02528nas a2200169 4500008003900000245006100039210006100100260002700161300001700188520198300205653001302188100001202201700001702213700001302230700001502243856010002258 2014 d00aDrum Stroke Variation Using Variable Stiffness Actuators0 aDrum Stroke Variation Using Variable Stiffness Actuators aChicago, IL, USAbIEEE a3892 - 3897 3 a

One interesting field of robotics technology is related to the entertainment industry. Performing a musical piece using a robot is a difficult task because music presents many features like melody, rhythm, tone, harmony and so on. Addressing these tasks with a robot is not trivial to implement. Most of approaches which related to this specific field lacks of quality to perform in front of human audience. Implementation of human-like motions can not be properly achieved with a conventional robot actuator. Consequently, we exploit a new type of actuator which simplifies the drawbacks of a conventional one. We used Variable Stiffness Actuator(VSA) instead of using conventional actuator. We can control position, force, and stiffness, simultaneously by using VSA. The most important novel feature is its controllable stiffness. When the stiffness of the actuator is changed, the characteristics of the actuator's response also changes. We implemented the specific stroke which is called “double strokeusing one of variable stiffness actuator. Although the double stroke is known as a special stroke which could be performed by human only, double stroke is successfully implemented by stiffness variation.

10aRobotics1 aKim, Y.1 aGarabini, M.1 aPark, J.1 aBicchi, A. uhttp://95.110.227.47/publications/drum-stroke-variation-using-variable-stiffness-actuators.html