A biomimetic fingertip with a curved nail and multimodal tactile sensing was validated on selected guqin string-contact tasks, with half-nail contact producing the most human-like open-string tones.
Li,Guqin zongyi [古琴综议: A survey of the guqin]
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A Haptic Robot Finger Designed for Guqin Instrument Playing
A biomimetic fingertip with a curved nail and multimodal tactile sensing was validated on selected guqin string-contact tasks, with half-nail contact producing the most human-like open-string tones.