Mechatronics-Driven Musical Expressivity for Robotic Percussionists

TL;DR

This paper introduces a mechatronics-driven robotic percussionist that significantly enhances musical expressivity, speed, and dynamic range, outperforming traditional solenoid-based systems and approaching human performance levels.

Contribution

The paper presents a novel BLDC motor implementation in a robotic marimba player, improving speed and dynamic range for more expressive robotic musical performance.

Findings

Wider and more consistent dynamic range than solenoid-based systems

Faster striking speed compared to both solenoid and human players

Performs comparably to humans in musical expressivity tests

Abstract

Musical expressivity is an important aspect of musical performance for humans as well as robotic musicians. We present a novel mechatronics-driven implementation of Brushless Direct Current (BLDC) motors in a robotic marimba player, named Shimon, designed to improve speed, dynamic range (loudness), and ultimately perceived musical expressivity in comparison to state-of-the-art robotic percussionist actuators. In an objective test of dynamic range, we find that our implementation provides wider and more consistent dynamic range response in comparison with solenoid-based robotic percussionists. Our implementation also outperforms both solenoid and human marimba players in striking speed. In a subjective listening test measuring musical expressivity, our system performs significantly better than a solenoid-based system and is statistically indistinguishable from human performers.