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Exploiting passive behaviours for diverse musical playing using the parametric hand.

Kieran Gilday¹, Dohyeon Pyeon², S Dhanush¹

¹CREATE-Lab, Department of Mechanical Engineering, Swiss Federal Technology Institute of Lausanne (EPFL), Lausanne, Switzerland.

Frontiers in Robotics and AI

|December 30, 2024

Summary

This study introduces a parametric hand for robotic musical expression, enabling naturalistic piano and guitar playing. Its design allows for diverse interactions, enhancing embodied intelligence in music performance.

Keywords:

anthropomorphic hands embodied intelligence expressive playing musical robots robotic manipulation soft manipulation

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Area of Science:

Robotics
Human-Computer Interaction
Music Technology

Background:

Musical creativity stems from nuanced player-instrument interactions, a quality difficult for current digital and robotic systems to replicate.
Physical embodiment and interaction are crucial for expression and audience connection in music, whether through assistive tools, prosthetics, or AI.

Purpose of the Study:

To introduce the parametric hand as a platform for exploring diverse interactions in stylistic piano and guitar playing.
To investigate the generation of expressive musical performance through robotic embodiment.

Main Methods:

Utilizing an anatomically designed hand with non-linear actuation, exploitable via kinematic modeling and synergistic actuation.
Modulating two degrees of freedom for piano chord playing and guitar strumming, achieving significant signal amplitude variation.
Adjusting hand stiffness properties to mimic human strumming variations and programming posture/stiffness for sequential playing tasks.

Main Results:

Achieved up to 6.6 times variation in signal amplitude for piano and guitar playing tasks.
Demonstrated human-like strumming variation by adjusting hand stiffness.
Successfully programmed rapid posture and stiffness changes for sequential instrument playing, including guitar pick grasping.

Conclusions:

Embodied intelligence is vital for expressive and naturalistic musical instrument playing by robots.
The parametric hand platform facilitates interactive behavioral diversity, crucial for nuanced musical expression.
Designed robustness and synergistic actuation allow exploitation of diverse behaviors for advanced robotic musical performance.