Development of Robot Hand Focused on Violin Fingering

In this paper introduces robot hand which can freely perform violin fingering. The proposed robot hand consists of an index, middle, ring, and little finger, and the servo motor is placed in the palm so that each finger is driven independently. At this time, the thumb finger is fixed at a certain angle to support the violin neck. In the case of a wrist, it is 1 degree of freedom (DoF) to reach each string (E, A, D, G) for violin fingering. And each index, middle, ring, and little fingers have a force sensor in the fingertip. The four strings of the violin are composed of E, A, D, and G strings, and each string can have 28 notes in seven positions. In order to verify that the developed robot hand presses the four strings, the experiment was carried out by attaching it to the actual robot arm. As a result, the A-string of Bb-B-C-C #-D-Eb-E, are pressed in sequence, the D-string, D # -E-F-F # -G-G # -A, are pressed in sequence, the G-string G#-A-Bb-B-C-C#-D, are pressed in sequence.