The goal of the project is to design and build a novel percussion actuator with higher precision than currently known other actuators such as variable impedance, pneumatic, soft robotic variable stiffness, and piezoelectric actuators. The focus of the project is to create more complex sounds than a simple hit on the drum and allow for more control in exciting percussion instruments. The end result will be a system easily programmable through midi in which pitch maps an event to a specific actuator and velocity directly corresponds to physical actuation response. Alternatively, the system can function by simply plugging in a headphone jack with a music player and the percussion robot will play along with the beat of the music. The team will explore the advantages and disadvantages of voice coil actuators and implement a control system with the acoustics of drums in mind. Additionally, the team will determine whether a viable actuator and or parts for one are available and affordable or if ones with the desired characteristics can be designed and manufactured reliably.