Electronic piano pedal with tactile response

Abstract

The piano pedal system includes a pedal pivotable through a full range of motion between a first position and a second position, a sensor configured to output an electrical signal indicative of the pedal's position, and a biasing member coupled to the pedal, the biasing member configured to apply a biasing force to the pedal in response to displacement of the pedal from the first position, the biasing force being substantially linear through the full range of motion.

Description

[Technical Field]

[0001] Priority claims This application claims the benefit of U.S. Application No. 18 / 091,296, filed December 29, 2022, the entire contents of which are incorporated herein by reference.

[0002] Field of Disclosure The present disclosure relates to electronic piano pedals. [Background technology]

[0003] background Acoustic pianos, such as grand pianos, typically include three foot-operated pedals: a soft pedal (sometimes called the una corda), a sostenuto pedal, and a sustain pedal (sometimes called the damper pedal). These pedals alter the sound produced by the piano, for example, by moving the piano's dampers. The soft pedal changes the timbre and intensity of the sound. The sostenuto pedal selectively sustains notes based on the key that is pressed when the sostenuto pedal is depressed. The sustain pedal sustains all notes as long as the sustain pedal is depressed, thereby creating a "resonance" effect. Other types of pedals, such as a muffler pedal, may alternatively or additionally be included.

[0004] Digital pianos emulate the sounds of acoustic pianos by digitally synthesizing the sounds, and some digital pianos may include or be connected to electronic pedals that emulate the effects of corresponding acoustic piano pedals. Summary of the Invention [Means for solving the problem]

[0005] overview Some aspects of the present disclosure describe a piano pedal system that includes a pedal pivotable through a full range of motion between a first position and a second position, a sensor configured to output an electrical signal indicative of the pedal's position, and a biasing member coupled to the pedal. The biasing member is configured to apply a biasing force to the pedal in response to displacement of the pedal from the first position. The biasing force is substantially linear throughout the full range of motion.

[0006] This piano pedal system and the other described piano pedal systems may have at least one or more of the following features:

[0007] In some configurations, the biasing member includes a spring that expands or compresses from a first length to a second length when the pedal pivots from a first position to a second position, the second length differing from the first length by less than 25% of the first length.

[0008] In some configurations, the pedal includes a proximal end configured to be operated by a user and a distal end, and the pedal is pivotable about a fulcrum located less than 6 inches (approximately 152 mm) from the proximal end of the pedal.

[0009] In some configurations, the fulcrum is located 3 to 5 inches (about 76 mm to about 127 mm) from the proximal end of the pedal.

[0010] In some configurations, the pedal includes a proximal end configured to be operated by a user and a distal end, and the pedal is pivotable about a fulcrum located 35% to 65% of the length of the pedal from the proximal end of the pedal.

[0011] In some configurations, the pedal includes a proximal end configured to be operated by a user and a distal end, the pedal is pivotable about a fulcrum, and the sensor is configured to sense the position of the pedal between the fulcrum and the distal end of the pedal.

[0012] In some configurations, the sensor is configured to sense the position of the pedal at a distal end of the pedal.

[0013] In some configurations, the biasing member includes a spring that provides at least 90% of the biasing force to the pedal.

[0014] In some configurations, the angular displacement of the pedal between the first position and the second position is at least 10 degrees.

[0015] In some configurations, the biasing force when the pedal is in the second position is no more than 110% greater than the biasing force when the pedal is halfway between the second and first positions.

[0016] In some configurations, the biasing force when the pedal is halfway between the first and second positions is between 1 kg and 5 kg.

[0017] In some configurations, the pedal weighs less than 200 grams.

[0018] In some configurations, the pedals are at least 6 inches (approximately 152 mm) long.

[0019] In some configurations, the sensor includes a non-contact inductive sensor or a non-contact Hall sensor.

[0020] In some configurations, the piano pedal system includes a second pedal and a third pedal.

[0021] In some configurations, the piano pedal system includes a base to which the pedal is pivotally mounted, a first end of a biasing member supported by the base, and a second end of the biasing member applying a biasing force to the pedal.

[0022] In some configurations, the biasing member extends along an axis along which the lever arm of the pedal extends.

[0023] In some configurations, the pedal includes a proximal end positioned for operation by a user and a distal end, the pedal is pivotable about a fulcrum, and the biasing member is disposed entirely between the fulcrum and the distal end.

[0024] In some configurations, the biasing member is located adjacent to the side of the pedal.

[0025] In some configurations, a digital piano system includes a digital piano and the piano pedal system described above, wherein the digital piano is configured to receive a first signal based on the output of the sensor, the first signal including an electrical signal or a variation thereof, and to output an acoustic signal based on the position of the pedal.

[0026] The details of one or more configurations are set forth in the accompanying drawings and specification below. Further aspects, features, and advantages will become apparent from the specification and drawings, and from the claims. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 1 is a top view of an example piano pedal system. [Figure 2] FIG. 1 is a side view of an example piano pedal system. [Figure 3] FIG. 1 is a front view of an example piano pedal system. [Figure 4] FIG. 1 is a rear view of an example piano pedal system. [Figure 5] FIG. 1 illustrates an example of a digital piano system. DETAILED DESCRIPTION OF THE INVENTION

[0028] Detailed Description The present disclosure relates to electronic piano pedals for use with, for example, digital pianos and keyboards. Some digital pianos attempt to emulate the "feel" of an acoustic piano, for example, by matching the force distribution of the keys of the digital piano to the force distribution of the keys of an acoustic piano. This allows a user practicing on a digital piano to experience the same feel as they would on an acoustic piano that is larger, more expensive, or less accessible for practice.

[0029] Similar design principles can be applied to piano pedals, and an improved user experience requires that the movement, force, and tactile response (collectively referred to as "feel") assigned to pressing an electronic piano pedal resemble those assigned to pressing an acoustic piano pedal. However, acoustic piano pedals are mechanically attached to other components of the acoustic piano (e.g., components internal to the piano housing, such as trapwork attached to a damper, e.g., directly attached to a spring and / or pedal rod), thereby giving acoustic piano pedals their distinctive feel. Typically, electronic piano pedals electrically and / or communicatively connected to a corresponding digital piano may lack the mechanical connection to the mechanism typically found on an acoustic piano and therefore have a different feel. Accordingly, configurations according to the present disclosure include various features that enable electronic piano pedals to better emulate the feel of acoustic piano pedals, such as grand piano pedals. For example, some configurations according to the present disclosure provide an electronic pedal with a substantially linear biasing force that accurately mimics the feel of an acoustic piano pedal.

[0030] 1-4 illustrate an example piano pedal system 100 according to some configurations of the present disclosure. The piano pedal system 100 includes a base 104 having three user-operable pedals 102a, 102b, and 102c assembled thereto. FIG. 1 is a top view, FIG. 2 is a side view, FIG. 3 is a front view, and FIG. 4 is a rear view. As will be explained in more detail below with reference to FIG. 2, the pedals 102 are illustrated with pedal 102c in a depressed position and pedals 102a and 102b in a rest position.

[0031] Each pedal 102 may have a corresponding function, which may be a predefined function and / or a function that may be configurable using a digital piano to which the piano pedal system 100 is connected, for example, as described with reference to Figure 5. For example, in some configurations, the three pedals 102c, 102b, and 102a are a soft pedal, a sostenuto pedal, and a sustain pedal, respectively. In some configurations, the piano pedal system includes a different number of piano pedals, for example, one piano pedal, two piano pedals, or more than three piano pedals.

[0032] Each pedal 102 includes an elongated rigid member having a proximal end 128 and a distal end 122. The distal end 122 is within / on the base 104, while the proximal end 128 is external to the base 104, allowing a user to interact with the proximal end 128. The proximal end 128 is configured to be depressed, for example, by a user's foot. For example, as shown in FIG. 1 , a raised portion 124 of each pedal 102 is located at each proximal end 128, allowing a user's foot to be comfortably placed on the raised portion 124 to depress the pedal 102.

[0033] The pedals 102 may be integrally formed (e.g., a single piece made of plastic, wood, metal, or another material) or may include multiple pieces joined together. In the piano pedal system 100, each pedal 102 includes a housing 108 and a stem 126 partially embedded within the housing 108, allowing the housing 108 and stem 126 to pivot together as a unit. In some configurations, like the piano pedal system 100, the housing 108 is disposed within / on the base 104, and the stem 126 extends beyond the base 104 to a proximal end 128 for being depressed by a user. In some configurations, the housing 108 includes one or more openings that expose the stem 126. For example, as shown in FIGS. 1-2, a lateral side of the stem 126 is exposed through a hole in the housing 108, and as shown in FIG. 4, a rear side of the stem 126 is exposed through another hole in the housing 108.

[0034] For clarity, the base 104 is shown open on one side, with the pedal 102 positioned above the base 104. In some configurations, the base partially encases the pedal 102. For example, the portion of the pedal 102 having the housing 108 may be enclosed within the base, such that only the stem 126 is visible outside the base. Components other than the stem 126 (e.g., the biasing member 120 and the sensor 106, which are described in more detail below) may also be enclosed within the base, such that the user's eyes primarily focus on and interact with the stem 126, which may be formed from an aesthetically pleasing material, such as a polished metal.

[0035] As shown in FIG. 2 , each pedal 102 is pivotable between a first position 204 and a second position 206, defining a rotation angle 212 (θ) between the first position 204 and the second position 206. In some configurations, the first position 204 and the second position 206 define a full range of motion for the pedal 102, and the pedal 102 is prevented from being rotated outside that range. In some configurations, one or more features of the piano pedal system 100 are positioned to prevent rotation of the pedal 102 outside that range. For example, the base 104 may include a first stop 202 positioned to contact the pedal 102 when the pedal 102 is in the second position 206, thereby preventing further rotation of the pedal 102. As another example, the base 104 may include a second stopper (not shown) positioned to contact the pedal 102 when the pedal 102 is in the first position 204, thereby preventing rotation of the pedal 102 beyond the first position 204. In some configurations, the piano pedal system 100 is configured such that when the piano pedal system 100 is placed on a floor surface, the pedal 102 reaches the second position 206 and contacts the pedal 102, thereby defining the floor surface as the second position 206.

[0036] In some configurations, the first position 204 is a "rest" position where the pedal 102 returns to a state without force / pressure by the user (e.g., based on action by the biasing member 120), and the second position 206 is a "depressed" position where the pedal 102 responds to downward pressure by the user. In some configurations, the pedal 102 is horizontal when in the first position 204.

[0037] To rotate between the first position 204 and the second position 206, the pedal 102 is pivotable about a fulcrum 112. The fulcrum 112 may take various forms in different configurations. In some configurations, the pedal 102 rests on a support surface, such as the base 104, and pivots about a point of contact with the surface, which point of contact forms the fulcrum 112. In some configurations, the pedal 102 is mounted on a rotatable axle, the axis of rotation of which defines the fulcrum 112. For example, the pedal 102 may be mounted on a axle that rotates relative to the base 104 (e.g., the axle may rotate within a pocket in the base 104). In some configurations, the axle extends through the pedal 102. In some configurations, the axle does not extend completely through the pedal 102, but is formed by an extension of the housing 108, such as two extensions on each side of the housing 108.

[0038] The dimensions of the pedal 102 and / or the manner in which the pedal rotates may be configured to provide a user experience similar to that provided by an acoustic piano pedal. In some configurations, the location of the fulcrum 112 relative to the pedal 102 can provide a more similar feel. For example, in some configurations, the fulcrum 112 is positioned relatively closer to the proximal end 128, as compared to some digital piano pedals in which the fulcrum is positioned closer to the distal end 122. For example, in some configurations, the distance 208 between the fulcrum 112 and the proximal end 128 is less than 6 inches (approximately 152 mm) from the proximal end 128, e.g., 3 to 5 inches (approximately 76 mm to 127 mm). In some configurations, the distance 208 between the fulcrum 112 and the proximal end 128 is less than 75% of the length 210 of the pedal 102, e.g., 35 to 65% of the length 210. In some configurations, the length 210 of the pedal 102 is at least 6 inches (approximately 152 mm), at least 7 inches (approximately 178 mm), or at least 8 inches (approximately 203 mm), which, in combination with one or more other features of the piano pedal system 100 as described herein, can provide a desired feel to the user.

[0039] Locating the fulcrum 112 relatively near the proximal end can provide, for example, a relatively large rotation angle 212 between the first position 204 and the second position 206 for a given spatial displacement between the first position 204 and the second position 206. In some configurations, the rotation angle 212 is, for example, at least 10°, at least 15°, at least 20°, or at least 25°, up to 30°, 35°, 40°, or 45°. A user can sense even small differences in the rotation angle 212, and in some cases, a larger rotation angle 212 can provide a feel more similar to that provided by an acoustic piano pedal. Optionally, when the rotation angle 212 is greater between the first position 204 and the second position 206, the proximal end 128 is displaced further rearward (distal) at the second position 206 compared to the first position 204, thereby better replicating the experience of an acoustic piano pedal than some electronic piano pedals having different rotation angles 212. For example, in some configurations, the proximal end 128 is displaced rearward a distance 214 that is at least 2% or at least 3% of the length 210 of the pedal 102 and / or a distance 214 that is at least 0.1 inches (approximately 2.5 mm), at least 0.15 inches (approximately 3.8 mm), or at least 0.2 inches (approximately 5.1 mm). In contrast, when the fulcrum 112 is positioned too close to the distal end 122, the user experiences a nearly completely vertical displacement of the proximal end 128 at small angles of rotation when stepping the pedal 102 from the first position 204 to the second position 206, which may feel unnatural or unergonomic.

[0040] The piano pedal system 100 further includes a biasing member 120 coupled to the pedal 102. The biasing member 120 is configured to apply a biasing force to the pedal 102 in response to displacement of the pedal 102 from the first position 204. For example, the biasing force may be a force in a direction returning the pedal 102 to the first position 204, e.g., a counterclockwise torque as viewed in FIG. 2 , in response to the pedal 102 pivoting in a clockwise direction away from the first position 204 toward the second position 206. The biasing force may be sufficient to return the pedal 102 to the first position 204 without the user exerting pressure on the pedal 102. In some configurations, the biasing force is zero when the pedal 102 is in the first position 204. In some configurations, the biasing force is non-zero when the pedal 102 is in the first position 204, and another force (e.g., the presence of a retaining member or another component contacting the pedal 102) maintains the pedal in the first position 204 without the user stepping on the pedal 102. A non-zero biasing force when the pedal is in the first position 204 can prevent accidental actuation of the pedal 102, thereby allowing the user to keep their foot on the pedal 102 without rotating the pedal 102. For example, in some configurations, the non-zero biasing force when the pedal is in the first position 204 is between 0.5 kg and 2 kg. In some configurations, the biasing member 120 is configured such that the biasing force increases the greater the displacement of the pedal 102 from the first position 204.

[0041] In some configurations, the biasing member 120 is configured to apply a substantially linear biasing force throughout the entire range of motion between the first position 204 and the second position 206. A linear biasing force is a force that increases linearly as the displacement of the pedal 102 from the first position 204 increases. For example, a linear biasing force can be expressed as F=-kφ, where k is a constant and φ is the angular displacement of the pedal 102 from the first position 204. A substantially linear biasing force may be a biasing force where k changes by less than 10% or less than 5% throughout the entire range of motion between the first position 204 and the second position 206. For example, the biasing force when the pedal 102 is in the second position 206 may be 110% or less greater than the biasing force when the pedal 102 is halfway between the second position 206 and the first position 204. In some configurations, a substantially linear biasing force can provide an improved user experience compared to, for example, electronic piano pedals having pedal biasing configurations in which the biasing force is significantly non-linear.

[0042] The magnitude of the biasing force may depend on, among other possible factors, the weight of the pedal 102 and the type of biasing member 120. In some configurations, the biasing force when the pedal 102 is halfway between the first position 204 and the second position 206 is between 9N and 50N. In some configurations, the pedal has a weight of less than 200g, for example between 100g and 200g.

[0043] The biasing member 120 may take a variety of forms in different configurations. In some configurations, the biasing member 120 comprises a spring, such as a coil spring, a conical spring, or a torsion spring. The spring may be, for example, a compression spring or an extension spring. In some configurations, the biasing member 120 comprises a resilient member, such as a rubber extension or another spring-elastic material (e.g., a rubber band or a spring-elastic metal), that applies a biasing force in response to compression and / or extension.

[0044] In some configurations, the biasing member 120 includes a spring configured to provide a substantially linear biasing force, e.g., at least 90%, at least 95%, or all of the biasing force. For example, in some configurations, the spring is expanded or compressed from a first length (sometimes referred to as a “free length”) to a second length when the pedal 102 pivots from the first position 204 to the second position 206. To provide a substantially linear biasing force, the second length may represent a relatively small deviation from the first length. For example, the second length may differ from the first length by less than half the first length, e.g., the second length is less than 1.5 times the first length (when the spring expands from the first length to the second length) or the second length is greater than 0.5 times the first length (when the spring compresses from the first length to the second length). In some configurations, the second length may differ from the first length by less than 25% of the first length or less than 10% of the first length. For example, in some configurations, the spring has a first length of 1-2 inches when the pedal 102 is in the first position 204 and a first length that differs from the first length by less than 10% when the pedal 102 is in the second position 206. In some configurations, the difference between the first length and the second length is less than half the first length, less than 25% of the first length, or less than 10% of the first length. These spring parameters can help provide a substantially linear biasing force that promotes a feel similar to that of an acoustic piano because, for example, a spring compressed or extended through an excessively large percentage of its length can have a nonlinear force response. Furthermore, these spring parameters result in the spring operating acoustically quietly compared to the increased noise that may be produced by a spring extended or compressed through a larger percentage of its length.

[0045] The biasing member 120 may be coupled between the pedal 102 and a stationary element, such as the base 104, of the piano pedal system 100. As shown in FIGS. 1-2 , in the piano pedal system 100, the biasing member 120 is coupled between (i) a first fixed portion 116 on the housing 108 adjacent the distal end 122 and (ii) a second fixed portion 118 on the base 104 adjacent the fulcrum 112. For example, the fixed portions 116, 118 may include clips, adhesive attachments, welded attachments, and / or other suitable types of fasteners for securing the biasing member 120 between the pedal 102 and the stationary element, such as the base 104. A first end of the biasing member may apply a biasing force to the pedal at the first fixed portion 116, and a second end of the biasing member may be supported by the base 104 at the second fixed portion 118. In this example, the biasing member 120 does not extend beyond the fulcrum 112 toward the proximal end 128, e.g., is located entirely between the fulcrum 112 and the distal end 122. The fastener 116 does not have to be fabricated on the housing 108, but may be fabricated on another portion of the pedal 102, such as the stem 126. In some configurations, the biasing member 120 is confined within the base 104 when the base 104 partially confines the pedal 102.

[0046] In some configurations, the spatial arrangement of the biasing members 120 is intended to provide a substantially linear biasing force. In piano pedal system 100, as shown in FIG. 2, biasing members 120 extend along an axis 216 along which pedal 102 extends, e.g., biasing members 120 extend longitudinally along pedal 102. In some configurations, the angle between the direction of extension of biasing members 120 and axis 216 along which pedal 102 extends is less than 45° or less than 25° throughout the full range of motion of pedal 102 between first position 204 and second position 206, with the example in FIG. 2 corresponding to an angle of 0°. Furthermore, in some configurations, such as piano pedal system 100, biasing members 120 for each pedal 102 are positioned laterally adjacent to pedal 102, e.g., next to pedal 102. In some cases, one or more of these configurations may allow the spring of biasing member 120 to have a sufficient length to provide a linear response. For example, a spring positioned below the pedal and stretched or compressed in a direction generally perpendicular to the pedal's axis of extension may necessarily stretch or compress a significant percentage of its free length, resulting in high levels of noise and / or nonlinear forces. However, other orientations of biasing member 120 are within the scope of this disclosure.

[0047] The piano pedal system 100 further includes a sensor 106 (shown schematically in FIGS. 1-2 ) configured to output an electrical signal indicative of the position of the pedal 102. For example, the electrical signal may indicate the angular position of the pedal 102 (including, e.g., indicating a position between a first position 204 and a second position 206) and / or the electrical signal may indicate, in a binary format, whether the pedal 102 is in the second position 206, corresponding to the pedal 102 being depressed. The sensor 106 may sense the position of the pedal 102 at one or more positions along the pedal 102. In some configurations, as shown in FIGS. 1-2 , the sensor 106 senses the position of the pedal 102 between the fulcrum 112 and the distal end 122, e.g., at or near the distal end 122. By sensing the position of the pedal 102 at or near the distal end 122, the magnitude of the displacement sensed by the sensor 106 is increased, which can improve measurement accuracy / precision.

[0048] The sensor 106 may include one or more types of sensors. In some configurations, the sensor 106 includes a potentiometer (e.g., a linear potentiometer) in which pivoting of the pedal 102, for example, mechanically moves a sliding or rotating component of the potentiometer, causing an adjustment in the resistance of the potentiometer, which in turn adjusts one or more currents and / or voltages indicative of the position of the pedal 102. In some configurations, the sensor 106 includes an inductive sensor. For example, the pedal 102 may include a conductive portion (e.g., a metallic portion) or a magnetic portion that induces a current in the inductive sensor indicative of the position of the pedal 102. In some configurations, the sensor 106 includes a Hall (Hall Effect) sensor that senses a magnetic field assigned to the pedal 102 (e.g., a metallic or magnetic portion of the pedal 102) to determine the position of the pedal 102. In some configurations, the sensor 106 includes an optical sensor, such as a sensor that emits a laser at a portion of the pedal 102 and detects the reflection to determine the position of the pedal 102. Inductive, Hall, and optical sensors may be non-contacting, with the goal of providing a tactile feel for the pedal 102 similar to that of an acoustic piano pedal. Non-contacting sensors may detect the position of the pedal 102 from various positions, such as adjacent to the side of the pedal 102 (as shown in FIGS. 1-2), below the pedal 102, or behind the distal end 122 of the pedal 102.

[0049] In some configurations, the sensor 106 includes circuitry, e.g., digital and / or analog circuitry, configured to process the signal in one or more ways to generate an output signal. For example, the circuitry may include one or more amplifiers, attenuators, filters, analog-to-digital converters (ADCs), and / or digital-to-analog converters (DACs). In some configurations, the sensor 106 includes digital circuitry, e.g., a microprocessor, configured to perform one or more operations, e.g., operations including outputting an electrical signal indicative of pedal position.

[0050] In some configurations, one or more circuit boards (e.g., printed circuit boards (PCBs)) may be located beneath one or more pedals 102, such as assembled between the pedals 102 and the base 104. For example, piano pedal system 100 may include a PCB (not shown) extending across base 104 beneath each of pedals 102a, 102b, 102c, which PCB includes position sensor circuitry for sensing the position of each of pedals 102a, 102b, 102c.

[0051] The electrical signal output by the sensor may include an analog signal and / or a digital signal, and in some configurations, the electrical signal is output in wireless form, for example, via a wireless network, such as a Bluetooth network or a Wi-Fi network.

[0052] In some configurations, a piano pedal system is used in conjunction with a digital piano. The position of one or more pedals in the piano pedal system may determine characteristics of one or more sound / acoustic signals output by the digital piano. As shown in FIG. 18 , a digital piano system 500 includes a digital piano 502 and a piano pedal system 100 including sensors 106 configured to output electrical signals indicative of the positions of three pedals 102 a, 102 b, and 102 c. The sensors 106 are communicatively coupled to the digital piano 502 so that the digital piano 502 receives the electrical signals or variations thereof. For example, in some configurations, a cable 506 connects each sensor 106 to a multiplexer circuit 504 (e.g., an analog or digital multiplexer), which combines the individual signals from each sensor 106 to form a common signal that is output to the digital piano 502 via a cable 508. In some configurations, the digital piano 502 receives the electrical signal or a variation thereof wirelessly, for example, via one or more wireless networks, such as a Bluetooth® network or a Wi-Fi network. The digital piano 502 may receive the electrical signal or a variation thereof, for example, amplified, attenuated, filtered, and / or processed in one or more ways (e.g., with an ADC or DAC). The signal received by the digital piano 502 indicates the position of one or more pedals of the piano pedal system 100.

[0053] In some configurations, the digital piano 502 and the piano pedal system 100 are integrated together to form a single device. In some configurations, the piano pedal system 100 is replaceable and connectable to the digital piano 502 as a stand-alone unit. For example, the piano pedal system 100 may be disconnected from the digital piano 502 and connected to another digital piano, such as a different model digital piano or a digital piano of the same model as the digital piano 502.

[0054] The digital piano 502 is configured to output an audio signal based on the position of at least one pedal of the piano pedal system 100, as indicated by a signal received by the digital piano 502. For example, in some configurations, each pedal is assigned a note modification, and the digital piano 502 outputs an altered audio signal based on the note modification when the pedal is depressed (e.g., in the second position 206). For example, if pedal 102a is configured as a sustain pedal, the digital piano 502 can output an audio signal of a sustained digital note that is emitted while pedal 102a is depressed. As another example of a note modification, if pedal 102c is configured as a soft pedal, the digital piano can output an audio signal that has been processed with a digital effect to mimic the tone modification of a soft pedal on an acoustic piano. In some configurations, the digital piano 502 is configured to output an audio signal of a particular type of sound when one or more pedals are depressed, e.g., a particular type of instrumental sound (e.g., having a sound corresponding to a sound played on the digital piano 502) can be played when a given pedal is depressed. In some configurations, the pedals may be configured to provide a control function to the audio signal, such as to turn a sound or sequence of sounds (e.g., a background drum beat) on or off or to otherwise switch between functions of the digital piano.

[0055] In some configurations, the piano pedal system 100 and / or the digital piano 502 can be configured to adjust how the position of each pedal modifies the acoustic signal output by the digital piano 502. For example, a user may interact with a user interface of the digital piano 502 to adjust the function of each pedal.

[0056] The audio signal output based on pedal position may, in some configurations, be output based on the position of the pedal between the first position 204 and the second position 206, as well as on a binary basis of whether the pedal is depressed (e.g., whether the pedal is in the second position 206). For example, in some configurations, as the pedal is depressed further from the first position 204 towards the second position 206, the degree of modification of the audio output (e.g., the intensity of the additional audio effect assigned to the pedal) continuously increases.

[0057] The acoustic signal output by the digital piano 502 may be output to, for example, a speaker, which then outputs a sound based on the position of one or more pedals. In some configurations, the digital piano 502 includes a speaker configured to output a sound in response to receiving the acoustic signal. The acoustic signal may be an analog signal and / or a digital signal. The digital piano 502 may include a digital circuit, such as a computing device, configured to receive a first signal including an electrical signal (or a variation thereof) output from one or more pedal position sensors, as described above, and generate an acoustic signal based on the first signal.

[0058] Some of the features described may be implemented in digital and / or analog electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. Some features may also be implemented in a computer program product tangibly embodied on an information carrier, such as a machine-readable storage device, for execution by a programmable processor. Method steps may be performed by a programmable processor executing a program of instructions to perform the functions of the described arrangements by operating on input data and generating output, or by discrete circuitry performing analog and / or digital circuit operations, or by a combination of these.

[0059] Some of the described features may advantageously be implemented in one or more computer programs executable on a programmable system including at least one programmable processor connected to receive data and instructions from a data storage system, at least one input device, and at least one output device, and to transmit data and instructions to the data storage system, the at least one input device, and the at least one output device. A computer program is a sequence of instructions that can be used directly or indirectly in a computer to perform a particular activity or bring about a particular result. Computer programs may be written in any form of programming language, including compiled or interpreted languages ​​(e.g., Objective-C, Java), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0060] Suitable processors for executing a program of instructions include, by way of example, both general-purpose and special-purpose microprocessors, as well as a single processor or one of multiple processors or cores of any kind of computer. Generally, a processor will receive instructions and data from a read-only memory or a random-access memory, or both. The essential elements of a computer are a processor for executing instructions and one or more memories for storing instructions and data. Generally, a computer may communicate with a mass storage device for storing data files. This mass storage device may include magnetic disks, e.g., internal hard disks and removable disks, magneto-optical disks, and optical disks. Suitable storage devices for tangibly embodying computer program instructions and data include, by way of example, all forms of non-volatile memory, including semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices, magnetic disks, e.g., internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks. The processor and memory may be supplemented by, or incorporated in, ASICs (application-specific integrated circuits). To provide for user interaction, the features may be implemented in a computer having a display device, such as a CRT (cathode ray tube), LED (light emitting diode) or LCD (liquid crystal display) display or monitor, for displaying information to the creator, a keyboard and a pointing device, such as a mouse or trackball, by which the creator can provide input to the computer.

[0061] A number of configurations have been described. Nevertheless, it will be appreciated that various modifications may be made. Elements of one or more configurations may be combined with one another, deleted, modified, or supplemented to form further configurations. In yet another example, the logic flow depicted in the figures does not require the particular order or sequence depicted to achieve desired results. Moreover, other steps may be provided or steps may be eliminated from the described flow, and other components may be added to or removed from the described systems. Accordingly, other configurations are within the scope of the following claims.

Claims

1. 1. A piano pedal system comprising: a pedal pivotable through a full range of motion between a first position and a second position; a sensor configured to output an electrical signal indicative of the position of the pedal; a biasing member coupled to the pedal, the biasing member configured to apply a biasing force to the pedal in response to displacement of the pedal from the first position; 10. A piano pedal system wherein the biasing force is substantially linear throughout the range of motion.

2. the biasing member comprises a spring; the spring is expanded or compressed from a first length to a second length when the pedal pivots from the first position to the second position; 2. The piano pedal system of claim 1, wherein the second length differs from the first length by less than 25% of the first length.

3. The pedal is a proximal end configured to be manipulated by a user; a distal end; 2. The piano pedal system of claim 1, wherein the pedal is pivotable about a fulcrum located less than 6 inches (approximately 152 mm) from the proximal end of the pedal.

4. 4. The piano pedal system of claim 3, wherein the fulcrum is located 3 to 5 inches (about 76 mm to about 127 mm) from the proximal end of the pedal.

5. The pedal is a proximal end configured to be manipulated by a user; a distal end; 2. The piano pedal system of claim 1, wherein the pedal is pivotable about a fulcrum located 35% to 65% of the length of the pedal from the proximal end of the pedal.

6. The pedal is a proximal end configured to be manipulated by a user; a distal end; The pedal is pivotable about a fulcrum; 2. The piano pedal system of claim 1, wherein the sensor is configured to sense the position of the pedal between the fulcrum and the distal end of the pedal.

7. 7. The piano pedal system of claim 6, wherein the sensor is configured to sense the position of the pedal at the distal end of the pedal.

8. 2. The piano pedal system of claim 1, wherein the biasing member comprises a spring that provides at least 90% of the biasing force to the pedal.

9. 2. The piano pedal system of claim 1, wherein the angular displacement of the pedal between the first position and the second position is greater than 10 degrees.

10. 2. The piano pedal system of claim 1, wherein the biasing force when the pedal is in the second position is no more than 110% greater than the biasing force when the pedal is halfway between the second position and the first position.

11. 2. The piano pedal system of claim 1, wherein the biasing force when the pedal is in an intermediate position between the first position and the second position is between 1 kg and 5 kg.

12. 10. The piano pedal system of claim 1, wherein the pedal weighs less than 200 grams.

13. 10. The piano pedal system of claim 1, wherein the pedal is at least 6 inches (approximately 152 mm) long.

14. 10. The piano pedal system of claim 1, wherein the sensor comprises a non-contact inductive sensor or a non-contact Hall sensor.

15. 10. The piano pedal system of claim 1, further comprising a second pedal and a third pedal.

16. The pedal comprises a base body pivotally mounted thereto; a first end of the biasing member supported by the base; 2. The piano pedal system of claim 1, wherein a second end of the biasing member applies the biasing force to the pedal.

17. 2. The piano pedal system of claim 1, wherein the biasing member extends along an axis along which the lever arm of the pedal extends.

18. The pedal is a proximal end configured to be manipulated by a user; a distal end; The pedal is pivotable about a fulcrum; 2. The piano pedal system of claim 1, wherein the biasing member is disposed entirely between the fulcrum and the distal end.

19. 2. The piano pedal system according to claim 1, wherein the biasing member is disposed adjacent to the side of the pedal.

20. 1. A digital piano system comprising: A digital piano and and the piano pedal system of claim 1, The digital piano is receiving a first signal based on the output of the sensor, the first signal including the electrical signal or a variation thereof; A digital piano system configured to output an acoustic signal based on the position of the pedal.

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