The Design And Research Of Underdrive Exoskeleton Piano Teaching Manipulator

In recent years,with the improvement of people’s living standard,more and more people choose to learn piano playing to improve their quality and cultivate their sentiment.Piano education with piano as teaching content has developed.Piano playing is a professional hand skill,and its learning effect depends on the teacher experience and training methods.However,the scarcity of teaching resources,boring process of training methods,long learning time and other reasons often make beginners daunted.The education robot which combines robot technology and educational information technology provides us with a new teaching method,which is mainly used for auxiliary teaching of movement learning and action control,aiming at improving the efficiency and quality of sports teaching,increasing the interest of autonomous sports learning and reducing the workload of teachers.Based on the research of finger playing key touch,a piano teaching external skeleton manipulator is designed.The piano teaching manipulator can drive the manual to carry out the standard touch key movement training,so as to help beginners learn themselves and reduce the workload of piano teachers.This paper mainly carries out the following research work:(1)In order to reveal the law of key touching action,the joint angular displacement of the key touching action of the index finger was studied and a model based on leap motion was built.Then,eight persons with many years of piano playing experience were invited to perform the piano playing touch action on the platform.The displacement parameters of the metacarpophalangeal joint(MCPJ),proximal finger joint(PIPJ)and distal finger joint(DIPJ)of the index finger were collected and the information was converted and output.In order to simplify the complex law of key touching action,the driving control function of piecewise fitting is given.Finally,the error analysis of the fitting curve is carried out to verify the accuracy of the fitting curve.(2)Firstly,the structure design of the under-actuated exoskeleton piano teaching manipulator is proposed based on the modeling and kinematics analysis of the human hand.According to the scheme,the underdrive transmission mode and control elements are designed.In order to simplify the transmission route,improve the transmission accuracy and reduce the number of driving sources,this paper proposes to use motor driving elements and rope drive to realize the underdrive of three degrees of freedom single motor drive;finally,the corresponding measurement and control part is built for the designed structure.(3)In order to verify the driving force characteristics and trajectory implementation effect of the exoskeleton manipulator,the driving force characteristics are calculated and analyzed by inputting relevant parameters.The structural driving torque and displacement trajectory of three characteristic points are output.The driving torque characteristics and motion trajectory of the structural model are evaluated according to the driving torque curve and simulation trajectory.(4)In order to evaluate the practicability,motion accuracy and teaching effect of piano teaching manipulator.This paper sets up a corresponding experimental platform to verify the piano teaching manipulator.Firstly,the structure is manufactured and assembled by 3D printing.Then,the training experimental platform with MIDI keyboard,control board,mpu-6050,piano teaching manipulator and measurement interface is built.The experiment of touching key and teaching effect is carried out to verify the structure precision and teaching effect of piano teaching manipulator.In addition,in order to improve the performance of the manipulator under high frequency operation for many times,the structure failure analysis and structure optimization are carried out.In this paper,the design of piano teaching exoskeleton manipulator can realize students’ autonomous learning and increase the interest of piano teaching in piano teaching and playing training of touch key action practice.It has measurement and control system to realize real-time correction of wrong action.Its overall structure has the characteristics of simple,adjustable any length,easy to carry,safe and reliable,strong comfort to hand and high action precision.What’s more,the manipulator can reduce the workload of piano teachers and improve the quality of piano teaching.