🤖 AI Summary
This work proposes a semi-autonomous flute-playing robot that addresses the challenge of simultaneously managing complex fingering and the embouchure adjustments required for low-register airflow redirection—tasks that existing systems struggle to synchronize. The system automates full-range fingering across C4–C7 via 14 servos driven by MIDI input and mechanically rotates the headjoint by 22 degrees in the low register to assist airflow angulation, enabling human performers to supply only a steady airstream. Leveraging a wire-driven transmission, rack-and-pinion servo mechanisms, a programmable MIDI response module, and an acoustic analysis unit, the design achieves, for the first time, fully automated fingering and low-register airflow assistance without modifying the instrument or relying on manual embouchure control. Experimental results show fingering response times ≤77.50 ms, headjoint rotation within ≤40.00 ms, and a significant improvement in second-harmonic intensity difference (ΔSPL), confirming the efficacy of the airflow redirection mechanism.
📝 Abstract
Flute performance requires mastery of complex fingering combinations and register-dependent embouchure control, particularly jet offset adjustment for low-register production. Existing haptic and semi-automated systems do not address both aspects simultaneously through mechanical actuation. To our knowledge, no prior system fully automates fingering while mechanically assisting low-register tone production without requiring embouchure control. We developed a semi-automatic flute robot with an automatic fingering mechanism: fourteen servo motors actuate all keys via wire-based and rack-and-pinion drives in response to MIDI input, enabling performers to produce complete musical pieces through airflow alone. A jet offset assist mechanism rotates the head joint by a calibrated $22^\circ$ during low-register passages, shifting the jet offset toward a low-register configuration without modifying the instrument or embouchure. Fundamental frequency estimation confirmed correct pitch production across the chromatic range (C4--C7) and during musical performance. All key and lever movements were completed within 77.50~ms, corresponding to tempo capacity exceeding standard requirements. Harmonic analysis ($Δ\mathrm{SPL} = \mathrm{SPL}_2 - \mathrm{SPL}_3$) showed a consistent increase in $Δ$SPL for all low-register notes when activated, consistent with the intended jet offset shift. Head joint rotation completed within 40.00~ms. These results demonstrate mechanical feasibility of integrating automated fingering and register-dependent jet offset assistance under controlled conditions.