  The design and evaluation of a robotic prosthesis for a drummer with a
transradial amputation is presented. The principal objective of the prosthesis
is to simulate the role fingers play in drumming. This primarily includes
controlling the manner in which the drum stick rebounds after initial impact.
This is achieved using a DC motor driven by a variable impedance control
framework in a shared control system. The user's ability to perform with and
control the prosthesis is evaluated using a musical synchronization study. A
secondary objective of the prosthesis is to explore the implications of musical
expression and human-robotic interaction when a second, completely autonomous,
stick is added to the prosthesis. This wearable robotic musician interacts with
the user by listening to the music and responding with different rhythms and
behaviors. We recount some empirical findings based on the user's experience of
performing under such a paradigm.
