A Haptic Robot Finger Designed for Guqin Instrument Playing

• URL: http://arxiv.org/abs/2608.07002v1
• Date: Fri, 07 Aug 2026 09:18:58 GMT
• Title: A Haptic Robot Finger Designed for Guqin Instrument Playing
• Abstract summary: Musical instrument-playing robots have emerged in recent years, such as pianos, chime bells, and taiko drums.<n>These robots primarily employ open-loop positional control, rendering them incapable of operating instruments requiring dexterous hands.<n>This paper describes the design and validation of a high-precision tactile-sensing finger.
• Score: 9.847859242319275
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: 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.

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