Drum roll: increasing bandwidth through passive impedance modulation

@article{Hajian1997DrumRI,
  title={Drum roll: increasing bandwidth through passive impedance modulation},
  author={Aram Z. Hajian and Daniel S. Sanchez and Robert D. Howe},
  journal={Proceedings of International Conference on Robotics and Automation},
  year={1997},
  volume={3},
  pages={2294-2299 vol.3}
}
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… CONTINUE READING

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