Vocal fold disorders impact significantly on quality of life. Specifically, vocal fold paralysis can affect the ability to speak and breathe. To date, there has been a shortage of studies providing a quantitative characterisation of the effect of paralysed vocal folds on the frequency and amplitude of sound in phonation. In this paper we propose a novel bioinspired robotic simulator that physically replicates both healthy vocal fold function and two main pathological conditions in vocal fold paralysis: bilateral and unilateral paralysis. By analysing the audio data produced by our robotic simulator a correlation can be drawn between each type of paralysis and the effects on amplitude and frequency. Results show that in a healthy configuration, frequency response and vocal fold stress are mostly proportional and that their relationship is highly impacted by paralysis. In addition, our experimental results provide a mapping between vocal fold position and tension in our simulator and the resulting sound. These insights will inform laryngeal surgical procedures and help improve the effectiveness of current implant systems.