Human-robot interaction encompasses various applications, from simple tasks to advanced complex functionalities. This research introduces a specialised robotics end effector specially modelled with auditory processing for drumming along-side humans. This system interprets auditory vocal input to generate precise and adaptive drumming patterns. Utilising precision motor control and real-time signal processing to replicate drumming with human-like characteristics with precision. This work demonstrates collaboration between performing arts and robotics, demonstrating the potential of intelligent systems to interact with human creativity in real-time. The specialised end effector utilises precise motor control with motor drivers and a belt mechanism to regulate the speed and direction of the drumstick, enabling rapid, high-speed strokes to strike the drum 4 to 5 times per second. By integrating audio perception with mechanical execution, this research advances the state of the art and establishes a new framework for incorporating robotics into the creative and artistic domain.