brass, bronze, and/or copper or may also be composed of concrete. Any kinds of weights may be allowed as long as they can resist reaction force of a pedal of interest. For some pianos, two 5-kg weights or 20 four-hundred-gram metal sheets are sufficient for this purpose.
  • the number of the weights are also not limited as long as the housing includes the weights. For this purpose, the housing may have a plurality of rooms for the weights. It may be preferable from the viewpoint of portability of the housing to provide separate weights rather than to provide one heavy weight.
  • this housing has a sound-proof chamber for the actuator.
  • the chamber may have a sound absorber on walls.
  • the sound absorber may be acoustic foam.
  • the acoustic foam is open celled foam used for acoustic treatment. It attenuates airborne sound waves by increasing air resistance, thus reducing the amplitude of the waves.
  • the acoustic foam can be attached to walls, ceilings, doors, and other features of a room to control noise levels, vibrations, and echoes. Examples of materials for the sound absorber include polyurethane and glass wool.
  • Embodiment 5 Method for Operating Pedal
  • An embodiment of the present invention provides a method for operating a pedal, comprising the steps of: detecting a motion of a user to generate a detection signal; processing the detection signal to generate an actuator-controlling signal; and controlling a pedal in accordance with the actuator-controlling signal, wherein the motion involves a head movement; the head movement has an offset range within which the actuator is not actuated; and the actuator-controlling signal is changeable in accordance with the user’s preference.
  • the above described technical features through Embodiment 1 to Embodiment 4 are likewise applicable to this embodiment.
  • Embodiment 6 bFaaaP without Actuator An embodiment of the present invention provides an auxiliary pedal system comprising: a detector configured to detect a motion of a user to generate a detection signal; and a controller configured to process the detection signal to generate and transmit an electric device-controlling command signal that replaces a pedal-mediated command signal, wherein the motion involves a head movement; the head movement has an offset range within which the electric device does not respond to the head movement; and the electric device-controlling command signal is changeable in accordance with the user’s preference.
  • the controller processes the detection signal to generate and transmit an electric device-controlling command signal that replaces a pedal-mediated command signal.
  • This embodiment does not have an actuator configured to actually control a pedal.
  • the electric device-controlling command signal replaces a command signal generated by a pedal of the electric device and is input directly into an electric device controller for performing a function of interest.
  • the controller may include a detector-side control unit and an electric device-side control unit.
  • the detector-side control unit alone or with the electric device-side control unit may process the detector signal in accordance with the features of the present invention.
  • the controller according to this embodiment preferably includes this detector-side controller and may transmit the electric device-controlling command signal in a wired or wireless manner. This extends the present invention to a variety of electric devices with or even without any pedal. In this embodiment, the above-described features may be applicable.
  • the electric device may be an electric piano. Because each electric piano has an electric piano controller, the present invention may have a greater value for the electric piano than mechanical pianos. Just sending the electric device-controlling command signal to the electronic piano controller allows for an efficient way of enhancing piano performance by, in particular, the challenged with leg disabilities and kids.
  • Embodiment 8 Method for Operating Electric Device
  • An embodiment of the present invention provides a method for operating an electric device, comprising the steps of: detecting a motion of a user to generate a detection signal; and processing the detection signal to generate and transmit an electric device-controlling command signal that replaces a pedal-mediated command signal, wherein the motion involves a head movement; the head movement has an offset range within which the electric device does not respond to the head movement; and the electric device-controlling command signal is changeable in accordance with the user’s preference.
  • the above-described features may be applicable so as to provide an efficient and universal way of controlling an electric device by almost everyone including the challenged with leg disabilities and kids.
  • Embodiment 9 Gaming Controller An embodiment of the present invention provides a device controller comprising: a detector configured to detect a motion of a user to generate a detection signal; and a controller configured to process the detection signal to generate and transmit an electric device-controlling command signal, wherein the motion involves a head movement; the head movement has an offset range within which the electric device does not respond to the head movement; the electric device-controlling command signal is changeable in accordance with the user’s preference; and the detector is attached to a side frame of eyeglasses.
  • This device controller may be a gaming controller. In a sense, playing the piano may be something like playing a game for some people. Use of a head motion may provide another way of inputting a user’s action. Because this device controller is controlled by two elements involving an offset range and a multiplier changeable in accordance with the user’s preference. This may provide another way of controlling a game play. Because almost everyone including the challenged with leg disabilities and kids can use this controller, a variety of games can be played by a wide range of gamers in a novel control way. Besides, this device controller may extend play control actions so as to provide a novel type of game.
  • Example 1 Overview of bFaaaP4 is an auxiliary piano pedal system and was manufactured while the following points were taken into consideration: 1) A sustain pedal of a piano is depressed while an upper body movement, namely a head motion, is detected. 2) Operation of the system does not prevent a player from playing the piano and singing a song during performance. 3) The bFaaaP4 can be relatively easily constructed.
  • Example 1-1 Configuration The bFaaaP4 was configured to include an angle sensor (1), a data processor (2), a transmitter (3), a receiver (4), an actuator controller (5), an actuator (6), and detector-side and actuator-side power sources (7) as shown in FIGS. 16 to 22.
  • FIGS. 16 to 22 correspond to FIGS. 9 to 15, respectively, and the sizes of respective parts are represented in mm.
  • a 6-axis sensor (a combination of an accelerometer and a gyroscope) and a 9-axis sensor (a combination of an accelerometer, a gyroscope, and a geomagnetic sensor) were tested as the angle sensor.
  • the 9-axis sensor had less drifts and was commercially available and relatively inexpensive.
  • an MPU9250 manufactured by TDK Inc. was used as the angle sensor. Because the MPU9250 was provided as a commercially available module, the module was enclosed in a case. The case was then detachably attached to a side frame of eyeglasses.
  • An ESP32 manufactured by Espressif Systems, Inc. was used as the data processor because it is relatively easy to develop a program.
  • the data processor was equipped with an adjuster 1210 for an offset value (i.e., an upper limit of the above offset range) and an adjuster 1220 for a multiplier as shown in FIG. 3.
  • the transmitter used Bluetooth BLE for communication with the receiver.
  • Actuator Controller An ESP32 (manufactured by Espressif Systems, Inc.) was used as the actuator controller because it is relatively easy to develop a program.
  • the actuator controller was equipped with an adjuster for a free pedal play offset value and an adjuster for an actuation range value as shown in FIG. 2.
  • Actuator An electric cylinder (EAC4W-D05-AZAAD-1-G; manufactured by Oriental Motor Co., Ltd) was used as the actuator and DC24V AZ-Series ⁇ -step was used as a driver (EAC4-D05-AZAAD-1). Also, MEXE02 (Oriental Motor Co., Ltd) was used as set-up software.
  • Example 1-2 Detector-side Controller Program The detector-side controller program was created in accordance with the detector-side processing flowcharts of FIGS. 4 to 5 by using them IDE 1.8.5 with proper drivers installed therein.
  • the pitch angle data was subjected to Madgwick filter processing to reduce noise and drifts and further subjected to offset processing and multiplier processing. Then, the processed value was converted to a control value ranging from 0 to 99. This control value was transmitted through BLE to the actuator controller.
  • Example 1-3 Actuator-side Controller Program The actuator-side controller program was created in accordance with the actuator-side processing flowcharts of FIGS. 6 to 7 by using them IDE 1.8.5 with proper drivers installed therein.
  • the control value received at the actuator controller through the receiver was converted to an actuator command value (actuation width) set in view of a free pedal play offset value and an actuation range value so as to control and operate the actuator.
  • Example 1-4 Construction of Portable Housing with Actuator (Stepper Motor) The bFaaaP4 housing was constructed in accordance with Embodiment 4. The size of each part or member of the housing was given in FIGS. 16 to 22. Each part and each member (each plate member was made of wood and colored black) were prepared and assembled by a routine procedure in the art (with each screw drilled into the wood plate member by using an electric screw driver).
  • the actuator was the above linear stepper motor (manufactured by Oriental Motor Co., Ltd.). Also, 20 four-hundred-gram metal weights were arranged in two separate weight chambers (each chamber had the 10 weights). The actuator controller and the driver were put into the actuator controller chamber. The bottom side edges of the housing were attached to the floor by using a regular adhesive tape so as to further stabilize the housing.
  • Example 1-5 How to Operate bFaaaP4 The bFaaaP4 was operated in accordance with the operation protocol described in Embodiment (1-D-2).
  • Example 2 bFaaaP4W
  • a cable was used for the communication between the transmitter and the receiver.
  • no BLE communication was used because some reports indicated malfunction of BLE in ESP32.
  • the control programs were substantially the same as of the bFaaaP4. Note that the actuator response to a user’s head motion was improved partly because of an increased communication speed between the transmitter and the receiver.
  • Example 3 bFaaaP3 A bFaaaP3 had substantially the same configuration as of the bFaaaP4. In order to avoid redundancy, differences from the bFaaaP4 are described. There were three major differences therebetween.
  • the first difference involved the detector-side controller.
  • the detector-side controller of the bFaaaP3 had substantially the same configuration as of the bFaaaP4, but the adjuster for a head angle tilt angle offset value and the adjuster for a multiplier did not each have a visible scale of an adjuster button. Thus, the offset value and the multiplier were able to be adjusted by each user, but the actual value could not be determined with precision.
  • the second difference involved the sound-proof chamber.
  • the actuator of the bFaaaP3 was attached to a side wall member by using bolts and nuts and was exposed to the outside without a cover. So, the actuator-derived noise was not attenuated.
  • the third difference involved the weights. Instead of using 20 four-hundred-gram metal plates, 2 five-kg cement blocks were placed in the weight chambers. The operation protocol was identical to that of the bFaaaP4.
  • Example 4 bFaaaP2 A bFaaaP2 had substantially the same configuration as of the bFaaaP3. In order to avoid redundancy, differences from the bFaaaP3 are described. There was one major difference therebetween. This difference involved the detector-side controller. As the angle sensor and the data processor was used a M5Stack_Gray (purchased from SWITCH SCIENCE) including an MPU9250. The program was substantially the same as that of the bFaaaP3 or the bFaaaP4. This M5Stack was put into a pocket attached to a cap so as to place the M5Stack on the head of each user wearing the cap. Although attached to the head, it was difficult to place the angle detector horizontally so as to detect a head tilt angle with precision. A head tilt angle offset value and a multiplier were easily input by using buttons of the M5Stack.
  • M5Stack_Gray purchased from SWITCH SCIENCE
  • Example 5 bFaaaP1 A bFaaaP1 had substantially the same configuration as of the bFaaaP2. In order to avoid redundancy, differences from the bFaaaP2 are described. There were three major differences therebetween. The first difference involved the actuator. The actuator of the bFaaaP1 was a stepper motor VESTA UOK5141 (manufactured by Oriental Motor Co., Ltd.), which is not a linear cylinder. This stepper motor was operated from the right side of a piano. The second difference involved the actuator controller. The actuator controller of the bFaaaP1 was an ESP32 on an chicken board (http://akizukidenshi.com/catalog/g/gM-11819/).
  • the adjuster for a free pedal play offset value and the adjuster for an actuation range value were substantially the same as of the bFaaaP2.
  • the third difference involved a program for the detector-side controller.
  • the detector-side controller was used the above M5Stack.
  • the program was to detect a Z-axis rotation rate of the head of each user to generate a detector signal.
  • the detector signal was converted to a binary control value so as to either depress or release a pedal.
  • a head motion offset range was set in the program. But a multiplier was not set by each user.
  • Example 6 Auxiliary Pedal Effect Evaluation Study (APEE study) The present auxiliary pedal systems were evaluated on Class I to III subjects. Here, 7 Class I subjects, 5 Class II subjects, and 3 Class III subjects were enrolled in this auxiliary pedal effect evaluation study (APEE study). The Class II subjects were students of Kyoko Yamaguchi piano class Fleur (https://www.fleur-pianok.com/).
  • Test protocol was provided as follows: 1. Read a test sheet music and image a pedal operation 2. Practice notes of the test sheet music without using a bFaaaP 3. Practice the notes while using the bFaaaP. 4. Adjust an offset value and a multiplier and select them according to your preference (for class II subjects (kids), the offset value was set to 5 degrees and the multiplier was set to 20 or 30). 5. Start a recording and play the notes. 5-1. Say your name and the date of this recording and the offset value and the multiplier you selected. 5-2. Play the notes without using a pedal 5-3. Play the notes with pedal pattern 1 by using the bFaaaP. 5-4. Play the notes with pedal pattern 2 by using the bFaaaP. 5-5. End the recording. 6. Fill in a questionnaire.
  • the questionnaire is shown in FIG. 24.
  • a sustain pedal was depressed in accordance with pedal pattern 1 or 2 by using a bFaaaP (bFaaaP2, bFaaaP3, bFaaaP4, or bFaaaP4W). Note that each bFaaaP was arranged on the right front side of the sustain pedal.
  • each subject chose a head tilt angle offset value and a multiplier by adjusting a lever and a dial of the detector-side controller and the chosen offset value and multiplier were recorded. Then, the notes were played with or without pedal actions controlled by the bFaaaP. The piano performance was recorded as a wav file in a smartphone (iPhone). As a control, Class I subjects were requested to play the notes by their own foot. After the test, each subject filled in a test sheet and gave their comments as well as a written non-disclosure consent.
  • each portion i.e., TVA0, TVA1, and TVA2
  • the area of each portion without pedal actions i.e., TVA0
  • the area of the portion without pedal actions i.e., TVA0
  • the other areas with pedal actions i.e., TVA1 or TVA2
  • FIG. 25B the area of each portion (i.e., TVA0, TVA1, and TVA2) was compared while the area of the portion without pedal actions (i.e., TVA0) was set to 1 and the other areas with pedal actions (pattern 1 or pattern 2) (i.e., TVA1 or TVA2) were each provided as a score (ratio relative to TVA0) as shown in FIG. 25B.
  • Table 1 shows the results of Class I subjects in the APEE study.
  • Table 2 shows the results of Class II and III subjects.
  • the bFaaaP2 used an M5Stack and the M5Stack was put into a pocket attached to a cap, so that it was more difficult to keep an offset angle than when the detector was attached to a side frame of eyeglasses.
  • how much one practiced the bFaaaP might affect the scores.
  • the results of using the bFaaaP2 were excluded from the statistics.
  • the results of using a bFaaaP3, a bFaaaP4, and a bFaaaP4W were used as bFaaaP scores in the following statistics.
  • Table 3 shows that the score of pedal pattern 1 was 1.50 ⁇ 0.32 (average ⁇ S.D.) and the score of pedal pattern 2 was 1.80 ⁇ 0.44 while the score of pedal pattern 0 was set to 1.00.
  • the scores between pedal pattern 0 and pedal pattern 1 and between pedal pattern 0 and pedal pattern 2 were significantly different (each p-Value was ⁇ 0.01), demonstrating that each bFaaaP was effective in suspending tones when used by the study subjects.
  • Table 4 shows that there was no statistically significant difference (p > 0.05) in scores between each bFaaaP and their own leg, suggesting that each bFaaaP can exert substantially the same effects obtained by using their own leg.
  • Table 5 shows that there was no statistically significant difference (p > 0.05) in scores between Group I and Group II, suggesting that the piano experience did not matter statistically at least in this APEE study.
  • Table 6 shows that there was no statistically significant difference among Classes I, II, and III with respect to both the pedal patterns 1 and 2 (i.e., the null hypothesis was not rejected because both the p values were more than 0.05), suggesting that the pedal-sustaining effects exerted by using each bFaaaP had no statistically significant differences among the Classes.
  • Table 7 shows that there was a statistically significant difference among the pianos with respect to both the pedal patterns 1 and 2 (i.e., the null hypothesis was rejected because one of the p values was less than 0.01 and the other p value was less than 0.05), suggesting that the pedal-sustaining effects exerted by using each bFaaaP had a statistically significant difference among the pianos.
  • the user-selected offset angle value ranged from 3 to 19 degrees while 5 or 10 degrees were preferred by many users (see Tables 1 and 2).
  • the user-selected multiplier ranged from 8 to 50 while a range of 10 to 50 was selected by the users when the bFaaaP4 was used.
  • a range of 20 to 40 was preferred by many users. That is, in many cases, the users selected 5 to 10 degrees as an offset angle and additional 2.5 to 5 or 10 degrees from the offset angle were used to fully depress a pedal.
  • the pedal actuation width can be controlled by a larger range of the head tilt angle.
  • a quicker pedal action may be realized by using a greater multiplier.
  • the offset value varies depending on subjects because the different subjects have different offset values in accordance with their preferences. That is, some want to vigorously move their head; and others want to slightly move their head.
  • the present bFaaaP enables the pedal operation in either way by selecting the offset value and the multiplier.
  • the effects of the bFaaaP are not regarded as an additive effect exerted by the offset value and the multiplier, but a synergistic effect exerted by a combination of the offset value and the multiplier as demonstrated above.
  • Table 7 shows that there were statistically significant differences in scores among the pianos used.
  • the p-value for pedal pattern 1 was 0.0012 ( ⁇ 0.01) and the p-value for pedal pattern 2 was 0.032 ( ⁇ 0.05).
  • the K132 and the GP1 exhibited substantially the same values. So, the differences may be due to the UX. It is unclear what caused the differences.
  • One factor may be the structure and the damper mechanism of each piano. Another factor may be tuning. While tuning of the piano was regularly conducted on the K132 and the GP1, tuning of the UX was not performed for more than 8 years.
  • bFaaaPs can be used for a variety of users as an alternative for their own leg and make it possible to precisely control a pedal in accordance with the user’s preference.
  • This idea and concept of the detector and the controller (processor) are applicable to any electric devices with or even without a pedal, in particular, electric pianos and gaming controllers.
  • Example 7 Free Pedal Play Measurement
  • the free pedal play of each of the above pianos used herein was measured with a digital caliper (manufactured by Shinwa Rules Co., Ltd.). The point where a note starts sustaining by depressing a pedal was determined manually. The distance from the initial pedal position to the above point was measured and set as a free pedal play represented in mm. Table 9 shows the results.
  • a mechanical force gage NK-100 push pull gage; manufactured by Hanchen JP
  • Table 10 shows the results.
  • Table 10 shows that the reaction forces differed from one piano to another. This difference may be due to the structure of a damper mechanism. However, the maximum was 8.0 kg. Accordingly. the sufficient weights, which are installed in the housing, may be 8 to 10 kg or more.
  • Example 9 Measurement of Head Tilt Angles during Piano Performance
  • the second movement of Piano Sonata No. 8 in C minor, Op. 13 (Sonata Pathetique) composed by Ludwig van Beethoven was played by Class III Subject No. 15 on September 19, 2018.
  • the piano performance was analyzed by the above bFaaaP controller program as follows: (1) head tilt angles during the piano performance were detected by the bFaaaP4; (2) the tilt angles were sequentially output through a USB port to a PC; (3) the resulting data was statistically analyzed. Table 11 and FIG. 26 show the results.
  • the maximum tilt angle was 19.13 degrees and the minimum tilt angle was -15.02 degrees.
  • the histogram analysis of Table 11 and FIG. 26 demonstrated that the tilt angle range equal to or less than 2.5 degrees accounted for 61% of all the detection events recorded; the tilt angle range equal to or less than 5.0 accounted for 86%; the tilt angle range equal to or less than 7.5 accounted for 95%; and the tilt angle range equal to or less than 10.0 accounted for 99%.
  • the head tilt angle offset range is set to preferably 2.5 degrees (3 degrees) or less, more preferably 5.0 degrees or less, still more preferably 7.5 degrees or less, and still more preferably 10.0 degrees or less.
  • the present invention is applicable to any devices and musical instruments (e.g., a piano) with a pedal. Also, the present invention is applicable to any electric devices (e.g., an electric piano, a gaming controller) and can be used universally by almost everybody including the challenged with leg disabilities and kids.
  • any electric devices e.g., an electric piano, a gaming controller

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Electrophonic Musical Instruments (AREA)
  • Auxiliary Devices For Music (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention a pour but de pourvoir à un système de pédale auxiliaire (bFaaaP) comprenant : un détecteur configuré pour détecter un mouvement d'un utilisateur afin de générer un signal de détection ; un processeur configuré pour traiter le signal de détection afin de générer un signal de commande d'actionneur ; et un actionneur configuré pour commander une pédale en fonction du signal de commande d'actionneur. Le mouvement est un mouvement de tête ; le mouvement de tête présente une plage de décalage à l'intérieur de laquelle l'actionneur n'est pas actionné ; et le signal de commande d'actionneur peut être changé en fonction de la préférence de l'utilisateur. La pédale peut être une pédale de piano et le détecteur peut être fixé à des lunettes. L'invention concerne également une unité de commande de dispositif ayant les caractéristiques ci-dessus. La présente invention présente une conception universelle destinée à des personnes, notamment des enfants et des personnes souffrant d'un handicap de la jambe, et est applicable à n'importe quel instrument de musique ayant une pédale et à n'importe quel dispositif électrique tel que des pianos électriques et des manettes de jeu.
PCT/JP2018/041771 2018-11-12 2018-11-12 Système de pédale auxiliaire WO2019176164A1 (fr)

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