Historical and dynamical study of piano actions: A multibody modelling approach

A piano key prototype actuated by a custom-made linear actuator is proposed to enhance the touch of digital pianos by reproducing the force feedback of an acoustic piano action. This paper presents the design and the validation of the haptic device. The approach exploits a multibody model to compute the action dynamics and the corresponding force on the key in real time. More specifically, a grand piano model that includes the five action bodies, its geometry and the specific force laws, is computed in the haptic device. A presizing step along with Finite Element Method (FEM) analysis produced an especially made actuator satisfying the design requirements, in particular the highly dynamic nature of the force to be transmitted. Force peaks, up to 50 (N) in less than 20 (ms), are reachable with low power consumption. Compared to previous solutions: (i) the key physical characteristics are preserved; (ii) the feedback is based on a real-time multibody model that is easily configurable and interchangeable; (iii) an experimental validation of the actuator within the prototype is developed and demonstrates its feasibility. The results confirm that the voice coil can produce suitable haptic feedback. In particular, rendering a grand piano action within the device shows promising haptic force profiles.

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“…The multibody model of the piano action was recently developed and its kinematics experimentally validated in our lab [19].…”

Section: Double Escapement Modelmentioning

confidence: 99%

Multibody-Based Piano Action: Validation of a Haptic Key

2020

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“…The touch of a grand piano mainly results from a dynamic transmission mechanismcalled action-which propels the hammer up to the string, given the key motion. The multibody model of Figure 9 has been developed at UCLouvain [42]. This model finely represents the action kinematic and dynamic behavior.…”

Section: Haptic Piano Keymentioning

confidence: 99%

“…This model finely represents the action kinematic and dynamic behavior. A first kinematic validation with an external sensor—a high-speed camera—shows that the hammer motion is well caught by the model, a little less well from the back-check capture occurring at the end of the motion, when the key is fully depressed [ 42 ].…”

Section: Applicationsmentioning

confidence: 99%

Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

Docquier

Timmermans

Paul

2021

Sensors

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Multibody modeling of mechanical systems can be applied to various applications. Human-in-the-loop interfaces represent a growing research field, for which increasingly more devices include a dynamic multibody model to emulate the system physics in real-time. In this scope, reliable and highly dynamic sensors, to both validate those models and to measure in real-time the physical system behavior, have become crucial. In this paper, a multibody modeling approach in relative coordinates is proposed, based on symbolic equations of the physical system. The model is running in a ROS environment, which interacts with sensors and actuators. Two real-time applications with haptic feedback are presented: a piano key and a car simulator. In the present work, several sensors are used to characterize and validate the multibody model, but also to measure the system kinematics and dynamics within the human-in-the-loop process, and to ultimately validate the haptic device behavior. Experimental results for both developed devices confirm the interest of an embedded multibody model to enhance the haptic feedback performances. Besides, model parameters variations during the experiments illustrate the infinite possibilities that such model-based configurable haptic devices can offer.

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“…Also, particularly important is the relationship existing between the constituent materials and the sounds developed, especially in the case of violins, that are among the most investigated musical instruments (Fichera et al 2018 ; Invernizzi et al 2020 ). Regarding the piano, an instrument of choice in classical music (Bokiau et al 2017 ), in addition to the preservation of its constituent wood, other elements are crucial in the restoration operations: these are the so called lead weights (LW) that constitute a fundamental part of piano keys, since they enable its sound (Costa and Urban 2005 ; Watkinson 2010 ). Moreover, the nature of the materials of which the piano is made and the environmental conditions to which it is exposed must also be considered (Butlin 1990 ; Chiavari et al 2008 ; Fichera et al 2018 ).…”

Section: Introductionmentioning

confidence: 99%

Insight on the deterioration of cultural objects: a multi-analytical approach to characterize degradation products of lead weights from a Steinway & sons piano

Faggiano,

Pironti,

Motta

et al. 2023

Environ Sci Pollut Res

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The identification of the degradation products in objects of cultural significance, including musical instruments (e.g., a piano), is a key issue for the preservation and valorisation processes of cultural heritage. The aim of this study is to characterize the degradation products of lead weights from an important Steinway & sons piano using a multi-analytical approach that includes ionic chromatography (IC), X-ray diffraction (XRD) and Fourier transform-infrared (FTIR) spectroscopy analyses. These techniques allowed us to identify hydrocerussite as the main degradation product on the superficial layer of lead weights, followed by lead acetate and formate. Moreover, accelerated corrosion experiments in closed environments were performed under acetic and formic acid atmospheres to evaluate the development of lead acetate and formate over time. Exposure of lead weights to formic and acetic acid vapours leads to the prevalent formation of basic lead formate, which promotes the formation of hydrocerussite. These results can help to limit the degradation of these piano components and consequently preserve the sound of the piano itself.

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Historical and dynamical study of piano actions: A multibody modelling approach

Cited by 8 publications

References 3 publications

Multibody-Based Piano Action: Validation of a Haptic Key

Multibody-Based Piano Action: Validation of a Haptic Key

Haptic Devices Based on Real-Time Dynamic Models of Multibody Systems

Insight on the deterioration of cultural objects: a multi-analytical approach to characterize degradation products of lead weights from a Steinway & sons piano

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