Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Conferences, Workshops, Symposiums, and Seminars
  4. Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties
 
conference paper

Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties

Wang, Huijiang
•
Howison, Toby
•
Hughes, Josie  
Show more
2022
Proceedings of the 5th IEEE International Conference on Soft Robotics (RoboSoft)
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)

The expressive piano playing generally requires a delicate control over the keystroke by considering passive dynamics of the hand and piano keyboard. It becomes even more challenging when the passive properties change during the performance. In this paper, we develop a framework for expressive piano playing that simulates the interaction between a soft anthropomorphic hand with variable passive properties and a piano keyboard. The passive dynamics of each system component in our framework are identified using the data collected during real piano playing, which in turn, helps to reduce the sim-to-real gap. To evaluate the proposed framework, we have designed and fabricated a three-fingered soft-rigid hybrid hand system with variable stiffness in each finger, enabling diverse compliant behaviors for piano key pressing. The results show that our proposed simulator achieves less than 5% error rate in coordination with real-world piano playing. © 2022 IEEE.

  • Details
  • Metrics
Type
conference paper
DOI
10.1109/RoboSoft54090.2022.9762138
Author(s)
Wang, Huijiang
Howison, Toby
Hughes, Josie  
Abdulali, Arsen
Iida, Fumiya
Date Issued

2022

Publisher

Institute of Electrical and Electronics Engineers Inc.

Published in
Proceedings of the 5th IEEE International Conference on Soft Robotics (RoboSoft)
ISBN of the book

9781665408288

Start page

300

End page

305

Subjects

Anthropomorphic hand

•

Compliant behavior

•

Data-driven simulation

•

Passive dynamics

•

Passive properties

•

Performance

•

Property changes

•

Simulation framework

•

System components

•

Variable stiffness

•

Musical instruments

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
CREATE-LAB  
Event name
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)
Available on Infoscience
August 9, 2022
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/189890
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés