A method for the reproduction of cello bow kinematics using a robotic arm and motion capture

Topical Issue - Musical Acoustics: Latest Advances in Analytical, Numerical and Experimental Methods Tackling Complex Phenomena in Musical Instruments

Open Access

Table 2

Absolute mean errors E_σ and E_RMS comparing the human and robot performances (robot case A and robot case B) as a function of the played cello open string (A₃, D₃, G₂, from high to low). Column # indicates on how many notes case B presented a smaller error than case A.

	E_σ [mm]			E_RMS [norm.]
	Case		#	Case		#
	A	B		A	B
String A₃	1.80	0.96	25/26	0.068	0.044	24/26
String D₃	1.98	0.37	30/36	0.019	0.012	32/36
String G₂	0.37	0.58	4/10	0.039	0.028	7/10

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