Patent ID: 7235727
Filing Date: 2007-06-26
Classification: G10F

Abstract:
1. An automatic piano comprising: a plurality of keys; a drive device that individually drives the plurality of keys; a first-order trajectory data generation section that, on the basis of performance information, generates first-order trajectory data indicative of variation over time of position, velocity and acceleration components of a particular one of the keys to be automatically operated, in order to define movement of the particular key; a second-order trajectory data generation section that, on the basis of the acceleration component in said first-order trajectory data, calculates a jerk component related to the movement of the particular key, modifies said first-order trajectory data with the calculated jerk component and generates the modified first-order trajectory data as second-order trajectory data; and a control device that, on the basis of said second-order trajectory data, urges said drive device to drive the particular key, whereby the particular key is automatically operated along a trajectory corresponding to said second-order trajectory data.