The touch of a grand piano mainly results from a dynamic mechanism which propels the hammer up to the string, given the key motion. A multibody model is used to enhance the haptic rendering of digital pianos keyboards. This contribution focusses on the hardware-in-the-loop integration of the model and on its force feedback validation.
Timmermans, S., & Fisette, P. (2020). Haptic Piano Key based on a Real-Time Multibody Action Model: Mechatronic Design and Force Feedback Validation. International Symposium on Co-Simulation and Solver Coupling in Dynamics, Ferrol, Spain. https://hdl.handle.net/2078.5/269042