Improvement of Violinist Robot using a Passive Damper Device
Improvement of Violinist Robot using a Passive Damper Device
复制标题
采用被动阻尼装置的小提琴演奏机器人的改进
DOI：
10.1007/s10846-012-9799-x
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发表时间：
2013
影响因子：
3.3
通讯作者：
Dong Han Kim
中科院分区：
文献类型：
--
作者：
B. Min;E. Matson;J. An;Dong Han Kim
这项研究的目的是确定小提琴手机器人如何能够产生良好的小提琴声音质量。我们从小提琴发声的基本物理学开始学习。我们发现了三个影响小提琴声音质量的参数：拉弓力、拉弓速度和发声点。特别是，弯曲力被认为是产生良好声音的最重要的参数。此外，为了产生这样的声音，必须在弓和弦之间的接触点上施加相同量的拉弓力。然而，由于弓的固有特性，很难在接触点上保持相同量的弓力。因此，我们主要集中在弓的力量，考虑弓作为一个弹簧质量系统的字符串。然后，我们设计了一个被动阻尼装置，以抵消弹簧质量系统中的变量，可能会导致改变接触点上的弯曲力。然后，我们用小提琴手机器人验证了我们的方法，这是一个类似人类的躯干机器人。
The aim of this study was to determine how the violinist robot could produce a good quality of violin sounds. We began our study with the basic physics of producing sound with a violin. We found three parameters that influenced the quality of the sound produced by the violin; the bowing force, the bowing velocity and the sounding point. In particular, the bowing force was found to be the most important parameter in producing good sounds. Furthermore, to produce such sounds, a same amount of the bowing force must be applied on the contact point between a bow and a string. However, it is hard to keep a same amount of the bowing force on the contact point due to inherent characteristics of a bow. Thus, we primarily focused on the bowing force by considering bowing a string as a spring-mass system. Then, we devised a passive damper device to offset variables in the spring-mass system that may result in changing the bowing force on the contact point. We then validated our methodology with the violinist robot, a human-like torso robot.