Case study

NTU ASR Lab - Piano Playing Robotic Hand

At the National Taiwan University Autonomous & Soft Robotics Lab, built a multi-fingered robotic hand capable of expressive piano playing. Developed the Teensy firmware, servo torque/angle control loops, and MIDI-to-finger trajectory mapping. Focused on tendon compensation, torque smoothing, and real-time actuation. This was my first deep dive into dexterous manipulation and precise control under mechanical uncertainty.