用于古琴演奏的触觉机器人手指
A Haptic Robot Finger Designed for Guqin Instrument Playing
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中文总结 AI 辅助
该研究设计了一款模仿人类手指的高精度触觉传感机器人指尖，以古琴为验证场景，开展了古琴弦接触相关任务的验证，将触觉传感与机器人技术结合，助力世界遗产保护与文化传播。
中文摘要 AI 辅助
随着人形机器人与具身智能技术的快速发展，近年来涌现出众多乐器演奏机器人，如钢琴、编钟和太鼓机器人。这些机器人主要采用开环位置控制，无法操作需要灵巧手部动作和精确触觉感知的乐器，如小提琴、吉他和古琴。本文介绍了一种高精度触觉传感手指的设计与验证：通过模仿人类手指指尖与指甲的形状，研发出仿生多模态触觉指尖，并以中国传统乐器古琴为具有挑战性的验证场景（而非完全展示的机器人演奏系统），在选定的古琴弦接触任务中对其进行验证，这些任务包括空弦与按音的对比、泛音调校以及触觉触发的双手协调。本研究将触觉传感与机器人技术相结合，为世界遗产保护与文化传播领域的应用做出贡献。
英文摘要
With the rapid advancement of humanoid robotics and embodied intelligence technologies, numerous musical instrument-playing robots have emerged in recent years, such as pianos, chime bells, and taiko drums. These robots primarily employ open-loop positional control, rendering them incapable of operating instruments requiring dexterous hands and precise tactile perception, such as a violin, guitar, and guqin. This paper describes the design and validation of a high-precision tactile-sensing finger. By mimicking the shape of the fingertip and fingernail found on a human finger, we develop a biomimetic multimodal haptic fingertip and validate it on selected guqin string-contact tasks, including open-string and stopped-note comparisons, harmonic-tuning, and tactile-triggered bimanual coordination, using the guqin, a traditional Chinese musical instrument, as a challenging validation scenario rather than as a fully demonstrated robotic performance system. This research integrates tactile sensing with robotics technology, thereby contributing to applications in world heritage conservation and cultural dissemination.
发表机构
- The Shenzhen Institute of Artificial Intelligence and Robotics for Society（深圳市人工智能与机器人研究院）
- The Chinese University of Hong Kong - Shenzhen（香港中文大学（深圳））
- School of Physics and Optoelectronic Engineering, Shenzhen University（深圳大学物理与光电工程学院）
- Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）
机构由 AI 辅助整理，请以论文原文为准。
