NDLI: Drum roll: increasing bandwidth through passive impedance modulation

Content Provider	IEEE Xplore Digital Library
Author	Hajian, A.Z. Sanchez, D.S. Howe, R.D.
Copyright Year	1997
Description	Author affiliation: Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA (Hajian, A.Z.)
Abstract	Skilled drummers can play drum rolls at frequencies well in excess of human motor control bandwidths, by allowing the drumstick to bounce passively against the drum head at least twice for each hand stroke. We present experimental evidence that drummers modulate grasp force to control the effective stiffness of the drumstick which in turn determines the bounce frequency. To confirm this explanation, we constructed a simple, single-joint robot that emulates the human drumming technique. McKibben "artificial muscle" pneumatic actuators were paired in an agonist-antagonist configuration, resulting in a slow robot with variable passive impedance. The robot can execute drum rolls across a frequency range comparable to human drumming (bounce interval=40-160 ms). The results demonstrate that modulation of passive impedance can permit a low bandwidth robot to execute certain types of fast manipulation tasks.
Starting Page	2294
Ending Page	2299
File Size	749249
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619304
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Bandwidth Impedance Humans Robots Frequency Muscles Motor drives Force control Pneumatic actuators Neuromuscular
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in