用头姿控制踏板，让无法用脚的琴手也能自然演奏。
bFaaaP: An Inclusive, Head-Angle Piano-Pedal Interaction that Quantitatively Reproduces a Pianist's Intended Pedalling -- Foot-Free, for Acoustic and Electronic Pianos
- 通过手机追踪头部角度，无线发送指令控制踏板。
- 可调死区与倍率，精准复现演奏者意图的踩踏力度。
- 适配钢琴和电子琴，无障碍设计已用于公开演出。
富有表现力的钢琴演奏依赖脚踏板，但轮椅使用者、下肢障碍者、儿童及部分老年人难以使用。我们提出bFaaaP（无障辅助踏板），一种无需踩踏的头姿控制方案：手机通过本地增强现实面部追踪，将头部姿态数据经蓝牙低功耗（BLE）发送至踏板设备。核心创新在于可量化的用户可调控制律——演奏者设定3-10度死区偏移和10-50倍增益，从而预设响应速度，精确再现其踩踏意图。工程上采用快速AR采样与慢速BLE通信解耦。两种实现共用同一控制器：一为非破坏性机械执行器（Pro），以气动“airback”（充气支撑锚）吸收反作用力，不损伤原声钢琴；另一为数字钢琴专用电子开关。15名受试者参与的辅助踏板效果评估（APEE）显示，bFaaaP显著提升持续音能量（p<0.01），且与本人脚控无统计差异（p>0.05），各群体间无显著差异；一名腿部残疾并有气管切开术的演奏者亦成功使用。设备无面部佩戴物，安装迅速，自2018至2025年已在正式音乐会中运行。硬件与软件已开源。
原文摘要 · Abstract (English)
Expressive piano performance depends on the sustain (damper) pedal, operated by foot, excluding players who cannot readily use their feet: wheelchair users and others with lower-limb impairments, small children, and some elderly or disabled players. We present bFaaaP (barrier-Free assist as a Pedal), an inclusive, foot-free interaction that operates the pedal from the angle of the player's head: a smartphone tracks head pose with on-device augmented-reality (AR) face tracking and streams a compact command over Bluetooth Low Energy (BLE) to a pedal device. Supported by patent examination, our central claim is not the head-to-pedal architecture (anticipated by prior art) but a quantitative, user-tunable control law -- the patentable "key" to a natural, expressive result: the player presets a small angular dead-zone (offset 3-10 degrees) and a multiplier (10-50), which together fix a secondary, pre-adjustable response speed that reproduces the pianist's intended pedalling. An engineering trick decouples the fast AR sampling from the slower BLE rate. Two co-equal realizations share one controller: a non-destructive robotic actuator for acoustic pianos (Pro), anchored by a pneumatic "airback" (our coined term for an inflatable air-braced anchor) that absorbs the reaction force without modifying the instrument; and an electronic sustain switch for digital pianos (Switch). In a human-subject Auxiliary Pedal Effect Evaluation (APEE) with 15 participants, bFaaaP significantly increased sustained-tone energy (p<0.01) and was statistically indistinguishable from a player's own foot (p>0.05), with no significant difference across classes; one participant with a leg disability and a tracheostomy performed successfully. With nothing worn on the face and fast setup, bFaaaP has run in formal public concerts (2018-2025). We release the full hardware and software as open source.
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