The availability of haptic interfaces in music content processing offers interesting possibilities of performerinstrument\r\ninteraction for musical expression. These new musical instruments can precisely modulate the haptic\r\nfeedback, and map it to a sonic output, thus offering new artistic content creation possibilities. With this article, we\r\ninvestigate the use of a robotic arm as a bidirectional tangible interface for musical expression, actively modifying\r\nthe compliant control strategy to create a bind between gestural input and music output. The user can define\r\nrecursive modulations of music parameters by grasping and gradually refining periodic movements on a gravitycompensated\r\nrobot manipulator. The robot learns on-line the new desired trajectory, increasing its stiffness as the\r\nmodulation refinement proceeds. This article reports early results of an artistic performance that has been carried\r\nout with the collaboration of a musician, who played with the robot as part of his live stage setup.
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