Music conductor gesture recognition by using inertial measurement system for human-robot musical interaction

In this paper, we describe a human gesture recognition system developed to enable a robot instrument player to recognize the variations in tempo and in articulation dictated by a conductor's movements and accordingly adapt its performance. The enhanced interaction ability would allow the partner musicians, as well as the conductor, to better appreciate a joint musical performance, because of the complete naturalness of the interaction. In addition, the possibility for the robot to change its performance parameters according to the conductor directions, thus being synchronized with all the other human musicians, would lead to an improvement in the overall musical performance.