@article{oai:u-ryukyu.repo.nii.ac.jp:02001622,
 author = {伊波, 善清 and 山城, 毅 and Iha, Zensei and Yamashiro, Tsuyoshi},
 issue = {60},
 journal = {琉球大学工学部紀要},
 month = {Sep},
 note = {The difference from the industrial robot, the amusement robots are more useful for the people, who live in hard and stressful world, give a peaceful life. SANSHIN is a fretless 3-strings musical instrument and transmitted to Ryukyu (Old name of Okinawa island) from China more then 600years before. The musical instrument such as stringed and percussion instruments are also very useful and necessary for Okinawan music and dance. So SANSHIN is very much intertwined with Okinawan tradition, and the sound of SANSHIN makes Okinawan people peace of mind and feel very well comfortable.\nThe system structures are composed mainly electromagnetic actuators and stepping motors. This system is controlled by the computer and can play one tempo more higher speed than 100 milliseconds and this speed is enough to perform SANSHIN. Performer is difficult to move his finger such high speed. In this paper is written about the hardware of the system., 紀要論文},
 pages = {79--87},
 title = {サンシン演奏ロボットの研究開発 : 主にハード面について},
 year = {2000}
}