Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

Sound Improvement of Violin Playing Robot Applying Auditory Feedback

  • Jo, Wonse (Dept. of Electronic Engineering, Kyung Hee University) ;
  • Yura, Jargalbaatar (Dept. of Electronic Engineering, Kyung Hee University) ;
  • Kim, Donghan (Dept. of Electronic Engineering, Kyung Hee University)
  • Received : 2016.07.13
  • Accepted : 2017.07.17
  • Published : 2017.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

Violinists learn to make better sounds by hearing and evaluating their own playing though numerous practice. This study proposes a new method of auditory feedback, which mimics this violinists' step and verifies its efficiency using experiments. Making the desired sound quality of a violin is difficult without auditory feedback even though an expert violinist plays. An algorithm for controlling a robot arm of violin playing robot is determined based on correlations with bowing speed, bowing force, and sound point that determine the sound quality of a violin. The bowing speed is estimated by the control command of the robot arm, where the bowing force and the sound point are recognized by using a two-axis load cell and a photo interrupter, respectively. To improve the sound quality of a violin playing robot, the sounds information is obtained by auditory feedback system applied Short Time Fourier Transform (STFT) to the sounds from a violin. This study suggests Gaussian-Harmonic-Quality (GHQ) uses sounds' clarity, accuracy, and harmonic structure in order to decide sound quality, objectively. Through the experiments, the auditory feedback system improved the performance quality by the robot accordingly, changing the bowing speed, bowing force, and sound point and determining the quality of robot sounds by GHQ sound quality evaluation system.

Keywords

References

  1. R. Ayres and S. Miller, "the Impact of Industrial Robots," Publication CMU-R1-TR-81-7, Robotics Institute, Carnegie Mellon University, 1981.
  2. Fujita, M, Kitano, H, "Development of an autonomous quadruped robot for robot entertainment," Autonomous Robots, vol. 5, no. 1, pp. 7-18, 1998. https://doi.org/10.1023/A:1008856824126
  3. Yates, Aubrey J, "delayed auditory feedback," Psychological Bulletin, vol. 60, no. 3, pp. 213-232, 1963 https://doi.org/10.1037/h0044155
  4. Jorge Solis, Atsuo Takanishi, Kunimatsu Hashimoto, "Development of an Anthropomorphic Saxophone-Playing Robot," Advances in Soft Com-puting, vol. 83, pp. 175-186, 2010.
  5. Solis, J., Chida, K., Suefuji, K., Takanishi, A, "The development of the anthropomorphic flutist robot at Waseda University," International Journal of Humanoid Robotics, vol. 3, no. 2, pp. 127-151. https://doi.org/10.1142/S0219843606000709
  6. Yoshihiro Kusuda, "Toyota's violin-playing robot," Industrial Robot: An International Journal, vol. 35, no. 6, pp. 504-506, 2008 https://doi.org/10.1108/01439910810909493
  7. K. Shibuya, S. Matsuda, A. Takahara, "Toward Developing a Violin Playing Robot - Bowing by Anthropomorphic Robot Arm and Sound Analysis-," Proc. of 16th IEEE International Symposium on Robot and Human Interactive Communication, pp. 763-768, 2007.
  8. Byung-Cheol Min, Eric T. Matson, Jinung An, Donghan Kim, "Improvement of Violinist Robot using a Passive Damper Device," Journal of Intelligent & Robotic Systems, vol. 72, no. 3-4, pp. 343-355, 2013. https://doi.org/10.1007/s10846-012-9799-x
  9. JC Schelleng, "The bowed string and the player," The Journal of the Acoustical Society of America, vol. 53, no. 1, pp. 26-41, 1973. https://doi.org/10.1121/1.1913322
  10. Pierce, John Robinson, "the science of musical sound," New York: Scientific American Library, 1983.
  11. E. Jacobsen, R. Lyons, The sliding DFT, Signal Processing Magazine, vol. 20, no. 2, pp. 74-80, 2003.
  12. Wonse Jo, Hyeonjun Park, Bumjoo Lee, Donghan Kim, "A study on improving sound quality of violin playing robot," In: Automation, Robotics and Applications (ICARA), 2015 6th International Conference on. IEEE, pp. 185-191, 2015.
  13. Koji SHIBUYA, Takashi ASADA, Shigeki SUGANO, "An Algorithm to Convert KANSEI Data into Human Motion," Proceedings of 1998 IEEE International Conference on Systems Man and Cybernetics (SMC '98), pp. 1190-1194, 1998
  14. Tetsuya OGATA, Akitoshi SHIMURA, Koji SHIBUYA and Shigeki SUGANO, "A Violin Playing Algorithm Considering the Change of Phrase Impression," Proc. of IEEE International Conference on Systems, Man, and Cybernetics, 2000
  15. Park, Hyeonjun, et al. "Development of Robotic Finger Using 3-Axis Load Cell for Violin Playing Robot," 2015.
  16. Park, Hyeonjun, et al. "A Study about Sound Quality for Violin Playing Robot," Procedia Computer Science 56, pp. 496-501, 2015 https://doi.org/10.1016/j.procs.2015.07.241
  17. Wonse Jo, Donghae Kim, Bumjoo Lee, Donghan Kim, "A Study on Sound Quality Improvement of Violin Playing Robot," the 29th Institue of Control, Robotics and Systems, pp. 652-653, 2015.
  18. Jea-Yul Yoon, Seok-Pil Lee, Kyeung-Hak Seo, and Hochong Park, "Extracting Predominant Melody from Polyphonic Music using Harmonic Structure," Journal of the Institute of Electronics and information Engineers, vol. 47, no. 5, pp. 109-116, 2010.
  19. J. Woodhouse, P. M. Galluzzo, "The Bowed String As We Know It Today," Acta Acustica united with Acustica, vol. 90, pp. 579-589, 2004.
  20. Diana Young, "A Methodology for Investi-gation of Bowed String Performance through Measurement of Violin Bowing Technique," Ph.D. Thesis, MIT, 2001.
  21. Von Helmholtz, H. "Lehre von den Tonempfindungen. Braunschweig, 1862. English edition: On the sensations of tone," 1954.
  22. Wade-Matthews, Max. The World Encyclopedia of musical instruments. Hermes House, 2005.
  23. Sutton, Samuel, William C. Roehrig, and Jeffrey Kramer. "Delayed auditory feedback of speech in schizophrenics and normals*." Annals of the New York Academy of Sciences 105.15, pp. 832-844, 1964. https://doi.org/10.1111/j.1749-6632.1964.tb42966.x
  24. Rossing, Thomas D., F. Richard Moore, and Paul A. Wheeler. The science of sound. vol. 3. San Francisco: Addison Wesley, 2002.