Wind musical instrument having pads for closing tone holes with mechanical assistance and supporting system used therein

This invention relates to a wind musical instrument formed with tone holes closed with padded cups/padded keys and, more particularly, to a wind musical instrument performed with assistance of a supporting system and the supporting system combinable with the wind musical instrument.

A saxophone and a clarinet are typical examples of the wind musical instrument, and are respectively equipped with key mechanisms for closing and opening tone holes formed in the main body of the saxophone and the main body of the clarinet. Players blow into the main bodies through the mouthpieces, and change the pitch of tones by selectively closing and opening the tone holes with the padded cups/padded keys. If the players softly exert force on the padded cups/padded keys, the tone holes are imperfectly closed with the padded cups/padded keys, and the air is leaked through the gaps between the tone hole chimneys and the pads. The leaked air makes the tone unstable, and the players feel the leaked air noisy. The players are to close and open the tone holes in their performances for the clear tones. However, the load on player's fingers is not small. The padded cups/padded keys return to their open positions by means of return springs, and the padded cups/padded keys are swung between the open positions and the closed positions through rotation of key rods. This means that the players depress the keys against the elastic force of the return springs and the friction between the key rods and the key posts. A baritone saxophone has large padded cups/padded cups so that the elastic force of return springs are larger than that of a tenor saxophone. In case where the players perform fast music passages, they quickly change the tone holes between the open state and the closed state, and feel the load, i.e., the elastic force of return springs and the friction between the key rods and the key posts heavy. For this reason, children, handicapped persons and old players feel the wind musical instrument equipped with the key mechanisms not easy to play.

An automatic playing system is disclosed in Japan Patent Application laid-open No. Hei 6-222752. The prior art automatic playing system disclosed in the Japan Patent Application laid-open is incorporated in a keyboard musical instrument. However, an automatic playing system for a wind musical instrument is disclosed in Japan Patent Application laid-open No. 2004-177828. The prior art automatic playing system comprises an air compressor, an air valve, an artificial mouth, valve actuators and a controlling unit. The valve actuators are provided in association with the finger buttons/keys connected to the valves inside the wind instrument. The compressed air is supplied through the air valve to the artificial lips, and the artificial lips give rise to the vibrations of the column of air in the wind instrument. The airflow is controlled by means of the air valve, and the valves are changed between the open state and the closed state by means of the valve actuators. A set of music data codes, which are expressed in accordance with the MIDI (Musical Instrument Digital Interface) protocols, is supplied to the controlling unit. The controlling unit analyzes the music data codes, and energizes the valve actuators at proper timing to change the pitch of tones through the valves of the wind instrument. However, the prior art automatic playing system does not aim at supporting children, handicapped persons and old people. In other words, the wind musical instrument is performed by the automatic playing system instead of a human player, but is not performed by a human player with the assistance of the prior art automatic playing system. Thus, the prior art automatic playing system disclosed in the Japanese Patent Application laid-open does not make it possible to play wind instruments with the fingers of a child, a handicapped person or an old person.

It is therefore an important object of the present invention to provide a wind musical instrument equipped with a key mechanism, on which a human player fingers so as to close and open tone holes with the assistance of a supporting system.

It is also an important object of the present invention to provide the supporting system which is combined with an acoustic wind musical instrument for assisting a human player in fingering on the key mechanism of the acoustic wind musical instrument.

To accomplish the object, the present invention proposes mechanically to assist a human player in fingering on a key mechanism of a wind musical instrument.

In accordance with one aspect of the present invention, there is provided a wind musical instrument for producing tones through vibrations of air column, and the wind musical instrument comprises an acoustic wind musical instrument including a tubular body formed with tone holes so as to vary length of the air column defined therein and a key mechanism having padded closers responsive to fingering of a human player so as to close and open the tone holes and a supporting system combined with the acoustic wind musical instrument and including sensors producing detecting signals representative of the fingering, actuators provided on the tubular body in association with the padded closers and responsive to driving signals so as to cause the tone holes to be closed with the padded closers and opened and a controlling unit connected to the sensors and the actuators, determining certain tone holes to be closed with the padded closers and opened on the basis of the detecting signals and supplying the driving signals to the actuators associated with the certain tone holes.

In accordance with another aspect of the present invention, there is provided a supporting system combined with an acoustic wind musical instrument having a tubular body formed with tone holes and a key mechanism used for closing and opening the tone holes, and the supporting system comprises sensors producing detecting signals representative of fingering of a human player on the key mechanism, actuators provided on the tubular body in association with padded closers of the key mechanism, and responsive to driving signals so as to cause the tone holes to be closed with the padded closers and opened and a controlling unit connected to the sensors and the actuators, determining certain tone holes to be closed with the padded closers and opened on the basis of the detecting signals and supplying the driving signals to the actuators associated with the certain tone holes.

The features and advantages of the wind musical instrument and supporting system will be more clearly understood from the following description taken in conjunction with the accompanying drawings, in which

FIG. 1 is a schematic perspective view showing a wind musical instrument of the present invention,

FIG. 2 is a schematic cross sectional view showing the structure of a tubular body and a key mechanism incorporated in the wind musical instrument,

FIG. 3 is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism,

FIG. 4A is a side view showing a pressure-sensitive pad adhered to a key,

FIG. 4B is a front view showing the pressure-sensitive pad and key,

FIG. 5 is a timing chart showing behavior of a supporting system,

FIG. 6A is a side view showing a pressure-sensitive pad sandwiched between a key and a pusher incorporated in another wind musical instrument according to the present invention,

FIG. 6B is a front view showing the pressure-sensitive pad, pusher and key,

FIG. 7A is a side view showing a key sensor incorporated in yet another wind musical instrument according to the present invention,

FIG. 7B is a front view showing the key sensor and key,

FIG. 8A is a side view showing a key sensor incorporated in still another wind musical instrument according to the present invention,

FIG. 8B is a front view showing the key sensor and key,

FIG. 9A is a side view showing a key sensor incorporated in yet another wind musical instrument according to the present invention,

FIG. 9B is a front view showing the key sensor and key,

FIG. 10A is a side view showing a key sensor incorporated in still another wind musical instrument according to the present invention,

FIG. 10B is a front view showing the key sensor and key,

FIG. 11A is a side view showing a key sensor incorporated in yet another wind musical instrument according to the present invention,

FIG. 11B is a front view showing the key sensor and key,

FIG. 12A is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in still another wind musical instrument,

FIG. 12B is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism,

FIG. 13A is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in yet another wind musical instrument,

FIG. 13B is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism,

FIG. 14A is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in still another wind musical instrument,

FIG. 14B is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism,

FIG. 15A is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in yet another wind musical instrument,

FIG. 15B is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism,

FIG. 16A is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in still another wind musical instrument,

FIG. 16B is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism,

FIG. 17 is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in yet another wind musical instrument,

FIG. 18A is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in a modification of the wind musical instrument shown in FIGS. 12A and 12B ,

FIG. 18B is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism,

FIG. 19A is a schematic cross sectional view showing the structure of a key mechanism and an actuator incorporated in another modification of the wind musical instrument shown in FIGS. 12A and 12B , and

FIG. 19B is a schematic view showing a tone hole closed with a padded cup/padded key of the key mechanism.

A wind musical instrument embodying the present invention produces tones through vibrations of air column. The wind musical instrument comprises an acoustic wind musical instrument and a supporting system. A human player plays music tunes on the acoustic wind musical instrument with or without assistance of the supporting system.

The wind musical instrument includes a tubular body and a key mechanism. The tubular body is formed with tone holes so as to vary length of the air column defined therein, and the key mechanism is provided on the tubular body. The key mechanism has padded closers, which are responsive to the fingering of the human player so as to close and open the tone holes.

The supporting system includes sensors, actuators and a controlling unit, and the sensors and actuators are connected to the controlling unit. The sensors produces detecting signals representative of the fingering, and the actuators are provided on the tubular body in association with the padded closers. The actuators are responsive to driving signals so as to cause the tone holes to be closed with the padded closers and opened. The controlling unit determines certain tone holes to be closed with the padded closers and opened on the basis of the detecting signals, and supplies the driving signals to the actuators associated with the certain tone holes.

Even if the human player is a child, a handicapped person or an old player, the human player needs to exert force to make the sensors to change the detecting signals to an active level. The actuators exert force on the padded closers together with the player so that the human player feels the key mechanism light enough to quickly finger a fast music passage on the key mechanism. Thus, the supporting system assists the human player in fingering music tunes on the key mechanism.

First Embodiment

Referring first to FIGS. 1 and 2 of the drawings, a wind musical instrument embodying the present invention largely comprises a saxophone 10 and a supporting system 24 . A human player plays music tunes on the saxophone 10 with and without assistance of the supporting system 24 . While the human player is performing a music tune on the saxophone 10 without any assistance of the supporting system 24 , he or she blows into the saxophone 10 so as to give rise to vibrations of a column of air, and changes the pitch of tones through fingering for varying the length of the column of air. The human player exerts force on the saxophone 10 for varying the length of the column of air by himself or herself, and the supporting system 10 does not assist the human player in varying the length of the column of air.

On the other hand, while the human player is performing a music tune on the saxophone 10 with the assistance of the supporting system 24 , he or she also blows into the saxophone, and changes the pitch of tones through the fingering. When the human player changes the pitch of a tone, not only the human player but also the supporting system 24 exert the force on the saxophone 10 for varying the length of the column of air. For this reason, the human player feels load on his or her fingers light.

The saxophone 10 is broken down into a tubular body 10 a and a key mechanism 16 . The tubular body 10 a includes an upturned flared bell 11 , a mouthpiece 12 a , a neck 12 b and a conical metal tube 12 c , and is formed with tone holes 11 A. The tone holes 11 A are not equal in diameter, but have appropriate values of diameter to produce tones at predetermined pitch. Tone hole chimneys 11 B project from the outer surface of the tubular body 10 a , and define the peripheries of the tone holes 11 A. A column of air is defined in the tubular body 10 a , and is vibratory for producing tones.

Though not shown in the drawings, a reed is fitted to the mouthpiece 12 a , and the neck 12 b is connected to the mouthpiece 12 a . The conical metal tube 12 c is connected at one end thereof to the neck 12 b , and has the upturned flared bell 11 at the other end thereof. A player holds the mouthpiece 12 a in his or her mouth, and blows into the mouthpiece 12 a . Then, the column of air vibrates for producing tones.

The key mechanism 24 is fitted to the tubular body 10 a , and includes padded cups/padded keys 14 , touch buttons/keys 15 to be depressed by a human player and a link work 16 a . The padded cups/padded keys 14 and other keys are provided in association with the tone holes 11 A, and are wider than the associated tone holes 11 A are. The link work 16 a has link sub-works 19 , which are connected to the touch buttons/keys 15 , other link sub-works 20 , which are connected to the padded cups 14 /padded keys, and return springs (not shown). The link sub-works 19 and 20 are rotatable about axes of shafts 16 b , and the link sub-works 19 are partially held in contact with each other. The return springs (not shown) always urge the link work 16 a in a direction to space the padded cups/padded keys 14 from the tone hole chimneys 11 B.

When a player depresses the touch button/key 15 in a direction indicated by arrow A 1 against the elastic force of the return spring (not shown), the link sub-work 19 causes the link sub-work 20 to rotate in a direction indicated by arrow A 2 , and makes the link sub-work 20 close the tone hole 11 A with the padded cup/padded key 14 as shown in FIG. 3 . On the other hand, when the player releases the touch button/key 15 , the return spring (not shown) gives rise to rotation of the link sub-work 20 in the direction opposite to the arrow A 2 , and causes the link sub-work 19 to rotate in the direction opposite to the arrow A 1 . As a result, the tone hole 11 A is opened, and the touch button/key 15 returns to the rest position as shown in FIG. 2 .

The supporting system 24 includes pressure-sensitive pads 23 , actuators 24 a and a controlling unit 25 . The pressure-sensitive pads 23 are adhered to the touch buttons/keys 15 and other keys depressed by the thumbs and fingers of a human player, and are connected to the controlling unit 25 . The actuators 24 a are provided in association with the link sub-works 20 , and are also connected to the controlling unit 25 .

Each of the pressure-sensitive pads 23 has an inner pressure-sensitive sheet and an outer protective sheet. The pressure-sensitive pads 23 are adhered to the outer surfaces, which are reverse to the inner surfaces opposed to the conical metal tube 12 c , of the touch buttons/keys 15 , and lead lines 23 a are connected between the pressure-sensitive pads 23 and the controlling unit 25 as shown in FIGS. 4A and 4B .

When a player exerts the force on the protective sheet, the force makes the pressure-sensitive sheet deformed, and the pressure-sensitive sheet varies the resistance against electric current. Thus, the pressure-sensitive pads 23 produces detecting signals S 1 representative of the fingering of the player, and supply the detecting signals S 1 to the controlling unit 25 .

The actuators 24 a are supported by the upturned flared bell 11 through stays 26 . The stays 26 are adhered to the upturned flared bell 11 as shown in FIGS. 2 and 3 . Each of the actuators 24 a includes an ultrasonic motor 24 A with an output shaft 24 B and an arm 24 C. The ultrasonic motor 24 A is energized with a driving signal S 2 , which is supplied from the controlling unit 25 , and rotates the output shaft 24 B in one of the clockwise direction and counter clockwise direction in FIGS. 2 and 3 depending upon the driving signal S 2 . When the driving signal S 2 is removed from the ultrasonic motor 24 A, the output shaft 25 B is prohibited from further rotation. The arm 24 C is secured at one end thereof to the output shaft 24 B, and the return spring (not shown) keeps the associated padded cup/padded key 14 held in contact with the other end of the arm 24 C.

The ultrasonic motor 24 A is assumed to give rise to the rotation of output shaft 24 B in the counter clockwise direction in FIG. 2 . The arm 24 C presses the padded cup/padded key 14 toward the tone hole chimney 11 B, and causes the tone hole 11 A to be closed with the padded cup/padded key 14 . The rotation of the link sub-work 20 in the direction indicated by arrow A 2 gives rise to the rotation of link sub-work 19 in the direction indicated by arrow A 1 .

On the other hand, when the ultrasonic motor 24 A rotates the output shaft 24 B in the clockwise direction in FIG. 3 , the arm 24 C rotates in the direction opposite to the direction indicated by arrow A 2 , and the return spring (not shown) causes the padded cup/padded key 14 to leave the tone hole chimney 11 B. The rotation of link sub-work 20 in the direction opposite to the direction indicated by arrow A 2 gives rise to the rotation of link sub-work 19 in the direction opposite to the direction indicated by arrow A 1 .

The controlling unit 25 includes a signal input circuit 25 A, a power source and current driving circuit 25 B, a logic circuit 25 C and a switch board 25 D. The signal input circuit 25 A is connected to the logic circuit 25 C, and the logic circuit 25 C is connected to the current driving circuits in the power source and current driving circuit 25 B. The power source in the power source and current driving circuit 25 B is connected through the switch board 25 D to the logic circuit 25 C and signal input circuit 25 A. A power supply switch is provided on the switch board 25 D, and the electric power is supplied from the power source in the power source and current driving circuit 25 B through the power supply switch to the logic circuit 25 C and signal input circuit 25 A. In this instance, the electric power is implemented by a battery, and the controlling unit 25 is fitted to the conical metal tube 12 c.

All of the detecting signals S 1 are input in parallel to the signal input circuit 25 A, and are subjected to amplification and waveform shaping in the signal input circuit 25 A. After the amplification and waveform shaping, the detecting signals S 1 are supplied to the logic circuit 25 C. The combinations of detecting signals S 1 at an active level are indicative of the tone holes 11 A to be closed with the padded cups/padded keys 14 . The logic circuit 25 C determines the actuators 24 A to be energized on the basis of the combination of detecting signals S 1 , and supplies control signals indicative of the actuators 24 a to be energized to the current driving circuits in the power source and current driving circuits 25 B.

The current driving circuits in the power source and current driving circuits 25 B are responsive to the control signals so as to supply the driving signals S 2 to the actuators associated with the padded cups/padded keys 14 over the tone holes 11 A to be closed.

A human player is assumed to be playing a music tune on the wind musical instrument with the assistance of the supporting system 24 . The power supply switch is turned on, and the electric power is supplied to the logic circuit 25 C, the signal input circuit 25 A and the current driving circuits in the power source and current driving circuits 25 B.

He or she blows into the mouthpiece 12 a , and selectively closes and opens the tone holes 11 A through the key mechanism 16 a so as to change the pitch of tones. The human player is assumed to depress the key 15 shown in FIG. 2 . The pressure-sensitive pad 23 reduces the resistance thereof, and raises the potential level of the detecting signal S 1 . When the resistance is reduced below a threshold S 1 as shown in FIG. 5 , the detecting signal S 1 is changed active, and the detecting signals S 1 at the signal input circuit 25 A are changed from the previous combination to another combination. Then, the logic circuit 25 C determines the tone holes 11 B to be closed on the basis of the new combination. The tone hole 11 B shown in FIG. 2 is to be closed with the padded cup 14 .

The logic circuit 25 C changes the control signal indicative of the actuator 24 a shown in FIG. 2 to the active level. Then, the current driving circuits in the power source and current driving circuits 25 B respond to the control signals, and changes the driving signal S 2 to be supplied to the actuator 24 a shown in FIG. 2 to the active level. With the driving signal S 2 , the ultrasonic motor 24 A drives the output shaft 24 B for the rotation in the counter clockwise direction, and causes the link sub-work 20 to rotate in the direction indicated by arrow A 2 against the elastic force of the return spring (not shown).

The link sub-work 20 exerts the force on the padded cup 14 as indicated by change from “OFF” to “ON” in FIG. 5 , and makes the tone hole 11 A closed with the padded cup 14 as shown in FIG. 3 . When the padded cup 14 is brought into contact with the tone hole chimney 11 B, the driving signal S 2 is changed to the inactive level, and the force is removed from the padded cup 14 . Since the ultrasonic motor 24 A restricts the output shaft 24 B from the rotation in the clockwise direction, the ultrasonic motor 24 A keeps the tone hole 11 A closed in so far as the human player continuously depresses the pressure-sensitive pad 23 . As a result, the tone is produced at the pitch desired by the human player.

When the human player wishes to recover the tone to the previous pitch, he or she leaves the finger from the pressure sensitive pad 23 . The resistance of the pressure-sensitive pad 23 is raised, and exceeds a threshold S 2 . Then, the detecting signal S 1 changes the potential level to the inactive level, and the logic circuit 25 C notices the change to the previous combination. The control signal indicative of the actuator 24 a is changed from the active level to the inactive level, and the associated current driver in the power source and current driver circuits 25 B changes the driving signal S 2 to the other active level indicative of the rotation in the opposite direction as shown in FIG. 5 .

The ultrasonic motor 24 A rotates the output shaft 24 B in the clockwise direction in FIG. 3 , and causes the link sub-work 20 to rotate in the direction opposite to the direction indicative by arrow A 2 . When the padded cup 14 reaches the rest position, the driving signal S 2 is recovered to the inactive level as shown in FIG. 5 , and the ultrasonic motor 24 A keeps the output shaft 24 B and link sub-work 20 from further rotation. As a result, the wind musical instrument produces the tone at the previous pitch.

If the human player does not wish the assistance of the supporting system 24 , he or she turns off the power supply switch, and performs the saxophone 10 as similar to a tenor standard saxophone.

As will be understood from the foregoing description, the controlling unit 25 causes the actuators 24 a selectively to energize in response to the detecting signals S 1 indicative of the fingering of a human player. By virtue of the supporting system 24 , the human player can change the pitch of tones by lightly depressing the pressure sensitive pads 23 . The supporting system 24 according to the present invention permits a child, a handicapped person and an old player to enjoy their performances on the wind musical instrument of the present invention. Although the supporting system 24 can not perform any music tune on the saxophone, the child, handicapped person and old player appreciate the assistance of the supporting system 24 in their performances.

Description is hereinafter made on other embodiments of the present invention. The second embodiment to seventh embodiment include other sorts of detectors or sensors instead of the pressure-sensitive pads 23 , and the eighth embodiment to twelfth embodiment include other sorts of actuators instead of the ultrasonic motors 24 A.

Second Embodiment

Turning to FIGS. 6A and 6B of the drawings, another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 A such as a saxophone and a supporting system 24 A. The acoustic wind musical instrument 10 A is similar to the saxophone 10 except for touch buttons/keys 15 A, and other component parts of acoustic wind musical instrument 10 A are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity. Each of the touch buttons/keys 15 A is formed with a small projection 15 a , and the small projection 15 a has a rounded head portion. The small projection 15 a will be hereinafter described in detail in conjunction with a sensor incorporated in the supporting system 24 A.

The supporting system 24 A is similar to the supporting system 24 except for sensors. For this reason, description is focused on the sensors, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the sensors is provided in association with one of the touch buttons/keys 15 A, and is implemented by a combination of a pusher 28 and a pressure-sensitive sheet 29 . The pusher 28 has an outline analogous to the outline of the leading end portion of the key 15 A, and is formed with a pocket. The rounded head portion of the small projection is received in the pocket of the pusher 28 , and the pocket portion and rounded head portion form in combination a hinge. For this reason, the pusher 28 is rotated about the rounded head portion of small projection 15 a.

The pressure-sensitive sheet 29 is adhered to the leading end portion of the key 15 A so as to be found between the leading end portion of key 15 A and the pusher 28 . When a player rotates the pusher 28 toward the key 15 A, the pusher 28 is brought into contact with the entire surface of the pressure-sensitive sheet 29 , and uniformly exerts force on the entire surface.

The wind musical instrument implementing the second embodiment achieves all the advantages of the first embodiment. Moreover, even if a human player concentrates the force on a small area of the pusher 28 , the entire surface of the pressure-sensitive sheet 29 is uniformly pressed with the pusher 28 , and the resistance of pressure sensitive sheet 29 is varied regardless of the area on which the force is exerted.

Third Embodiment

Turning to FIGS. 7A and 7B of the drawings, yet another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 B and a supporting system 24 B. The acoustic wind musical instrument 10 B is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 B are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 B is similar to the supporting system 24 except for sensors and a controlling unit 25 BB. For this reason, description is focused on the sensors and controlling unit 25 BB, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the sensors is provided in association with one of the touch buttons/keys 15 B, and is implemented by a combination of a magnetic scale 32 A and a magnetic sensor head 32 B. The magnetic scale 32 A is adhered to the leading end portion of the key 15 B of the wind musical instrument, and is movable together with the key 151 B. On the other hand, the magnetic sensor head 32 B is opposed to the magnetic scale 32 A, and is stationary with respect to the tubular body 10 a . In this instance, the magnetic sensor heads 32 B are supported by the tubular body 10 a . Pieces of positional data are magnetically written on the magnetic scale 32 A, and the magnetic sensor head 32 B converts the pieces of positional data to pulse trains expressing digital codes or a detecting signal SB 1 . Thus, the magnetic sensor head 32 B is operative to encode the pieces of positional data on the magnetic scale 32 A.

The controlling unit 25 BB has a data processing capability, and periodically fetches the pieces of positional data. The pieces of positional data are accumulated in a memory in the controlling unit 25 BB, and are analyzed to see whether or not the key 15 B is moved and which direction the key 15 B is moved. The controlling unit 25 BB prepares the driving signals on the basis of the analysis, and supplies the driving signals to the actuators.

The supporting system 24 B also achieves all the advantages of the first embodiment. Moreover, the controlling unit 25 BB can determine the movements of the keys 15 B more precisely through the data processing capability so that the actuators are controlled more exactly.

Fourth Embodiment

Turning to FIGS. 8A and 8B of the drawings, still another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 C and a supporting system 24 C. The acoustic wind musical instrument 10 C is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 C are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 C is similar to the supporting system 24 except for key sensors and a controlling unit 25 CC. For this reason, description is focused on the key sensors and controlling unit 25 CC, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the key sensors is provided in association with one of the touch buttons/keys 15 C, and is implemented by a combination of a piece of permanent magnet 33 A and an electromagnetic pickup 33 B. The piece of permanent magnet 33 A is adhered to the leading end of the key 15 C, and is movable together with the key 15 C. On the other hand, the electromagnetic pickup 33 B is stationary with respect to the tubular body 10 a so that the electromagnetic pickup 33 B converts the velocity of piece of permanent magnet 33 A to a detecting signal SC 2 representative of the current value of the velocity.

The controlling unit 25 CC has a data processing capability as similar to the controlling unit 25 BB, and periodically fetches the pieces of velocity data represented by the detecting signal SC 1 . The pieces of velocity data are accumulated in a memory in the controlling unit 25 CC, and are analyzed to see whether or not the key 15 C is moved and how far the key 15 C is moved from the rest position. The stroke of the key 15 C is determined through the integration on the pieces of velocity data. When the key stroke is equal to the distance between the rest position and the tone hole chimney 11 B, the controlling unit 25 CC stops the electric power, and changes a flag indicative of the direction of key movement. The controlling unit 25 CC prepares the driving signals S 2 on the basis of the analysis, and supplies the driving signals S 2 to the actuators.

The supporting system 24 C also achieves all the advantages of the first embodiment. Moreover, the controlling unit 25 CC can determine the movements of the buttons/keys 15 C more precisely through the data processing capability so that the actuators are controlled more exactly.

Fifth Embodiment

Turning to FIGS. 9A and 9B of the drawings, yet another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 D and a supporting system 24 D. The acoustic wind musical instrument 10 D is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 D are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 D is similar to the supporting system 24 except for key sensors and a controlling unit 25 DD. For this reason, description is focused on the key sensors and controlling unit 25 DD, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the key sensors is provided in association with one of the touch buttons/keys 15 D, and is implemented by an acceleration sensor 34 . In this instance, a tri-axis piezoelectric acceleration sensor is used as the acceleration sensor 34 , and the acceleration is detected as the force exerted on the piezoelectric elements. The detecting signal SD 1 , which is representative of the acceleration, is supplied from each of the acceleration sensor 34 to the controlling unit 25 DD.

The controlling unit 25 DD has a data processing capability. The pieces of acceleration data, which are carried on the detecting signal SD 1 , are accumulated in an internal memory of the controlling unit 25 DD, and the controlling unit 25 DD determines the key position and button position through the integration on the pieces of acceleration data. A flag is indicative of the direction of the acceleration, and an internal register is assigned to the flag. The controlling unit 25 DD prepares the driving signal S 2 on the basis of the direction of button movement/key movement, and supplies the driving signal S 2 to the actuator 24 a.

The supporting system 24 D also achieves all the advantages of the first embodiment. Moreover, the controlling unit 25 DD can determine the movements of the buttons/keys 15 D more precisely through the data processing so that the actuators are controlled more exactly.

Sixth Embodiment

Turning to FIGS. 10A and 10B of the drawings, still another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 E and a supporting system 24 E. The acoustic wind musical instrument 10 E is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 E are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 E is similar to the supporting system 24 except for key sensors and a controlling unit 25 EE. For this reason, description is focused on the key sensors and controlling unit 25 EE, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the key sensors is provided in association with one of the touch buttons/keys 15 E, and is implemented by a strain sensor 35 . In this instance, a strain gage is used as the strain sensor 35 , and is adhered to the boss portion of the touch button/key 15 E. The detecting signal SE 1 , which is representative of the strain in the boss portion, is supplied from each of the strain sensor 35 to the controlling unit 25 EE.

The controlling unit 25 EE has a data processing capability. Pieces of strain data, which are carried on the detecting signal SE 1 , are accumulated in an internal memory of the controlling unit 25 EE, and the strain is detected as the force exerted on the boss portion. The controlling unit 25 EE determines the key movement/button movement on the basis of the variation of strain. A flag is indicative of the direction of the deformation, and an internal register is assigned to the flag. The controlling unit 25 EE prepares the driving signal S 2 through the analysis, and supplies the driving signal S 2 to the actuator 24 a.

The supporting system 24 E also achieves all the advantages of the first embodiment. Moreover, the controlling unit 25 EE can determine the movements of the buttons/keys 15 E more precisely through the data processing so that the actuators 24 a are controlled more exactly.

Seventh Embodiment

Turning to FIGS. 11A and 11B of the drawings, yet another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 F and a supporting system 24 F. The acoustic wind musical instrument 10 F is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 F are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 F is similar to the supporting system 24 except for key sensors 36 and a controlling unit 25 FF. For this reason, description is focused on the key sensors 36 and controlling unit 25 FF, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the key sensors 36 is provided in association with one of the touch buttons/keys 15 F, and is implemented by a combination of a magnetostriction element 36 A and a coil 36 B. The magnetostriction element 36 A is fitted to the shaft 16 b between the link sub-work 19 and the link sub-work 20 , and is surrounded by the coil 36 B.

The detecting signal SE 1 , which is representative of the torque exerted on the shaft 16 a , is supplied from each of the magnetostriction element 35 to the controlling unit 25 FF.

The controlling unit 25 FF has a data processing capability. Pieces of torque data, which are carried on the detecting signal SF 1 , are accumulated in an internal memory of the controlling unit 25 FF, and are analyzed by the controlling unit 25 FF. The controlling unit 25 FF determines the key movement/button movement on the basis of the variation of torque. A flag is indicative of the direction of the rotation of shaft 16 b , and an internal register is assigned to the flag. The controlling unit 25 FF prepares the driving signal S 2 through the analysis, and supplies the driving signal S 2 to the actuator 24 a.

The supporting system 24 F also achieves all the advantages of the first embodiment. Moreover, the controlling unit 25 FF can determine the movements of the buttons/keys 15 F more precisely through the data processing so that the actuators 24 a are controlled more exactly.

Eighth Embodiment

Turning to FIGS. 12A and 12B of the drawings, still another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 G and a supporting system 24 G. The acoustic wind musical instrument 10 G is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 G are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 G is similar to the supporting system 24 except for actuators. For this reason, description is focused on the actuators, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the actuators is provided in association with one of the touch buttons/keys 15 , and is implemented by a solenoid-operated actuator 38 . The solenoid-operated key actuator includes a solenoid 38 A and a plunger 38 B. The solenoid 38 A is supported by the tubular body 10 a , and is electrically connected to the power source and current drivers 25 B. While the solenoid 38 A is being energized with a driving signal SG 2 , magnetic field is created around the plunger 38 B, and the plunger 38 B projects from the solenoid 38 A as indicated by arrow A 3 . The link sub-system 20 is rotated against the elastic force of the return spring (not shown), which is provided in association with the shaft 16 b , and the padded cup/padded key 14 is brought into contact with the tone hole chimney 11 B. As a result, the tone hole 11 A is closed with the padded cup/padded key 14 as shown in FIG. 12B .

On the other hand, when the driving signal SG 2 is removed from the solenoid 38 A, the return spring (not shown), rotates the link sub-system 20 in the direction opposite to the arrow A 3 , and causes the plunger 38 B to re retracted into the solenoid 38 A. Thus, the actuator 38 permits the tone hole 11 A to be opened as shown in FIG. 12A .

The supporting system 24 G achieves all the advantages of the supporting system 24 .

Ninth Embodiment

Turning to FIGS. 13A and 13B of the drawings, yet another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 H and a supporting system 24 H. The acoustic wind musical instrument 10 H is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 H are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 H is similar to the supporting system 24 except for an actuator system 39 and a controlling unit 25 H. For this reason, description is focused on the actuator system 39 and controlling unit 25 H, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

The actuator system 39 includes pneumatic actuators 40 , a high-pressure air source 44 , high-pressure air pipes 45 / 47 , exhaust pipes 46 / 48 and electromagnetic valves 45 A/ 46 A/ 47 A/ 48 A. The high-pressure air source 44 is implemented by an air pump, an electric motor, a reservoir tank and a pressure control system. The air pump boosts the air, and the high-pressure air is accumulated in the reservoir tank. The pressure control system monitors the air pressure in the reservoir tank. When the air pressure exceeds an upper limit of a control range, the controlling unit 25 H stops the electric power from the air pump. On the other hand, when the air pressure is decayed below a lower limit of the control range, the controlling unit 25 H energizes the electric motor, and the electric motor drives the air pump for rotation so as to boost the air in the reservoir tank. Thus, the high-pressure air source 44 is always ready to supply the high-pressure air to destinations.

The high-pressure air source 44 is connected through the high-pressure air pipes 45 to chambers S 1 of the pneumatic actuators 40 and through the high-pressure air pipes 47 to chambers S 2 of the pneumatic actuators 40 . The electromagnetic actuators 45 A and 47 A are provided in the air passages of the high-pressure air pipes 45 / 47 , and are controlled by the controlling unit 25 H. The exhaust pipes 46 are connected to the chambers S 1 , and the exhaust pipes 48 are connected to the chambers S 2 . The electromagnetic valves 46 A and 48 A are provided in the air passages in the exhaust pipes 46 / 48 , and the electromagnetic valves 46 A/ 48 A are controlled by the controlling unit 25 H.

Each of the pneumatic actuators 40 is provided in association with one of the touch buttons/keys 15 , and is implemented by a cylinder 40 a and a plunger 43 . The chambers S 1 and S 2 are defined in the cylinder 40 a on both sides of the plunger 43 .

A human player is assumed to depress the touch button/key 15 in a direction indicated by arrow A 4 . The pressure sensor 23 changes the detecting signal S 1 to the active level, and the controlling unit 25 H notices the player fingering on the wind musical instrument 10 H. The controlling unit 25 H determines that the tone hole 11 A is to be closed with the padded cup/padded key 14 . Then, the controlling unit 25 H supplies valve a control signal SH 2 indicative of open state to the electromagnetic valves 45 A and 48 A and the valve control signal indicative of closed state to the electromagnetic valves 47 A and 46 A. Then, the chamber S 1 is filled with the high-pressure air, and the other chamber S 2 is open to the atmosphere. As a result, the plunger 43 projects from the cylinder 40 a , and presses the padded cup/padded key 14 to the tone hole chimney 11 B. The tone is produced at the new pitch. While the player is keeping the key depressed, the controlling unit 25 H makes all the electromagnetic valves 45 A, 46 A, 47 A and 48 A closed so that the pneumatic actuator 40 keeps the plunger 43 pressing the padded cup/padded key 14 to the tone home chimney 11 B.

When the human player releases the touch button/key 15 , the pressure sensor 23 changes the detecting signal S 1 to the inactive level, and the controlling unit 25 H makes the electromagnetic valves 47 A and 46 A opened and the other electromagnetic valves 45 A and 48 A closed. The plunger 43 is retracted into the cylinder 40 a , and permits the return spring (not shown) to leave the padded cup/padded key 14 from the tone hole chimney 11 B. The tone is produced at the previous pitch. The controlling unit 25 H keeps all the electromagnetic valves 45 A, 46 A, 47 A and 48 A closed.

Thus, the supporting system 24 H achieves all the advantages of the supporting system 24 .

Tenth Embodiment

Turning to FIGS. 14A and 14B of the drawings, still another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 J and a supporting system 24 J. The acoustic wind musical instrument 10 J is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 J are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 J is similar to the supporting system 24 except for actuators 50 . For this reason, description is focused on the actuators, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the actuators 50 is provided in association with one of the touch buttons/keys 15 , and is implemented by a combination of a pantograph 50 A and a sheet of EAP (Electric Actuating Polymer). The sheet of EAP is used as the polymer actuator 50 B, and is connected at both ends to the joints between the upper links and the lower links of the pantograph 50 A. The polymer actuator 50 B is connected to a bracket 50 C, which in turn is connected to the tubular body 10 a.

When a human player depresses the touch button/key 15 , the pressure sensor 23 changes the detecting signal S 1 to the active level, and the controlling unit 25 H supplies a driving signal SJ 2 indicative of elongation to the polymer actuator 50 B. With the driving signal SJ 2 , the sheet of EAP is elongated, and makes the pantograph 50 A pull the link sub-work 20 . As a result, the padded cup/padded key 14 is brought into contact with the tone hole chimney 11 B so that the tone hole 11 A is closed with the padded cup/padded key 14 as shown in FIG. 14B .

On the other hand, when the player releases the touch button/key 15 , the pressure sensor S 1 is decayed to the inactive level S 1 , and controlling unit 25 J supplies the driving signal indicative of the shrinkage to the polymer actuator 50 B. The sheet of EAP is shrunk, and the pantograph 50 A pushes the padded cup/padded key 14 . As a result, the padded cup/padded key 14 leaves the tone hole chimney 11 B, and, accordingly, the tone hole 11 A is opened.

Thus, the supporting system 24 J achieves all the advantages of the supporting system 24 .

Eleventh Embodiment

Turning to FIGS. 15A and 15B of the drawings, yet another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 K and a supporting system 24 K. The acoustic wind musical instrument 10 K is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 K are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 K is similar to the supporting system 24 except for actuators 51 . For this reason, description is focused on the actuators, and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the actuators 51 is provided in association with one of the touch buttons/keys 15 , and is implemented by a pair of pieces of shape memory alloy 51 . The pieces of shape memory alloy 51 are connected at certain ends thereof to both of the upper and lower portions of the link sub-work 20 , respectively and at the other end thereof to suitable brackets connected to the tubular body 10 a , and the controlling unit 25 K supplies a driving signal SK 2 to the pieces of shape memory alloy 51 .

When a human player depresses the touch button/key 15 , the pressure sensor 23 changes the detecting signal S 1 to the active level, and the controlling unit 25 K supplies a driving signal SK 2 indicative of a new shape to the pieces of shape memory alloy 51 . With the driving signal SK 2 , the pieces of shape memory alloy 51 press the padded cup/padded key 14 , and the padded cup/padded key 14 is brought into contact with the tone hole chimney 11 B so that the tone hole 11 A is closed with the padded cup/padded key 14 as shown in FIG. 15B .

On the other hand, when the player releases the touch button/key 15 , the pressure sensor S 1 is decayed to the inactive level, and controlling unit 25 K supplies the driving signal SK 2 indicative of the previous shape to the pieces of shape memory alloy 51 . The pieces of shape memory alloy 51 permit the padded cup/padded key 14 to leave the tone hole chimney 11 B. As a result, the tone hole 11 A is opened.

Thus, the supporting system 24 K achieves all the advantages of the supporting system 24 .

Twelfth Embodiment

Turning to FIGS. 16A and 16B of the drawings, still another wind musical instrument embodying the present invention also largely comprises an acoustic wind musical instrument 10 L and a supporting system 24 L. The acoustic wind musical instrument 10 L is similar to the saxophone 10 , and component parts of acoustic wind musical instrument 10 L are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

The supporting system 24 L is similar to the supporting system 24 except for actuators 52 . For this reason, description is focused on the actuators 52 , and no further description on the other system components is hereinafter incorporated for avoiding repetition.

Each of the actuators 52 is provided in association with one of the touch buttons/keys 15 , and is implemented by a bimorph piezoelectric element 52 . The bimorph piezoelectric element 52 is connected at one end thereof to the link sub-work 20 and at the other end thereof to a suitable bracket (not shown) connected to the tubular body 10 a , and the controlling unit 25 L supplies a driving signal SL 2 to the bimorph piezoelectric element 52 .

When a human player depresses the touch button/key 15 , the pressure sensor 23 changes the detecting signal S 1 to the active level, and the controlling unit 25 K supplies a driving signal SL 2 indicative of bend to the bimorph piezoelectric element 52 . With the driving signal SL 2 , the bimorph piezoelectric element 52 presses the padded cup/padded key 14 to the tone hole chimney 11 B, and the padded cup/padded key 14 is brought into contact with the tone hole chimney 11 B so that the tone hole 11 A is closed with the padded cup/padded key 14 as shown in FIG. 16B .

On the other hand, when the player releases the touch button/key 15 , the pressure sensor S 1 is decayed to the inactive level, and controlling unit 25 L supplies the driving signal SL 2 indicative of the recovery to the bimorph piezoelectric element 52 . The bimorph piezoelectric element 52 permits the padded cup/padded key 14 to leave the tone hole chimney 11 B. As a result, the tone hole 11 A is opened.

Thus, the supporting system 24 L achieves all the advantages of the supporting system 24 .

Thirteenth Embodiment

Turning to FIG. 17 of the drawings, yet another wind musical instrument embodying the present invention. The wind musical instrument largely comprises an acoustic wind musical instrument 10 M and a supporting system 24 M. The acoustic wind musical instrument 10 M is similar to the saxophone 10 except for a key mechanism 16 M, and the other component parts of acoustic wind musical instrument 10 M are labeled with references designating the corresponding component parts of saxophone 10 without detailed description for the sake of simplicity.

Any link sub-work is not incorporated in the key mechanism 16 M. Levers 15 M are layered on predetermined padded cups 14 M, and are rotatably supported by shafts 16 b . For this reason, a human player changes the pitch of tones by depressing and releasing the levers 15 M.

The supporting system 24 M includes sensors 23 M, actuators 53 and a controlling unit 25 M. The sensors 23 M are same as the pressure-sensitive pads 23 , and are adhered to the upper surfaces of the levers 15 M, respectively. When the human player depresses the levers 15 M, the force is exerted on the sensors 23 M, and the depressed sensors 23 M change the potential level of the detecting signals S 1 . The actuators 53 are provided for all the padded cups 14 M, respectively, and each of the actuators 53 is implemented by the combination of ultrasonic motor 24 A with output shaft 24 B and arm 24 C.

When the human player fingers on the levers 15 M, the controlling unit 25 M determines the tone holes 11 A to be closed with the padded cups 14 M, and supplies the driving signals S 2 to the actuators 53 associated with the padded cups 14 M. With the driving signals S 2 , the actuators 53 give rise to the rotation of the padded cups 14 M so that the tone holes 11 A are closed with the padded cups 14 M.

As will be appreciated from the foregoing description, the supporting systems 24 , 24 A, 24 B, 24 C, 24 D, 24 E, 24 F, 24 G, 24 H, 24 J, 24 K, 24 L and 24 M assist the human players in fingering on the key mechanisms 16 and 16 M so that the human players easily play music tunes on the acoustic wind musical instruments 10 , 10 A, 10 B, 10 C, 10 D, 10 E, 10 F, 10 G, 10 H, 10 J, 10 K, 10 L and 10 M.

Although particular embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the present invention.

The force may be exerted on the touch buttons/keys 15 as shown in FIGS. 18A and 18B , and the padded cups/padded keys 14 may be monitored with the sensors such as, for example, acceleration sensors 34 as shown in FIGS. 19A and 19B . Thus, the locations of sensors and actuators do not set any limit to the technical scope of the present invention.

The battery may be replaced with a transformer connectable to a wall outlet through a cable.

The controlling unit 25 may be physically separated from the saxophone 10 . In this instance, the sensors 23 and actuators 24 a are connected to the controlling unit 25 through cables.

The tenor saxophone does not set any limit to the technical scope of the present invention. The supporting system of the present invention may be combined with an alto saxophone, baritone saxophone, a soprano saxophone, a clarinet, an alto clarinet, a bass clarinet, an oboe, an English horn, a bassoon, a flute, a piccolo or a bass recorder, by way of example.

The controlling unit 25 may instruct the power source and current drivers 25 B to cause the ultrasonic motor 24 A to release the output shaft 24 B from the restriction. Then, the return spring (not shown) gives rise to the rotation of link sub-work 20 in the direction opposite to the arrow A 2 , and the padded cup 14 returns to the rest position.

A semiconductor acceleration sensor may be fabricated on a semiconductor substrate. In detail, a weight piece and beams are formed on the semiconductor substrate. The Wheatstone bridge circuit is formed in the beams, and the acceleration is detected as the force exerted on the weight.

The pneumatic actuator system 39 may be replaced with a hydraulic actuator system.

Any one of the sensors of the second to seventh embodiments may be combined with the actuators of the eighth to twelfth embodiments, and any one of the actuators of the eighth to twelfth embodiments may be combined with the sensors of the second to seventh embodiments.

The sensors 23 M may be arrayed in a control board. In this instance, the levers 15 M are deleted from the key mechanism 16 M.

The ultrasonic motors 24 A may be replaced with a pulse motor or a direct-current motor. The electric power may be continuously supplied to the direct-current motor for keeping the padded cups/padded keys at the closed positions.

More than one sort of actuators may be incorporated in the supporting system, and more than one sort of sensors may be incorporated in the supporting system.

The component parts of the above-described embodiments are correlated with claim languages as follows.

The saxophone 10 and acoustic wind musical instruments 10 , 10 A, 10 B, 10 C, 10 D, 10 E, 10 F, 10 G, 10 H, 10 J, 10 K, 10 L and 10 M are corresponding to an “acoustic wind musical instrument”, and the padded cups/padded keys 14 and 14 M serve as “padded closers”. The pressure-sensitive pads 23 , combination of pressure-sensitive pads 29 and pusher 28 , combination 32 of magnetic scale 32 A and magnetic sensor head 32 B, combination 33 of piece of permanent magnet 33 A and electromagnetic pickup unit 33 B, acceleration sensor 34 , strain sensor 35 and combination 36 of magnetostriction element 36 A and coil 36 B serve as “sensors”. The combination of ultrasonic motor 24 A with output shaft 24 B and arm 24 C, solenoid-operated actuator 38 , pneumatic system 39 , combination 50 of pantograph 50 A and polymer motor 50 B, pieces of shape memory alloy 51 and bimorph piezoelectric element 52 serve as “actuators”.

The touch buttons and keys 15 and levers 15 M serve as “manipulators”. The link sub-works 19 and 20 as a whole constitute a “link work”. The ultrasonic motor 24 A, solenoid-operated actuator 38 , pneumatic actuator 40 , polymer motor 50 B, pieces of shape memory alloys 51 and bimorph piezoelectric element 52 serve as a “driver”, and the arm 24 C and pantograph 50 A serve as a “converter”.