As touch and sound response on an acoustic piano are closely related, only the combination of both can give a pianist greater expressive possibilities. The touch mainly results from the dynamics inherent in the mechanism – called piano action – which transmits the key motion to the hammer. The latter is propelled against the string and produces the sound. Current numerical keyboards render a haptic response thanks to simplified passive mechanisms. However, while reproducing the inertia effects, these attempts miss significant haptic aspects related mainly to the escapement principle and the repetition capabilities. To address this problem, one possible solution is to work with an active device in which the existing mechanism is removed and the key is actuated.
Timmermans, S., Fisette, P., Dehez, B., & Ceulemans, A.-E. (2019). Real-Time Validation of a Haptic Piano Key based on a Multibody Model. ECCOMAS Thematic Conference on Multibody Dynamics, Duisburg, Germany. https://hdl.handle.net/2078.5/269134