Patent ID: 9099062
Filing Date: 2015-08-04
Classification: G10F,G10H

Abstract:
1. A keyboard musical instrument comprising: a key; a hammer configured to be driven by a depressing operation of the key; an actuator configured to drive at least one of the key or the hammer in a movement direction of a key depression stroke; a key detector configured to detect a key-motion related value that relates to a motion of the key; a hammer detector configured to detect a hammer-motion related value that relates to a motion of the hammer; a trajectory generator configured to generate a target trajectory of the at least one of the key or the hammer based on automatic performance information that defines a motion target value of the at least one of the key or the hammer; a phase specifier configured to specify a current phase among a plurality of phases in a key depression-release stroke based on at least the hammer-motion related value in the automatic performance detected by the hammer detector; a contribution-proportion determiner configured to determine a feedback contribution proportion of each of the detected hammer-motion related value and the detected key-motion related value in accordance with the current phase specified by the phase specifier; a feedback-value generator configured to generate a feedback value based on the determined feedback contribution proportion, the detected hammer-motion related value, and the detected key-motion related value; and a controller configured to servo-control the actuator based on the target trajectory generated by the trajectory generator and the feedback value generated by the feedback-value generator.