Sound Improvement of Violin Playing Robot Applying Auditory Feedback

  • Jo, Wonse ;
  • Yura, Jargalbaatar ;
  • Kim, Donghan
  • Received : 2016.07.13
  • Accepted : 2017.07.17
  • Published : 2017.11.01


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.


Violin playing robot;Auditory feedback;Human-robot interaction;Sound quality rating system


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Supported by : Ministry of Trade, Industry & Energy (MOTIE), National Research Foundation of Korea(NRF)